A retinal surgery robot based on a dual-plane remote center of motion mechanism

Abstract

The application discloses a retinal surgery robot based on a double-plane remote center of motion mechanism, which comprises two orthogonal plane mechanisms, namely a plane mechanism 1 and a plane mechanism 2, wherein the plane mechanism 1 has one rotation degree of freedom and one translation degree of freedom, and the plane mechanism 2 has one rotation degree of freedom; the two plane mechanisms are connected to respective racks and connected to a bottom plate; the robot comprises three servo motors for controlling three degrees of freedom of the robot; the whole robot forms a remote center of motion at the orthogonal point O in the axial direction of the two plane mechanisms, and rotation and translation are both around the point. Compared with the prior art remote center of motion robot, the application has greater advantages and safety for ophthalmic surgery.

Description

Technical Field

[0001] This invention belongs to the field of mechanical and robotic technology, particularly the field of ophthalmic surgical robot technology, and especially relates to a retinal surgical robot based on a dual-plane remote motion center mechanism. Background Technology

[0002] With the development of minimally invasive ophthalmic surgery (MIOS), vitreoretinal surgeries for retinal diseases such as macular degeneration have emerged. These surgeries have demonstrated safety through animal studies and have successfully completed several human clinical trials. However, retinal surgery demands extremely high precision: the procedure is performed through a scleral incision less than 1 mm in diameter, targeting retinal tissue as thin as 25 μm, while the amplitude of a surgeon's physiological hand tremor is around 182 μm, which cannot meet the required accuracy. Therefore, the injection of intraretinal stem cells is difficult to perform manually using traditional methods, necessitating the development of retinal surgical robots to perform or assist in the surgery.

[0003] In MIOS (Mixed Ocular Surgical Operation), surgical instruments are inserted into the eye through a scleral incision and used for various procedures throughout the surgery. To address this, Taylor et al. proposed a remote center-of-motion (RCM) mechanism (Taylor RH, Funda J, Grossman DD, et al. remote center-of-motion robot for surgery [P]. US patent 5397323, 1995, Oct.). The end effector of an RCM mechanism moves around a fixed point, which lacks an actual mechanical structure. RCM-based robots are better suited for MIOS than traditional serial robotic arms because they restrict the movement of the robot's end effector through mechanical structures, thus reducing degrees of freedom and motion coupling. Among various RCM mechanisms, parallelogram-based RCM mechanisms offer advantages such as simple structure, stability, and consistent motion, and have been widely used in ophthalmic surgical robots.

[0004] For parallelogram-based reciprocating motor (RCM) mechanisms used in surgical robots, the end effector typically has two or three rotational degrees of freedom and one translational degree of freedom. Currently, most parallelogram-based RCM surgical robots place the drive motors at or near the end effector, which not only increases the size of the end effector and compresses the surgical space but also makes it difficult to install structures such as the actuator's self-locking mechanism. Therefore, designing new mechanisms to allow the actuator to be placed at the distal end is a primary concern in the development of mechanical structures for this type of robot.

[0005] Recent studies have proposed several parallelogram-based RCM mechanisms with linear actuators mounted closer to the base. Lin et al. proposed a passive link mechanism that places the actuator at the distal end of the base. (Lin RF, GuoW Z, Cheng SS. Type synthesis of 2R1T remote center of motion parallel mechanisms with a passive limb for minimally invasive surgical robot[J]. Mechanism and Machine Theory, 2022, 172: 104766.). Zhang et al. introduced additional parallel links into the traditional parallelogram mechanism, thereby converting the rotational motion of the base into the translational motion of the surgical instrument (Zhang F, Zhang X, Hang LB, et al. Type synthesis of n-parallelogram-based surgical arm with remoteactuated configuration[M]. Lecture Notes in Electrical Engineering, 2017, 408: 183-194.). Gijbels et al. designed a novel parallelogram RCM mechanism by increasing the number of parallelograms. This mechanism introduces translational joints near the base, making it easier to control (Gijbels A, Wouters N, Stallmans P, et al. Design and realization of a novel robotic manipulator for retinal surgery[C]. IEEE / RSJ International Conference on Intelligent Robots and Systems(IROS),2013:3598-3603.).

[0006] For the improved mechanism described above, its translational motion is usually achieved by more than one actuator, which leads to motion coupling and introduces a slight control error that cannot be ignored in MIOS.

[0007] In summary, the main drawbacks of existing ophthalmic surgical robots based on remote motion centers are: the actuators cannot be placed at the distal end, the end-effectors are bulky, motion coupling is problematic, and control is difficult. Summary of the Invention

[0008] The purpose of this invention is to address the problems existing in the prior art by proposing an ophthalmic surgical robot for vitreoretinal surgery, based on a parallelogram remote motion center mechanism, consisting of two planar mechanisms, which enables the actuator to be placed at the distal end of the base.

[0009] The technical solution to achieve the purpose of this invention is as follows: a retinal surgery robot based on a dual-plane remote motion center mechanism. The robot includes two orthogonal planar mechanisms, referred to as planar mechanism 1 and planar mechanism 2, respectively. Planar mechanism 1 has one rotational degree of freedom and one translational degree of freedom, and planar mechanism 2 has one rotational degree of freedom. The two planar mechanisms are respectively connected to their respective frames and to a base plate. The robot includes three servo motors, which are used to control the three degrees of freedom of the robot. The entire robot forms a remote motion center at the orthogonal point O in the axial directions of the two planar mechanisms, and its rotation and translation are both around this point.

[0010] Further, the planar mechanism 1 includes a first base and a first motor mounted on its frame, a first rod assembly and a second motor mounted on the first base; the first rod assembly includes a driving parallelogram rod assembly, a follower parallelogram rod assembly and an end parallelogram rod assembly, on which surgical instruments are mounted; the second motor drives the driving parallelogram rod assembly to rotate in an axial direction parallel to the planar mechanism 1, thereby driving the follower parallelogram rod assembly to rotate in the same direction, and further driving the end parallelogram rod assembly to rotate in the same direction and perform vertical translation; the first motor drives the first base to rotate around the axial direction of the planar mechanism 1, thereby driving the first rod assembly to rotate synchronously.

[0011] Furthermore, the frame of the planar mechanism 1 includes a first bearing seat, a second bearing seat, and a first motor seat, which are mounted on the base plate and arranged coaxially in sequence. The first bearing seat is close to the orthogonal point O. The protruding shafts at both ends of the first base are respectively mounted on the first bearing seat and the second bearing seat through bearings. The first motor is mounted on the first motor seat, and the output shaft of the first motor is connected to the protruding shaft of the first base on the second bearing seat through a coupling.

[0012] Further, the driving parallelogram rod assembly includes a first rocker, a second rocker, a third rocker, and a first horizontal rod 8; the follower parallelogram rod assembly includes a fourth rocker, a fifth rocker, a second horizontal rod, and the first horizontal rod 8; the end parallelogram rod assembly includes a sixth rocker, a third horizontal rod, an instrument seat, and the second horizontal rod; the surgical instruments are mounted on the instrument seat; the first base is a rectangular frame structure; the first rocker and the third rocker are respectively mounted on opposite inner walls of the first base along the axial direction of the planar mechanism 1, and are arranged parallel to each other; one end of the first rocker is hinged to the first base and has an extension shaft, which is connected to the extension shaft of the second motor via a coupling; two parallel first flange shafts and second flange shafts are arranged between the two inner walls on which the first rocker and the third rocker are mounted; the second rocker and the third rocker are located on the same straight line and are arranged parallel to each other; one end of the second rocker is hinged to the second flange shaft; the other ends of the first rocker and the third rocker are connected by a... The instrument base is connected via a third flange shaft. One end of the fourth rocker arm and one end of the first horizontal bar are hinged to the third flange shaft via bearings. The other end of the fourth rocker arm is hinged to one end of the second horizontal bar, and the other end of the first horizontal bar is hinged to the other end of the second rocker arm. Both ends of the fifth rocker arm are hinged to the middle of the second horizontal bar and the other end of the second rocker arm, respectively. A first linear bearing seat is hinged to the first flange shaft, and a first linear bearing is fixedly mounted on the first linear bearing seat. A first guide rod is provided on the first linear bearing to form a sliding pair, and the first guide rod moves along the axial direction of the first linear bearing. One end of the sixth rocker arm is hinged to the middle of the second horizontal bar, and the other end is hinged to one end of the third horizontal bar. Both ends of the instrument base are hinged to the other ends of the second horizontal bar and the third horizontal bar, respectively. A second guide rod is fixed on the instrument base. The first, second, and third horizontal bars are arranged in parallel, as are the fourth and fifth rocker arms. The instrument base is arranged in parallel with the sixth rocker arm.

[0013] Furthermore, the third flange shaft is fixed to the first rocker arm by bolts and is hinged to the third rocker arm by bearings. During the movement of the planar mechanism 1, the movements of the first rocker arm and the third rocker arm are always consistent.

[0014] Furthermore, the planar mechanism 2 includes a second base and a third motor mounted on its frame, and a second rod assembly mounted on the second base; the second rod assembly includes a transmission parallelogram rod assembly; the second rod assembly rotates along an axial direction parallel to the planar mechanism under the drive of the planar mechanism 1; the third motor drives the second base to rotate around the axial direction of the planar mechanism, thereby driving the second rod assembly to rotate synchronously, and at the same time, together with the second motor, drives the transmission parallelogram rod assembly to rotate along an axial direction parallel to the planar mechanism 1.

[0015] Furthermore, the frame of the planar mechanism 2 includes a third bearing seat, a fourth bearing seat, and a second motor seat, which are mounted on the base plate and arranged coaxially in sequence. The third bearing seat is close to the orthogonal point O. The protruding shafts at both ends of the second base 34 are respectively mounted on the third bearing seat and the fourth bearing seat through bearings. The third motor is mounted on the second motor seat, and the output shaft of the third motor is connected to the protruding shaft of the second base on the fourth bearing seat through a coupling.

[0016] Further, the transmission parallelogram rod assembly includes a seventh rocker, an eighth rocker, a fourth horizontal rod, and a fifth horizontal rod; the second base is a rectangular frame structure, with two parallel fourth and fifth flange shafts arranged between the opposite inner walls perpendicular to the axial direction of the planar mechanism 2; one end of the seventh rocker is hinged to the fourth flange shaft, one end of the eighth rocker is hinged to the fifth flange shaft, and the seventh and eighth rockers are respectively located on the opposite inner walls; the other end of the seventh rocker is hinged to one end of the fourth horizontal rod and simultaneously to one end of the fifth horizontal rod, and the eighth... The other end of the rocker arm is hinged to the middle of the fifth horizontal bar and the middle of the fourth horizontal bar; the fourth and fifth horizontal bars are not in the same plane; a second linear bearing seat is hinged between the other end of the fourth horizontal bar and the other end of the fifth horizontal bar, and a second linear bearing is fixedly installed on the second linear bearing seat; the second linear bearing 33 cooperates with the second guide rod of the planar mechanism 1 to form a sliding pair, connecting the planar mechanism 1 and the planar mechanism 2, and the second guide rod moves along the axial direction of the second linear bearing; the seventh and eighth rocker arms are arranged in parallel, and the fourth and fifth horizontal bars are arranged in parallel.

[0017] Furthermore, when the planar mechanism 1 and planar mechanism 2 move, all horizontal rods remain horizontal.

[0018] Compared with the prior art, the significant advantages of this invention are:

[0019] 1) It is composed of two planar remote motion center mechanisms. The configuration of the planar mechanism is based on the parallelogram mechanism, which utilizes the advantages of the double parallelogram mechanism. All the links of the parallelogram mechanism are used as passive links, which only realize motion constraints, while the support of the planar mechanism is used as the active member. This design can make the control more intuitive and simple, and this is something that has not been proposed in previous remote motion center mechanisms.

[0020] 2) The planar mechanism 1 uses a multi-parallelogram mechanism with two degrees of freedom. It can realize a translational motion and a rotational motion through a mechanical structure without the need to install an additional motor on the end surgical instrument. This reduces the overall weight and volume, improves safety, and is more in line with the requirements of medical robots.

[0021] 3) Using a dual-plane mechanism to synthesize a robot, the overall rotation of each plane mechanism is driven by a motor attached to the other plane mechanism. This eliminates the need to use the traditional cantilever beam plus rotary table method to achieve the rotation of the entire robot mechanism. This can fundamentally avoid the problems caused by the cantilever beam structure, namely bending deformation and being limited by the driving torque of the rotary table.

[0022] 4) All drive motors are located at the end of the base furthest from the surgical area. This allows for easy installation of various control devices, self-locking devices, etc., on the motors. For medical robots, self-locking devices are essential for safety, which leads to excessively large motors and their associated devices. Designs that place the motors near the surgical area or directly on the distal surgical instruments would inevitably result in excessive load. However, placing the motors at the far end of the surgical area and installing them directly on the bottom platform avoids this problem.

[0023] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a retinal surgery robot based on a dual-plane remote motion center mechanism in one embodiment.

[0025] Figure 2 This is a schematic diagram of planar mechanism 1 in one embodiment.

[0026] Figure 3 This is a schematic diagram of the rod portion of the planar mechanism 1 in one embodiment.

[0027] Figure 4 A supplementary schematic diagram of planar mechanism 1 in one embodiment is provided.

[0028] Figure 5 This is a schematic diagram of the overall planar mechanism 1 in one embodiment.

[0029] Figure 6 This is a schematic diagram of planar mechanism 2 in one embodiment.

[0030] Figure 7 This is a schematic diagram of planar mechanism 2 in one embodiment. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0032] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0033] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions 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, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, 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. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0034] In one embodiment, combined Figure 1 A retinal surgery robot based on a dual-plane remote motion center mechanism is provided. The robot includes two orthogonal planar mechanisms, denoted as planar mechanism 1 and planar mechanism 2, respectively. Planar mechanism 1 has one rotational degree of freedom and one translational degree of freedom, while planar mechanism 2 has one rotational degree of freedom. The two planar mechanisms are respectively connected to their respective frames and to a base plate. The robot includes three servo motors, which are used to control the three degrees of freedom of the robot. The entire robot forms a remote motion center at the orthogonal point O in the axial directions of the two planar mechanisms, and its rotation and translation are both around this point.

[0035] Furthermore, in one embodiment, Figure 2 This is a schematic diagram of planar mechanism 1. AI, BC, DE, HK, FG, HF, JD, KE, DB, and EC are linkages connected by hinges. Point A is a hinged slider, forming a combined rotational and translational mechanism. In the entire mechanism, angles θ1, θ2, and θ3 are used as input parameters and controlled by a motor. θ2 and θ3 are respectively... Figure 1 The second motor 2 and the first motor 3 are controlled by θ1. Figure 1 The third motor 1 in the mechanism is controlled. θ1 and θ2 are also used as output parameters, and the mechanism also has a translation output parameter d. All three motions revolve around the remote motion center O.

[0036] Combination Figures 3 to 5The planar mechanism 1 includes a first base 19 and a first motor 3 mounted on its frame, a first rod assembly and a second motor 2 mounted on the first base 19; the first rod assembly includes a driving parallelogram rod assembly, a follower parallelogram rod assembly and an end parallelogram rod assembly, on which surgical instruments are mounted; the second motor 2 drives the driving parallelogram rod assembly to rotate in an axial direction parallel to the planar mechanism 1, thereby driving the follower parallelogram rod assembly to rotate in the same direction, and further driving the end parallelogram rod assembly to rotate in the same direction and perform vertical translation; the first motor 3 drives the first base 19 to rotate around the axial direction of the planar mechanism 1, thereby driving the first rod assembly to rotate synchronously.

[0037] The frame of the planar mechanism 1 includes a first bearing seat 24, a second bearing seat 25, and a first motor seat 27, which are mounted on the base plate 4 and arranged coaxially in sequence. The first bearing seat 24 is close to the orthogonal point O. The protruding shafts at both ends of the first base 19 are respectively mounted on the first bearing seat 24 and the second bearing seat 25 through bearings. The first motor 3 is mounted on the first motor seat 27. The output shaft of the first motor 3 is connected to the protruding shaft of the first base 19 on the second bearing seat 25 through a coupling 26.

[0038] The driving parallelogram rod assembly includes a first rocker arm 5, a second rocker arm 6, a third rocker arm 7, and a first horizontal rod 8. The follower parallelogram rod assembly includes a fourth rocker arm 9, a fifth rocker arm 10, a second horizontal rod 11, and the first horizontal rod 8. The end parallelogram rod assembly includes a sixth rocker arm 12, a third horizontal rod 13, an instrument base 14, and the second horizontal rod 11. Surgical instruments (such as needles, forceps, etc.) are mounted on the instrument base 14. The first base 19 is a rectangular frame structure. The first rocker arm 5 and the third rocker arm 7 are respectively mounted on opposite inner walls of the first base 19 along the axial direction of the planar mechanism 1, and are arranged parallel to each other. One end of the first rocker arm 5 is connected to the first horizontal rod 8. The base 19 is hinged and has an extension shaft, which is connected to the extension shaft of the second motor 2 via a coupling 22. Two parallel first flange shafts 20 and second flange shafts 21 are provided between the two inner walls on which the first rocker arm 5 and the third rocker arm 7 are mounted. The second rocker arm 6 and the third rocker arm 7 are located on the same straight line and are arranged in parallel. One end of the second rocker arm 6 is hinged to the second flange shaft 21. The other end of the first rocker arm 5 and the other end of the third rocker arm 7 are connected by a third flange shaft 23. The third flange shaft 23 is fixed to the first rocker arm 5 by bolts and is hinged to the third rocker arm 7 by bearings. During the movement of the planar mechanism 1, the movements of the first rocker arm 5 and the third rocker arm 7 are always consistent. One end of the fourth rocker arm 9 and one end of the first horizontal bar 8 are hinged to the third flange shaft 23 via bearings. The other end of the fourth rocker arm 9 is hinged to one end of the second horizontal bar 11, and the other end of the first horizontal bar 8 is hinged to the other end of the second rocker arm 6. The two ends of the fifth rocker arm 10 are respectively hinged to the middle of the second horizontal bar 11 and the other end of the second rocker arm 6. A first linear bearing seat 18 is hinged to the first flange shaft 20, and a first linear bearing 17 is fixedly mounted on the first linear bearing seat 18. A first guide rod 16 is provided on the first linear bearing 17 to form a sliding pair. The first guide rod 16 moves along the first linear bearing 17. The axial movement of 7 (the entire end parallelogram rod assembly can slide along the axis of guide rod 16 through a sliding pair, thereby giving the end of the mechanism translational freedom); one end of the sixth rocker 12 is hinged to the middle of the second horizontal rod 11, and the other end is hinged to one end of the third horizontal rod 13; both ends of the instrument base 14 are respectively hinged to the other ends of the second horizontal rod 11 and the third horizontal rod 13, and the second guide rod 15 is fixed on the instrument base 14; the first horizontal rod 8, the second horizontal rod 11 and the third horizontal rod 13 are arranged in parallel, and the fourth rocker 9 and the fifth rocker 10 are arranged in parallel; the instrument base 14 is arranged in parallel with the sixth rocker 12.

[0039] Here, the second motor 2 acts as a driving component to rotate the driving parallelogram rod group, which in turn drives the follower parallelogram rod group to jointly control the distance from the instrument seat 14 to the remote motion center O (surgical area point O).

[0040] Here, as Figure 4 As shown, in order to ensure the stability of the mechanism and to distribute the load evenly on both sides of the first base, a flange shaft 23 is introduced to connect the first rocker arm 5, the third rocker arm 7, the first horizontal bar 8 and the fourth rocker arm 9.

[0041] Furthermore, in one embodiment, Figure 5 This is a schematic diagram of planar mechanism 2. LM, NQ, RT, RL, SM, and TQ are connecting rods linked by hinges. The entire mechanism has one rotational degree of freedom. This mechanism is orthogonal to the plane of planar mechanism 1, and the remote motion centers of the two mechanisms coincide at point O. Angle θ1 is controlled by the first motor 3, and angle θ2 is controlled by the second motor 2.

[0042] Combination Figures 6 to 7 The planar mechanism 2 includes a second base 34 and a third motor 1 mounted on its frame, and a second rod assembly mounted on the second base 34. The second rod assembly includes a transmission parallelogram rod assembly. The second rod assembly rotates and translates vertically along an axial direction parallel to the planar mechanism 2 under the drive of the planar mechanism 1. The third motor 1 drives the second base 34 to rotate around the axial direction of the planar mechanism 2, thereby driving the second rod assembly to rotate synchronously.

[0043] The frame of the planar mechanism 2 includes a third bearing seat 39, a fourth bearing seat 38, and a second motor seat 37, which are mounted on the base plate 4 and arranged coaxially in sequence. The third bearing seat 39 is close to the orthogonal point O. The protruding shafts at both ends of the second base 34 are respectively mounted on the third bearing seat 39 and the fourth bearing seat 38 through bearings. The third motor 1 is mounted on the second motor seat 37. The output shaft of the third motor 1 is connected to the protruding shaft of the second base 34 on the fourth bearing seat 38 through a coupling 40.

[0044] The transmission parallelogram rod assembly includes a seventh rocker 28, an eighth rocker 29, a fourth horizontal rod 30, and a fifth horizontal rod 31; the second base 34 is a rectangular frame structure, with two parallel fourth flange shafts 35 and fifth flange shafts 36 arranged between the opposite inner walls perpendicular to the axial direction of the planar mechanism 2; one end of the seventh rocker 28 is hinged to the fourth flange shaft 35, one end of the eighth rocker 29 is hinged to the fifth flange shaft 36, and the seventh rocker 28 and the eighth rocker 29 are respectively located on the opposite inner walls; the other end of the seventh rocker 28 is hinged to one end of the fourth horizontal rod 30 and simultaneously to one end of the fifth horizontal rod 31; the other end of the eighth rocker 29 is hinged to the middle of the fifth horizontal rod 31, the fourth horizontal rod 30, and the fifth horizontal rod 31. The fourth horizontal bar 30 is hinged at the middle; the fourth horizontal bar 30 and the fifth horizontal bar 31 are not in the same plane; a second linear bearing seat 32 is hinged between the other end of the fourth horizontal bar 30 and the other end of the fifth horizontal bar 31, and a second linear bearing 33 is fixedly installed on the second linear bearing seat 32; the second linear bearing 33 cooperates with the second guide rod 15 of the planar mechanism 1 to form a sliding pair, connecting the planar mechanism 1 and the planar mechanism 2, and the second guide rod 15 moves along the axial direction of the second linear bearing 33 (the second guide rod 15 is connected to the end of the planar mechanism 2 and is pulled to rotate, thereby adjusting the angle of the end); the seventh rocker arm 28 and the eighth rocker arm 29 are arranged in parallel, and the fourth horizontal bar 30 and the fifth horizontal bar 31 are arranged in parallel.

[0045] The motion principle of the present invention is as follows: the axial (in-plane) rotational motion of the planar mechanism 1 is jointly controlled by the second motor 2 and the third motor 1, the axial (in-plane) rotational motion of the planar mechanism 2 is controlled by the first motor 3, and the translational motion of the end of the planar mechanism 1 is controlled by the second motor 2.

[0046] Here, when planar mechanism 1 and planar mechanism 2 move, all horizontal rods remain horizontal.

[0047] Preferably, the rod assembly uses alloy rods.

[0048] Here, all fixed connections are made using, but are not limited to, bolted connections.

[0049] In summary, the spatial telekinesis robot proposed in this invention, which integrates two planar telekinesis mechanisms, offers greater advantages and safety for ophthalmic surgery compared to existing telekinesis robots.

[0050] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention without departing from its spirit and scope should be included within the protection scope of the present invention.

Claims

1. A retinal surgery robot based on a dual-plane remote motion center mechanism, characterized in that, The robot comprises two orthogonal planar mechanisms, denoted as planar mechanism 1 and planar mechanism 2. Planar mechanism 1 has one rotational degree of freedom and one translational degree of freedom, while planar mechanism 2 has one rotational degree of freedom. The two planar mechanisms are respectively connected to their respective frames and to a base plate. The robot includes three servo motors for controlling the three degrees of freedom. The entire robot forms a remote motion center at the orthogonal point O in the axial directions of the two planar mechanisms, and its rotation and translation revolve around this point. The planar mechanism 1 includes a first base and a first motor mounted on its frame, a first rod assembly and a second motor mounted on the first base; the first rod assembly includes a driving parallelogram rod assembly, a follower parallelogram rod assembly and an end parallelogram rod assembly, on which surgical instruments are mounted; the second motor drives the driving parallelogram rod assembly to rotate in an axial direction parallel to the planar mechanism 1, thereby driving the follower parallelogram rod assembly to rotate in the same direction, and further driving the end parallelogram rod assembly to rotate in the same direction and perform vertical translation; the first motor drives the first base to rotate around the axial direction of the planar mechanism 1, thereby driving the first rod assembly to rotate synchronously; The driving parallelogram rod assembly includes a first rocker arm, a second rocker arm, a third rocker arm, and a first horizontal rod. The follower parallelogram rod assembly includes a fourth rocker arm, a fifth rocker arm, a second horizontal rod, and the first horizontal rod. The end parallelogram rod assembly includes a sixth rocker arm, a third horizontal rod, an instrument base, and a second horizontal rod. The surgical instruments are mounted on the instrument base. The first base is a rectangular frame structure. The first rocker arm and the third rocker arm are respectively mounted on opposite inner walls of the first base along the axial direction of the planar mechanism 1, and are arranged in parallel. One end of the first rocker arm is hinged to the first base and has an extension shaft, which is connected to the extension shaft of the second motor via a coupling. Two parallel first flange shafts and second flange shafts are provided between the two inner walls on which the first rocker arm and the third rocker arm are mounted. The second rocker arm and the third rocker arm are located on the same straight line and are arranged in parallel. One end of the second rocker arm is hinged to the second flange shaft. The other ends of the first rocker arm and the third rocker arm are connected by a third... The system is connected by a flange shaft. One end of the fourth rocker arm and one end of the first horizontal bar are hinged to the third flange shaft via bearings. The other end of the fourth rocker arm is hinged to one end of the second horizontal bar, and the other end of the first horizontal bar is hinged to the other end of the second rocker arm. Both ends of the fifth rocker arm are hinged to the middle of the second horizontal bar and the other end of the second rocker arm, respectively. A first linear bearing seat is hinged to the first flange shaft, and a first linear bearing is fixedly mounted on the first linear bearing seat. A first guide rod is provided on the first linear bearing to form a sliding pair, and the first guide rod moves along the axial direction of the first linear bearing. One end of the sixth rocker arm is hinged to the middle of the second horizontal bar, and the other end is hinged to one end of the third horizontal bar. Both ends of the instrument seat are hinged to the other ends of the second horizontal bar and the third horizontal bar, respectively. A second guide rod is fixed on the instrument seat. The first, second, and third horizontal bars are arranged in parallel, as are the fourth and fifth rocker arms. The instrument seat is arranged in parallel with the sixth rocker arm. The planar mechanism 2 includes a second base and a third motor mounted on its frame, and a second rod assembly mounted on the second base; the second rod assembly includes a transmission parallelogram rod assembly; the second rod assembly rotates along an axial direction parallel to the planar mechanism under the drive of the planar mechanism 1; the third motor drives the second base to rotate around the axial direction of the planar mechanism, thereby driving the second rod assembly to rotate synchronously, and at the same time, together with the second motor, drives the transmission parallelogram rod assembly to rotate along an axial direction parallel to the planar mechanism 1; The transmission parallelogram rod assembly includes a seventh rocker, an eighth rocker, a fourth horizontal rod, and a fifth horizontal rod; the second base is a rectangular frame structure, with two parallel fourth and fifth flange shafts arranged between the opposite inner walls perpendicular to the axial direction of the planar mechanism 2; one end of the seventh rocker is hinged to the fourth flange shaft, one end of the eighth rocker is hinged to the fifth flange shaft, and the seventh and eighth rockers are respectively located on the opposite inner walls; the other end of the seventh rocker is hinged to one end of the fourth horizontal rod and simultaneously to one end of the fifth horizontal rod; the eighth rocker... The other end is hinged to the middle of the fifth horizontal bar and the middle of the fourth horizontal bar; the fourth horizontal bar and the fifth horizontal bar are not in the same plane; a second linear bearing seat is hinged between the other end of the fourth horizontal bar and the other end of the fifth horizontal bar, and a second linear bearing is fixedly installed on the second linear bearing seat; the second linear bearing cooperates with the second guide rod of the planar mechanism 1 to form a sliding pair, connecting the planar mechanism 1 and the planar mechanism 2, and the second guide rod moves along the axial direction of the second linear bearing; the seventh rocker and the eighth rocker are arranged in parallel, and the fourth horizontal bar and the fifth horizontal bar are arranged in parallel.

2. The retinal surgery robot based on a dual-plane remote motion center mechanism according to claim 1, characterized in that, The frame of the planar mechanism 1 includes a first bearing seat, a second bearing seat, and a first motor seat, which are mounted on the base plate and arranged coaxially in sequence. The first bearing seat is close to the orthogonal point O. The protruding shafts at both ends of the first base are respectively mounted on the first bearing seat and the second bearing seat through bearings. The first motor is mounted on the first motor seat. The output shaft of the first motor is connected to the protruding shaft of the first base on the second bearing seat through a coupling.

3. The retinal surgery robot based on a dual-plane remote motion center mechanism according to claim 2, characterized in that, The third flange shaft is fixed to the first rocker arm by bolts and is hinged to the third rocker arm by bearings. During the movement of the planar mechanism 1, the movements of the first rocker arm and the third rocker arm are always consistent.

4. The retinal surgery robot based on a dual-plane remote motion center mechanism according to claim 3, characterized in that, The frame of the planar mechanism 2 includes a third bearing seat, a fourth bearing seat, and a second motor seat, which are mounted on the base plate and arranged coaxially in sequence. The third bearing seat is close to the orthogonal point O. The protruding shafts at both ends of the second base are respectively mounted on the third bearing seat and the fourth bearing seat through bearings. The third motor is mounted on the second motor seat. The output shaft of the third motor is connected to the protruding shaft of the second base on the fourth bearing seat through a coupling.

5. The retinal surgery robot based on a dual-plane remote motion center mechanism according to claim 4, characterized in that, When planar mechanism 1 and planar mechanism 2 move, all horizontal bars remain horizontal.

6. The retinal surgery robot based on a dual-plane remote motion center mechanism according to claim 5, characterized in that, The first bearing housing, the second bearing housing, the first motor housing, the third bearing housing, the fourth bearing housing, and the second motor housing are all fixed to the base plate by bolts.

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