A surgical robot with dual RCM mechanisms

Abstract

The application provides a surgical robot with a double-RCM mechanism, which is used for driving a medical instrument to move around a mechanism fixed point, and an axis of the medical instrument passes through the mechanism fixed point. The device comprises a rack and a mechanical arm, the mechanical arm is arranged on the rack, and the mechanical arm comprises an outer layer RCM mechanism, an inner layer RCM mechanism and an instrument mounting piece. The outer layer RCM mechanism comprises a lifting piece, a horizontal telescopic piece and a swing assembly which are sequentially connected. The swing assembly can drive the inner layer RCM mechanism, the instrument mounting piece and the medical instrument to swing, and the horizontal and longitudinal positions of a swing point in the horizontal direction are unchanged. The lifting piece cooperates with the swing assembly to make the height position of the swing point unchanged. When the medical instrument is adjusted through the inner layer RCM mechanism and a collision with other equipment or a doctor occurs, the device does not need to adjust other equipment or make the doctor move positions, and only needs to adjust the medical instrument through the outer layer RCM mechanism, so that the flexibility of the device is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical robot with a dual RCM mechanism. Background Technology

[0002] Minimally invasive surgery is increasingly accepted by patients due to its advantages such as less trauma and faster recovery. From early laparoscopic minimally invasive surgery to today's neurosurgical minimally invasive surgery, the technology is expanding at an increasingly rapid pace.

[0003] The comprehensive development of robotics technology has greatly promoted the development of medical technology. From the earliest Aesop endoscope robot to the da Vinci surgical robot with RCM mechanism, robots of different purposes and structures are gradually being applied to minimally invasive surgery.

[0004] Surgical robots with RCM mechanisms have robotic arms that hold corresponding surgical instruments. Doctors control the surgical instruments through the robotic arms to enter the patient's lesion and perform the corresponding surgery. The position and posture of the robotic arms directly affect the success of the surgery. Before and during the robotic surgery, the medical instruments need to be adjusted to suit the required surgery.

[0005] Existing surgical robots with an RCM (Remote Control Mechanism) typically have one near the end effector. However, the adjustment capabilities of existing RCM mechanisms are limited, and collisions with other equipment and surgeons can occur during surgery when the robotic arm moves or adjusts. In such cases, additional adjustments to other equipment are necessary during surgery to avoid collisions. Summary of the Invention

[0006] Based on this, the main objective of the present invention is to provide a surgical robot with a dual RCM mechanism that allows for more flexible robotic arm movement.

[0007] To achieve the above objectives, the present invention provides a surgical robot with a dual RCM mechanism for driving a medical instrument to move around a fixed point of the mechanism. The axis of the medical instrument passes through the fixed point of the mechanism, and the portion of the axis of the medical instrument passing through the fixed point of the mechanism is designated as the swing point. The surgical robot with the dual RCM mechanism includes:

[0008] frame;

[0009] A robotic arm includes an outer RCM mechanism, an inner RCM mechanism, and an instrument mounting component. The outer RCM mechanism is mounted on the frame, and the inner RCM mechanism is connected to the outer RCM mechanism via a transmission connection. The instrument mounting component is located at the end of the inner RCM mechanism away from the outer RCM mechanism, and the instrument mounting component is used to mount the medical device.

[0010] The outer RCM mechanism includes a lifting member, a horizontal telescopic member, and a swing assembly connected in sequence. The swing assembly is connected to the inner RCM mechanism and can drive the inner RCM mechanism, the device mounting component, and the medical device to swing, so that the horizontal and vertical positions of the swing point remain unchanged. The lifting member is communicatively connected to the swing assembly and is used to drive the medical device to swing when the swing assembly drives the medical device to swing, so that when the swing point rises or falls, the lifting member drives the medical device to rise or fall by the opposite distance, thereby keeping the height position of the swing point unchanged.

[0011] The inner RCM mechanism is used to drive the device mounting and the medical device to swing, so that the medical device swings around the swing point, thereby adjusting the posture of the medical device.

[0012] Preferably, the oscillating assembly includes a first driving member, a synchronous belt, and a driven member. The first driving member is rotatable to drive the synchronous belt and the driven member to oscillate, and the first driving member can drive the driven member to rotate synchronously via the synchronous belt, so that the driven member drives the inner RCM mechanism, the device mounting component, and the medical device to oscillate; and satisfies the following conditions:

[0013] L1 = L2; θ2 = 2θ1;

[0014] Wherein, L1 is the shortest distance from the axis of the first driving member to the axis of the driven member, L2 is the shortest distance from the swing point to the axis of the driven member, L3 is the shortest distance from the swing point to the axis of the first driving member, θ1 is the angle between the line segment corresponding to L1 and the line segment corresponding to L3, and θ2 is the angle between the extension of the line segment corresponding to L1 and the line segment corresponding to L2.

[0015] Preferably, the lifting component includes a first lead screw, a first motor, and a main body. The first motor is disposed within the frame. The main body has a first threaded hole adapted to the first lead screw. One end of the first lead screw is connected to the first motor, and the other end of the first lead screw extends into the main body through the first threaded hole. The first motor drives the first lead screw to rotate, thereby changing the length of the first lead screw extending into the main body, thus causing the main body to rise and fall; and satisfies the following condition:

[0016]

[0017] Δθ1 is the change in θ1 when the first driving component drives the synchronous belt to oscillate; Δθ m S is the change in the rotation angle of the output shaft of the first motor when the first motor is used to drive the first lead screw to rotate, and S is the pitch of the lead screw.

[0018] Preferably, the horizontal telescopic member includes a first rod and a second rod that are sleeved together. The first rod is disposed on the lifting member, and the second rod is connected to the swing assembly. The second rod can move along the axial direction of the first rod so that the sleeve length between the second rod and the first rod is adjustable.

[0019] Preferably, the outer RCM mechanism further includes a first rotating member, which is disposed between the lifting member and the horizontal telescopic member, and the first rotating member is used to drive the horizontal telescopic member to rotate around the axis of the first rotating member.

[0020] Preferably, the outer RCM mechanism further includes a rotating component, which is disposed between the horizontal telescopic member and the swing component. The rotating component is used to drive the swing component, the inner RCM mechanism, the device mounting member, and the medical device to rotate synchronously around the axis of the rotating component. The axis of the rotating component passes through the fixed point of the mechanism.

[0021] Preferably, the rotating assembly includes a rotating component and a connecting component. The rotating component is disposed on the horizontal telescopic component. One end of the connecting component is connected to the rotating component, and the other end of the connecting component is connected to the swing assembly. The axis of the rotating component passes through the stationary point of the mechanism.

[0022] Preferably, the inner RCM mechanism includes a second drive member and a double parallelogram mechanism connected to each other. The second drive member is disposed on the swing assembly, and the device mounting member is disposed on the double parallelogram mechanism. The second drive member is used to drive the double parallelogram mechanism to swing, thereby causing the device mounting member and the medical device to swing, so that the medical device swings around the swing point, thereby adjusting the posture of the medical device.

[0023] Preferably, the inner RCM mechanism further includes a second rotating member, the second driving member being disposed on the swing assembly via the second rotating member, the second rotating member being used to drive the second driving member, the double parallelogram mechanism, the device mounting member and the medical device to rotate around the axis of the second rotating member, the axis of the second rotating member passing through the fixed point of the mechanism.

[0024] Preferably, the inner RCM mechanism further includes a push-pull member connected to the medical device, which is used to push and pull the medical device to move it along its own axis.

[0025] Advantages of the technical solution of this invention: When performing surgery with a surgical robot having a dual RCM mechanism, and when it is necessary to adjust the medical device, this invention can drive the instrument mounting component and the medical device to swing through the inner RCM mechanism to adjust the posture of the medical device. If the inner RCM mechanism may collide with other equipment or doctors during the movement, this invention can adjust it through the outer RCM mechanism. Through the cooperation of the lifting component and the swing component, the medical device is driven to swing. However, since the swing component can keep the horizontal and vertical positions of the swing point unchanged, and when the swing component causes the swing point to rise or fall in the vertical direction, the lifting component drives the horizontal telescopic component, the swing component, the inner RCM mechanism, the instrument mounting component, and the medical device to rise or fall in opposite directions in the vertical direction, so that the height of the swing point in the vertical direction remains unchanged. That is, through the cooperation of the lifting component and the swing component, the medical device is driven to swing around the swing point, thereby adjusting the posture of the medical device. When adjusting medical devices via the inner RCM mechanism, which may collide with other equipment or doctors, this invention eliminates the need for additional adjustments to other equipment or for doctors to reposition themselves. Instead, the medical devices can be adjusted solely through the outer RCM mechanism, thereby significantly enhancing the flexibility of surgical robots with dual RCM mechanisms. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the devices shown in these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of a surgical robot with a dual RCM mechanism according to an embodiment;

[0028] Figure 2 This is a schematic diagram of the structure of a surgical robot with a dual RCM mechanism after the hidden portion of the shell is shown in one embodiment.

[0029] Figure 3 for Figure 2 Enlarged view of point A;

[0030] Figure 4 for Figure 2 Enlarged view of point B;

[0031] Figure 5 This is a schematic diagram of another posture of a surgical robot with a dual RCM mechanism according to one embodiment;

[0032] Figure 6 for Figure 5 Enlarged view of point C;

[0033] Figure 7 This is a schematic diagram illustrating the interaction between a swing assembly and a double parallelogram mechanism according to one embodiment.

[0034] Figure 8 This is a structural schematic diagram of another orientation of a double parallelogram mechanism according to one embodiment;

[0035] Figure 9 This is a schematic diagram of the principle of a swing assembly according to one embodiment;

[0036] Among them, 100 is the frame; 110 is the frame body; 120 is the rotating wheel; 130 is the handle; 200 is the robotic arm; 210 is the outer RCM mechanism; 211 is the lifting component; 2111 is the first lead screw; 2112 is the first motor; 2113 is the main body; 212 is the horizontal telescopic component; 2121 is the first rod; 21211 is the second threaded hole; 2122 is the second rod; 2123 is the second lead screw; 2124 is the second motor; 213 is the swing assembly; 2131 is the first drive component; and 2132 is the synchronization component. Belt; 2133, Follower; 214, First Rotating Component; 215, Rotating Assembly; 2151, Rotating Component; 2152, Connecting Component; 220, Inner RCM Mechanism; 221, Second Driving Component; 222, Double Parallelogram Mechanism; 2221, First Link; 2222, Second Link; 2223, Third Link; 2224, Fourth Link; 2225, Fifth Link; 223, Second Rotating Component; 230, Instrument Mounting Component; 300, First Light Beam Emitter; 400, Second Light Beam Emitter;

[0037] 001, Medical Devices.

[0038] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0040] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of the components in a specific posture (as shown in the attached figure). If the specific posture changes, the directional indication will also change accordingly. Furthermore, the descriptions involving "first," "second," etc., in the present invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the term "and / or" throughout the text includes three solutions. Taking A and / or B as an example, it includes technical solution A, technical solution B, and a technical solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0041] like Figure 1 , 2As shown in Figure 4, a surgical robot with a dual RCM mechanism is used to drive a medical device 001 to move around a fixed point of the mechanism. The axis of the medical device 001 passes through the fixed point of the mechanism, and the part of the axis of the medical device 001 that passes through the fixed point of the mechanism is called the swing point. The surgical robot with a dual RCM mechanism includes a frame 100 and a robotic arm 200. The robotic arm 200 includes an outer RCM mechanism 210, an inner RCM mechanism 220, and an instrument mounting component 230. The outer RCM mechanism 210 is disposed on the frame 100, and the inner RCM mechanism 220 is connected to the outer RCM mechanism 210 by transmission. The instrument mounting component 230 is disposed at the end of the inner RCM mechanism 220 away from the outer RCM mechanism 210, and the instrument mounting component 230 is used to mount the medical device 001. The outer RCM mechanism 210 includes lifting components 2 connected in sequence. 11. A horizontal telescopic component 212 and a swing assembly 213. The swing assembly 213 is connected to the inner RCM mechanism 220. The swing assembly 213 can drive the inner RCM mechanism 220, the instrument mounting component 230, and the medical device 001 to swing, ensuring that the horizontal and vertical positions of the swing point remain unchanged. A lifting component 211 is communicatively connected to the swing assembly 213. The lifting component 211 is used to drive the medical device 001 to swing, causing the swing point to rise or fall. When the swing assembly 213 drives the medical device 001 to rise or fall by opposite distances, the height position of the swing point remains unchanged. The inner RCM mechanism 220 is used to drive the instrument mounting component 230 and the medical device 001 to swing, causing the medical device 001 to swing around the swing point, thereby adjusting the posture of the medical device 001. Specifically, when the surgical robot with dual RCM mechanisms is working, the swing point always coincides with the fixed point of the mechanism. In the outer RCM mechanism and the inner RCM mechanism, RCM is an abbreviation for Remote Center Mechanism, which refers to a remote center mechanism.

[0042] When performing surgery using a surgical robot with dual RCM mechanisms, and adjustments to the medical device 001 are required, this invention can use the inner RCM mechanism 220 to drive the device mounting component 230 and the medical device 001 to swing, thereby adjusting the posture of the medical device 001. If the inner RCM mechanism 220 may collide with other equipment or the surgeon during movement, this invention can use the outer RCM mechanism 210 for adjustment. Through the cooperation of the lifting component 211 and the swing assembly 213, the medical device 001 is driven to swing. However, due to the swing assembly... 213 ensures that the horizontal and vertical positions of the swing point remain unchanged. When the swing component 213 causes the swing point to rise or fall vertically, the lifting component 211 drives the horizontal telescopic component 212, the swing component 213, the inner RCM mechanism 220, the instrument mounting component 230, and the medical device 001 to rise or fall in opposite directions vertically, thus keeping the vertical height of the swing point constant. In other words, through the cooperation of the lifting component 211 and the swing component 213, the medical device 001 swings around the swing point, thereby adjusting the posture of the medical device 001. When adjusting the medical device 001 through the inner RCM mechanism 220, which may lead to collisions with other equipment or doctors, this invention does not require additional adjustments to other equipment or repositioning of the doctor. Adjustment of the medical device 001 can be achieved solely through the outer RCM mechanism 210, significantly improving the flexibility of the surgical robot with dual RCM mechanisms.

[0043] In this embodiment, the swing component 213 drives the medical device 001 to swing, and the horizontal and vertical positions of the swing point remain unchanged in the horizontal direction. This means that the swing point does not move in any direction on the current horizontal plane. That is, when the swing component 213 drives the medical device 001 to swing, the swing point only changes in height.

[0044] When the swing assembly 213 drives the medical device 001 to swing, the swing point has a change in height. However, the lifting component 211 drives the medical device 001 to rise and fall by the opposite distance in the vertical direction, so that the height of the swing point in the vertical direction does not change, and the swing point always coincides with the fixed point of the mechanism.

[0045] Specifically, during minimally invasive surgery, an entry point is marked in the patient's surgical area. The point that coincides with the entry point in space is the intraoperative fixed point. The intraoperative fixed point is not a real structural point, but a point in space. During minimally invasive surgery, the fixed point of the device needs to be aligned with the intraoperative fixed point so that the medical device 001 always moves around the intraoperative fixed point during the minimally invasive surgery. The medical device 001 is inserted into the patient's surgical area through the entry point to form a surgical incision. Since the intraoperative fixed point is the center of motion of the medical device 001, the medical device 001 always passes through the intraoperative fixed point (i.e., the entry point) during the operation. Therefore, the patient has only one surgical incision, and the medical device 001 will not pull on the patient's surgical incision, ensuring the achievement of minimally invasive surgery. The position of the fixed point relative to the surgical robot with dual RCM mechanisms remains unchanged. Driven by the outer and / or inner RCM mechanisms, the medical device 001 always moves around the fixed point. When surgery is required, aligning the fixed point with the intraoperative fixed point ensures that the medical device 001 always moves around the intraoperative fixed point during surgery, resulting in only one surgical incision at the entry point on the patient, thus achieving minimally invasive surgery. The minimally invasive surgical robot uses RCM mechanisms to ensure that the medical device 001 always moves around the intraoperative fixed point during surgery. This application sets up two RCM mechanisms, an outer RCM mechanism and an inner RCM mechanism, each ensuring that the medical device 001 always moves around the intraoperative fixed point. These two RCM mechanisms significantly improve the flexibility of the surgical robot with dual RCM mechanisms.

[0046] In this embodiment, when the surgical robot with dual RCM mechanisms performs minimally invasive surgery, it needs to be aligned in advance to align the mechanism's fixed point with the intraoperative fixed point. This process is achieved through the cooperation of the lifting member 211 and the horizontal telescopic member 212 of the outer RCM mechanism 210, which aligns the mechanism's fixed point with the entry point, i.e., the mechanism's fixed point is aligned with the intraoperative fixed point. Specifically, after the mechanism's fixed point is aligned with the intraoperative fixed point, the horizontal telescopic member 212 stops extending or retracting to prevent the mechanism's fixed point from deviating from the intraoperative fixed point.

[0047] refer to Figure 5 , 79. The swing assembly 213 includes a first driving member 2131, a synchronous belt 2132, and a driven member 2133. The first driving member 2131 is rotatable to drive the synchronous belt 2132 and the driven member 2133 to swing. The first driving member 2131 can drive the driven member 2133 to rotate synchronously through the synchronous belt 2132, so that the driven member 2133 drives the inner RCM mechanism 220, the instrument mounting part 230, and the medical device 001 to swing. The following conditions are met: L1 = L2; θ2 = 2θ1. Wherein, L1 is the shortest distance from the axis of the first driving member 2131 to the axis of the driven member 2133, L2 is the shortest distance from the swing point to the axis of the driven member 2133, L3 is the shortest distance from the swing point to the axis of the first driving member 2131, θ1 is the angle between the line segment corresponding to L1 and the line segment corresponding to L3, and θ2 is the angle between the extension of the line segment corresponding to L1 and the line segment corresponding to L2.

[0048] Specifically, if the horizontal coordinate of the swing point is marked as X, then X = L1sinθ1 - L2sin(θ2 - θ1). Since L1 = L2 and θ2 = 2θ1, we can obtain X = L1sinθ1 - L1sin(2θ1 - θ1) = 0. Thus, when L1 = L2 and θ2 = 2θ1 are always maintained, the horizontal coordinate of the swing point remains unchanged.

[0049] The first driving member 2131 engages with the synchronous belt 2132, and the driven member 2133 engages with the synchronous belt 2132, so that the first driving member 2131 can drive the driven member 2133 to rotate synchronously through the synchronous belt 2132. Specifically, the first driving member 2131 engages with the synchronous belt 2132 through a synchronous pulley, and the driven member 2133 engages with the synchronous belt 2132 through a synchronous pulley.

[0050] In this embodiment, the axis of the first driving member 2131 is perpendicular to the synchronous belt 2132, and the axis of the driven member 2133 is perpendicular to the synchronous belt 2132; the first driving member 2131 and the driven member 2133 are located on the same side of the synchronous belt 2132; the driven member 2133 is generally a columnar structure.

[0051] refer to Figures 5 to 9 The lifting component 211 includes a first lead screw 2111, a first motor 2112, and a main body 3113. The first motor 2112 is disposed within the frame 100. The main body 3113 has a first threaded hole adapted to the first lead screw 2111. One end of the first lead screw 2111 is connected to the first motor 2112, and the other end of the first lead screw 2111 extends into the main body 3113 through the first threaded hole. The first motor 2112 drives the first lead screw 2111 to rotate, thereby changing the length of the first lead screw 2111 extending into the main body 3113, thus causing the main body 3113 to rise and fall; and satisfies the following conditions:

[0052]

[0053] Δθ1 is the change in θ1 when the first driving component drives the synchronous belt to oscillate; Δθ m S is the change in the rotation angle of the output shaft of the first motor when the first motor is used to drive the first lead screw to rotate, and S is the pitch of the lead screw.

[0054] Specifically, if the swing assembly 213 can drive the inner RCM mechanism 220, the instrument mounting component 230, and the medical device 001 to swing, and the height change of the swing point is Δh1, then: Δh1=

L1cos(θ1+Δθ1)+L2cos(θ2+Δθ2-θ1-Δθ1)

L1cosθ1+L2cos(θ2-θ1)

[0055] When the values ​​of Δh1 and Δh2 are always equal and opposite in direction, the height of the swing point can be guaranteed to remain constant. Therefore, when the condition is met... During this time, the height of the swing point remains constant. Specifically, Δθ1 when the first driving member 2131 drives the synchronous belt 2132 to swing clockwise is denoted as forward rotation, and Δθ1 when the first driving member 2131 drives the synchronous belt 2132 to swing counterclockwise is denoted as reverse rotation; Δθ1 when the output shaft of the first motor 2112 rotates clockwise is denoted as forward rotation. m The value Δθ when the output shaft of the first motor 2112 rotates counterclockwise is denoted as forward rotation. m This is recorded as a reversal, where the rotation directions of the first driving component 2131 and the first motor 2112 are opposite, thus ensuring that the directions of Δh1 and Δh2 are opposite.

[0056] refer to Figure 3 The horizontal telescopic member 212 includes a first rod 2121 and a second rod 2122 that are sleeved together. The first rod 2121 is disposed on the lifting member 211, and the second rod 2122 is connected to the swing assembly 213. The second rod 2122 can move along the axial direction of the first rod 2121 so that the sleeve length between the second rod 2122 and the first rod 2121 is adjustable.

[0057] refer to Figure 3The horizontal telescopic member 212 also includes a second lead screw 2123 and a second motor 2124 connected together. One end of the second rod 2122 that is sleeved with the first rod 2121 has a second threaded hole 21211 adapted to the second lead screw 2123. The second motor 2124 is disposed inside the first rod 2121. One end of the second lead screw 2123 is connected to the second motor 2124. The other end of the second lead screw 2123 passes through the second threaded hole 21211 and extends into the second rod 2122. The second motor 2124 is used to drive the second lead screw 2123 to rotate, so that the length of the second lead screw 2123 extending into the second rod 2122 changes, thereby making the sleeve length between the second rod 2122 and the first rod 2121 adjustable.

[0058] refer to Figure 5 The outer RCM mechanism 210 also includes a first rotating member 214, which is disposed between the lifting member 211 and the horizontal telescopic member 212. The first rotating member 214 is used to drive the horizontal telescopic member 212 to rotate around the axis of the first rotating member 214. Specifically, when the surgical robot with dual RCM mechanisms performs minimally invasive surgery, it needs to be aligned in advance to align the mechanism's fixed point with the intraoperative fixed point. This can be achieved through the cooperation of the first rotating member 214, the lifting member 211 of the outer RCM mechanism 210, and the horizontal telescopic member 212. The first rotating member 214 allows the surgical robot with dual RCM mechanisms to be rotated to the corresponding direction without moving the robot itself when performing minimally invasive surgery in different directions.

[0059] Specifically, the first rotating member 214 has a passive rotation structure. When rotation of the first rotating member 214 is required, the operator can manually rotate either the first rotating member 214 or the horizontal telescopic member 212 to achieve rotation. This is convenient to use, eliminates the need for a dedicated drive component, and saves costs. Furthermore, the first rotating member 214 does not need to rotate during surgery, thus its passive rotation structure is sufficient to meet the requirements. In addition, when the first rotating member 214 is driven by a drive component, there will be a slight deviation in angle. When the horizontal telescopic member 212 extends too far, the positional deviation at the other end of the horizontal telescopic member 212 will increase, affecting accuracy. Also, when the horizontal telescopic member 212 extends too far, the rotation of the first rotating member 214 driven by the drive component will cause wobbling. In this embodiment, the first rotating member 214 can be electromagnetically locked. When the first rotating member 214 is energized, it can be rotated by the operator; when the power is off, it is locked and cannot be rotated. In other embodiments, the first rotating member 214 can be driven to rotate by a driving member.

[0060] In this embodiment, one end of the first rotating member 214 is rotatably mounted on the lifting member 211, and the other end of the first rotating member 214 is fixedly connected to the first rod member 2121. The first rotating member 214 can rotate around its own axis to drive the first rod member 2121 to rotate around the axis of the first rotating member 214.

[0061] refer to Figure 5 and Figure 7 The outer RCM mechanism 210 also includes a rotating component 215, which is disposed between the horizontal telescopic member 212 and the swing component 213. The rotating component 215 is used to drive the swing component 213, the inner RCM mechanism 220, the instrument mounting component 230, and the medical device 001 to rotate synchronously around the axis of the rotating component 215. The axis of the rotating component 215 passes through the fixed point of the mechanism. Specifically, the arrangement of the rotating component 215 makes the movement range of the medical device 001 larger and more flexible. For example, if there is interference when the swing of the medical device 001 caused by the outer RCM mechanism 210 at the current position, the rotating component 215 can be used to drive the horizontal telescopic member 212, the swing component 213, the inner RCM mechanism 220, the instrument mounting component 230, and the medical device 001 to rotate together, so that the medical device 001 avoids interference from other equipment and doctors.

[0062] In this embodiment, the rotating component 215 is disposed at the end of the second rod 2122 away from the first rod 2121.

[0063] refer to Figure 7 The rotating assembly 215 includes a rotating member 2151 and a connecting member 2152. The rotating member 2151 is disposed on the horizontal telescopic member 212. One end of the connecting member 2152 is connected to the rotating member 2151, and the other end of the connecting member 2152 is connected to the swing assembly 213. The axis of the rotating member 2151 passes through the fixed point of the mechanism.

[0064] refer to Figure 4 The inner RCM mechanism 220 includes a second drive member 221 and a double parallelogram mechanism 222 connected to each other. The second drive member 221 is disposed on the swing assembly 213, and the instrument mounting member 230 is disposed on the double parallelogram mechanism 222. The second drive member 221 is used to drive the double parallelogram mechanism 222 to swing, thereby driving the instrument mounting member 230 and the medical device 001 to swing, so that the medical device 001 swings around the swing point, thereby adjusting the posture of the medical device 001.

[0065] Specifically, the working principle of the double parallelogram mechanism 222 of the present invention is the same as that of the double parallelogram mechanism in the RCM mechanism of the prior art minimally invasive surgical robot, that is, through the mutual constraint between multiple parallelogram mechanisms, the position of the centroid in space of the entire mechanism remains unchanged during the movement; wherein the centroid corresponds to the swing point in the present invention. For example, the present invention can directly adopt the double parallelogram mechanism 222 of application application number CN212346589U.

[0066] refer to Figure 4 , Figure 7 and Figure 8 The double parallelogram mechanism 222 includes a first link 2221, a second link 2222, a third link 2223, a fourth link 2224, and a fifth link 2225. The instrument mounting component 230 is mounted on the second link 2222. One end of the first link 2221 and the second link 2222 are hinged together. The other end of the second link 2222 is hinged to the third link 2223. The end of the third link 2223 away from the second link 2222 is hinged to the fourth link 2224. The fourth link 2224 is connected to the driving end of the second driving component 221. The first link 2221 is not hinged to the second link 2222. One end of the third link 2223 is hinged to the fifth link 2225, which is hinged to the side wall of the second drive member 221. The middle part of the third link 2223 is hinged to the middle part of the fifth link 2225. The second drive member 221 is used to drive the fourth link 2224 to swing. The swing of the fourth link 2224 drives the third link 2223 to swing. The swing of the third link 2223 drives the fifth link 2225 and the first link 2221 to swing. The fifth link 2225 and the first link 2221 drive the second link 2222 to swing, so that the second link 2222 drives the device mounting member 230 and the medical device 001 to swing. Specifically, the hinge between the middle part of the third link 2223 and the middle part of the fifth link 2225 means that the non-end positions of the third link 2223 and the non-end positions of the fifth link 2225 are hinged.

[0067] Specifically, refer to Figure 8Let point A be the driving end of the second driving member 221, point B be the hinge point between the fifth link 2225 and the second driving member 221, point C be the hinge point between the fifth link 2225 and the third link 2223, and point D be the hinge point between the fourth link 2224 and the third link 2223. Points ABCD form parallelogram ABCD. Let point E be the hinge point between the fifth link 2225 and the first link 2221, point F be the hinge point between the first link 2221 and the second link 2222, and point G be the hinge point between the second link 2222 and the third link 2223. Points CEFG form parallelogram CEFG. The double parallelogram mechanism 222 forms two parallelograms, ABCD and CEFG. Specifically, under the drive of the second drive member 221, the two parallelogram mechanisms ABCD and CEFG constrain each other to realize the swing of medical device 001 around the swing point.

[0068] In addition, refer to Figure 8 The intersection of the extensions of AB and FG is denoted as O, which is the fixed point of the mechanism. The intersection of the extensions of AD and FE is denoted as H. AHFO forms a large parallelogram. Points A and B are fixed relative to the second driving member 221. AO is on the extension of AB. When the second driving member 221 drives the fourth link 2224 to swing, the side AH of the parallelogram AHFO swings around point A, and since points A and B are fixed, the side FO swings around point O. This makes point O of the parallelogram mechanism AHFO stationary during the swing, thus realizing the swing of the medical device 001 around the swing point.

[0069] refer to Figure 8 The fifth link 2225 is a curved link, with its middle section bent away from the second drive member 221. Specifically, the bending of the fifth link 2225 away from the second drive member 221 causes the second drive member 221 to drive the fourth link 2224 to swing, indirectly driving the fifth link 2225 to swing. During the swinging process, the middle section of the fifth link 2225 is less likely to collide with the second drive member 221, thus allowing the fifth link 2225 to swing at a larger angle, which in turn allows the medical device 001 to swing at a larger angle.

[0070] refer to Figure 4 and Figure 8In this embodiment, the outer periphery of the second driving member 221 is curved, and the curvature of the fifth link 2225 is approximately the same as that of the outer periphery of the second driving member 221. Therefore, the fifth link 2225 is less likely to collide with the second driving member 221 during its swing. If the fifth link 2225 were a straight rod, it would quickly collide with the outer periphery of the second driving member 221 when swinging towards it. Specifically, the outer periphery of the second driving member 221 is circular or nearly circular.

[0071] Further, refer to Figure 8 The first link 2221, the second link 2222, the third link 2223 and the fourth link 2224 are all curved links. The first link 2221 and the third link 2223 have the same bending direction, and the second link 2222 and the fifth link 2225 have the same bending direction.

[0072] refer to Figure 8 The double parallelogram mechanism 222 also includes a reinforcing rod 2226. One end of the reinforcing rod 2226 is hinged to the middle of the first connecting rod 2221, and the other end of the reinforcing rod 2226 is hinged to the third connecting rod 2223. The reinforcing rod 2226 is arranged parallel to the second connecting rod 2222. Specifically, the reinforcing rod 2226 is used to enhance the stability and structural strength of the double parallelogram mechanism 222, making the double parallelogram mechanism 222 more reliable.

[0073] refer to Figure 2 and Figure 4 The inner RCM mechanism 220 also includes a second rotating member 223. The second driving member 221 is mounted on the swing assembly 213 via the second rotating member 223. The second rotating member 223 drives the second driving member 221, the double parallelogram mechanism 222, the instrument mounting member 230, and the medical device 001 to rotate around the axis of the second rotating member 223. The axis of the second rotating member 223 passes through the mechanism's fixed point. Specifically, the second rotating member 223 can drive the second driving member 221, the double parallelogram mechanism 222, the instrument mounting member 230, and the medical device 001 to rotate together, resulting in a larger range of motion and higher flexibility for the medical device 001.

[0074] In this embodiment, the second rotating member 223 is disposed on the driven member 2133, and the second driving member 221 is connected to the second rotating member 223; further, the axis of the second rotating member 223 is perpendicular to the axis of the driven member 2133.

[0075] Further, refer to Figure 7A first light emitter 300 is mounted on the axis of the second rotating member 223, and the first light emitter 300 can emit laser light along the axis of the second rotating member 223. A second light emitter 400 is mounted on the axis of the rotating member 2151, and the second light emitter 400 can emit laser light along the axis of the rotating member 2151. The intersection of the laser light emitted by the first light emitter 300 and the laser light emitted by the second light emitter 400 is the fixed point of the mechanism. In this embodiment, since the fixed point of the mechanism has no physical form, it is represented by the intersection of the laser light emitted by the first light emitter 300 and the second light emitter 400, thereby facilitating the alignment of the fixed point of the mechanism with respect to the intraoperative fixed point. Specifically, the first light emitter 300 and the second light emitter 400 are laser emitters.

[0076] Specifically, when performing minimally invasive surgery with a surgical robot equipped with a dual RCM mechanism, and prior alignment is required, the first light emitter 300 and the second light emitter 400 are opened. The cooperation of the first rotating component 214, the lifting component 211 of the outer RCM mechanism 210, and the horizontal telescopic component 212 aligns the laser intersection point with the incision point, thus completing the alignment. The laser intersection point is easily identifiable, enabling convenient and reliable alignment. Since the laser intersection point is a stationary point of the mechanism, aligning the laser intersection point with the incision point achieves alignment between the stationary point of the mechanism and the stationary point during the operation.

[0077] Furthermore, the inner RCM mechanism 220 also includes a push-pull component connected to the medical device 001. The push-pull component is used to push and pull the medical device 001 so that the medical device 001 moves along its own axis. Specifically, the push-pull component allows the medical device 001 to be inserted into the patient's surgical area to an adjustable depth via the entry point. However, since the axis of the medical device 001 passes through the mechanism's fixed point, and the mechanism's fixed point is aligned with the intraoperative fixed point during surgery, the only intersection between the medical device 001 and the surface skin of the patient's surgical area is the intraoperative fixed point (i.e., the entry point), thus preventing other surgical incisions from appearing on the patient.

[0078] In this embodiment, the push-pull component pushes and pulls the medical device 001 so that when the medical device 001 moves along its own axis, the intersection point of the medical device 001 and the fixed point of the mechanism changes, that is, the position of the swing point on the medical device 001 changes, but the swing point always coincides with the fixed point of the mechanism.

[0079] refer to Figure 1 The frame 100 includes a frame body 110 and a caster 120, with the caster 120 located at the bottom of the frame body 110.

[0080] There are multiple rotating wheels 120, which are spaced apart at the bottom of the frame 110. In this embodiment, there are four rotating wheels 120.

[0081] Specifically, the 120 caster wheel is a universal wheel that can be locked.

[0082] The frame 100 also includes a handle 130, which is disposed on the frame 110.

[0083] refer to Figure 1-9 The coordinated actions of the various mechanisms in this invention are as follows:

[0084] Alignment of medical device 001: Mark an entry point in the patient's surgical area, open the first light emitter 300 and the second light emitter 400, and adjust the position of the medical device 001 and other structures in space through the coordinated operation of the lifting member 211, the horizontal telescopic member 212 and the first rotating member 214 of the outer RCM mechanism 210, so as to align the intersection of the laser emitted by the first light emitter 300 and the second light emitter 400 with the entry point, thereby achieving the alignment of the fixed point of the mechanism with the fixed point during the operation, thus completing the alignment;

[0085] The procedure involves pushing and pulling the medical device 001, causing it to move along its own axis. This allows the medical device 001 to be inserted into the patient's surgical area via the access point. Subsequently, depending on the surgical needs, the medical device 001 can be swung around a swing point via the double parallelogram mechanism 222 of the inner RCM mechanism 220, or rotated around the axis of the second rotating member 223 passing through the mechanism's fixed point via the second rotating member 223. Furthermore, if the robotic arm 200 might collide with other equipment or the doctor when adjusting the position of the medical device 001 via the inner RCM mechanism 220, the swing component 213 and the lifting component 211 of the outer RCM mechanism 210 can be used to swing the medical device 001 around a swing point, or rotated around the axis of the rotating member 2151 passing through the mechanism's fixed point via the rotating member 2151. This avoids collisions between the robotic arm 200 and other equipment or the doctor when adjusting the position of the medical device 001, eliminating the need for additional adjustments to other equipment or repositioning of the doctor. The cooperation between the inner RCM mechanism 220 and the outer RCM mechanism 210 greatly enhances the flexibility of the surgical robot with dual RCM mechanisms.

[0086] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent device transformations made based on the inventive concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A surgical robot with a dual RCM mechanism for driving a medical instrument to move around a fixed point of the mechanism, wherein the axis of the medical instrument passes through the fixed point of the mechanism, and the portion of the axis of the medical instrument passing through the fixed point of the mechanism is designated as a swing point, characterized in that, include: frame; A robotic arm includes an outer RCM mechanism, an inner RCM mechanism, and an instrument mounting component. The outer RCM mechanism is mounted on the frame, and the inner RCM mechanism is connected to the outer RCM mechanism via a transmission connection. The instrument mounting component is located at the end of the inner RCM mechanism away from the outer RCM mechanism, and the instrument mounting component is used to mount the medical device. The outer RCM mechanism includes a lifting member, a horizontal telescopic member, and a swing assembly connected in sequence. The swing assembly is connected to the inner RCM mechanism and can drive the inner RCM mechanism, the device mounting component, and the medical device to swing, so that the horizontal and vertical positions of the swing point remain unchanged. The lifting member is communicatively connected to the swing assembly and is used to drive the medical device to swing when the swing assembly drives the medical device to swing, so that when the swing point rises or falls, the lifting member drives the medical device to rise or fall by the opposite distance, thereby keeping the height position of the swing point unchanged. The inner RCM mechanism is used to drive the device mounting and the medical device to swing, so that the medical device swings around the swing point, thereby adjusting the posture of the medical device. The oscillating assembly includes a first driving member, a synchronous belt, and a driven member. The first driving member is rotatable to drive the synchronous belt and the driven member to oscillate. Furthermore, the first driving member can drive the driven member to rotate synchronously via the synchronous belt, so that the driven member drives the inner RCM mechanism, the device mounting component, and the medical device to oscillate; and satisfies the following conditions: L1=L2; =2 ; Wherein, L1 is the shortest distance from the axis of the first driving member to the axis of the driven member, L2 is the shortest distance from the swing point to the axis of the driven member, and L3 is the shortest distance from the swing point to the axis of the first driving member. Let L1 be the angle between the line segment corresponding to L1 and the line segment corresponding to L3. The angle between the extension of the line segment corresponding to L1 and the line segment corresponding to L2; The lifting component includes a first lead screw, a first motor, and a main body. The first motor is disposed within the frame. The main body has a first threaded hole adapted to the first lead screw. One end of the first lead screw is connected to the first motor, and the other end of the first lead screw extends into the main body through the first threaded hole. The first motor drives the first lead screw to rotate, thereby changing the length of the first lead screw extending into the main body, thus causing the main body to rise and fall; and satisfies the following condition: When the first driving member drives the timing belt to swing, The change in; S is the change in the rotation angle of the output shaft of the first motor when the first motor is used to drive the first lead screw to rotate, and S is the pitch of the lead screw.

2. The surgical robot with a dual RCM mechanism as described in claim 1, characterized in that, The horizontal telescopic component includes a first rod and a second rod that are sleeved together. The first rod is disposed on the lifting component, and the second rod is connected to the swing assembly. The second rod can move along the axial direction of the first rod so that the sleeve length between the second rod and the first rod is adjustable.

3. The surgical robot with a dual RCM mechanism as described in claim 1, characterized in that, The outer RCM mechanism further includes a first rotating member, which is disposed between the lifting member and the horizontal telescopic member. The first rotating member is used to drive the horizontal telescopic member to rotate around the axis of the first rotating member.

4. The surgical robot with a dual RCM mechanism as described in claim 1, characterized in that, The outer RCM mechanism further includes a rotating component, which is disposed between the horizontal telescopic member and the swing component. The rotating component is used to drive the swing component, the inner RCM mechanism, the device mounting component, and the medical device to rotate synchronously around the axis of the rotating component. The axis of the rotating component passes through the fixed point of the mechanism.

5. The surgical robot with a dual RCM mechanism as described in claim 4, characterized in that, The rotating assembly includes a rotating component and a connecting component. The rotating component is disposed on the horizontal telescopic component. One end of the connecting component is connected to the rotating component, and the other end of the connecting component is connected to the swing assembly. The axis of the rotating component passes through the stationary point of the mechanism.

6. The surgical robot with a dual RCM mechanism as described in claim 1, characterized in that, The inner RCM mechanism includes a second drive member and a double parallelogram mechanism connected to each other. The second drive member is disposed on the swing assembly, and the device mounting member is disposed on the double parallelogram mechanism. The second drive member is used to drive the double parallelogram mechanism to swing, thereby causing the device mounting member and the medical device to swing, so that the medical device swings around the swing point, thereby adjusting the posture of the medical device.

7. The surgical robot with a dual RCM mechanism as described in claim 6, characterized in that, The inner RCM mechanism further includes a second rotating member. The second driving member is disposed on the swing assembly via the second rotating member. The second rotating member is used to drive the second driving member, the double parallelogram mechanism, the device mounting member, and the medical device to rotate around the axis of the second rotating member. The axis of the second rotating member passes through the fixed point of the mechanism.

8. The surgical robot with a dual RCM mechanism as described in claim 1, characterized in that, The inner RCM mechanism also includes a push-pull member connected to the medical device. The push-pull member is used to push and pull the medical device to move it along its own axis.

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