Bionic scorpion adsorption type breast interventional robot

Abstract

The application is a bionic scorpion adsorption type breast interventional robot, and belongs to the field of medical instruments.The application comprises a preloading module and a puncture module.The main purpose of the application is to realize high-precision, short-time and high-safety breast interventional surgery.The robot is developed by referring to the high flexibility of the scorpion tail through bionics knowledge, and a 6DOF puncture module similar to the scorpion tail is developed.The preloading module combined with the puncture module has 4DOF for soft tissue posture adjustment, and has the characteristics of fixing and controlling soft tissue, thereby realizing high-precision breast interventional surgery.The mechanism has simple structure and high flexibility, can not only reduce the time of breast interventional surgery and improve the precision of interventional surgery, but also can reduce the training period of doctors with little experience, can achieve interventional technology for some lesion points that cannot be achieved by traditional breast interventional surgery, and can provide a reference for other interventional surgery robots.

Description

Technical Field

[0001] This invention relates to a biomimetic scorpion-like suction-type breast intervention robot, belonging to the field of minimally invasive interventional surgical robots. Background Technology

[0002] In the medical field, percutaneous interventional surgery is one of the main strategies for the early diagnosis and treatment of breast cancer. Traditional surgery faces many challenges in the early diagnosis and treatment of breast cancer, such as insufficient surgeon experience, unconscious movements, errors caused by breathing, and insufficient precision due to factors such as hand tremors and tissue deformation. Therefore, the emergence of breast surgery robots can largely solve the errors caused by human factors. In recent years, the rapid development of minimally invasive interventional surgery robots has changed the landscape of traditional open interventional surgery. Guided by various medical imaging methods such as MRI and ultrasound, breast interventional surgery robots, combined with rigid or flexible needles, can achieve intervention at target points, demonstrating the advantages of minimally invasive interventional surgery robots in terms of high precision, short operation time, and the ability to perform interventional surgery on complex lesions.

[0003] The purpose of this invention is to propose a biomimetic scorpion-adhesive breast intervention robot to help doctors solve the problems of high mobility of breast soft tissue and difficult intervention paths, and to achieve high-precision interventional surgery.

[0004] Technical solution:

[0005] This invention relates to a biomimetic scorpion-inspired adsorption-type breast intervention robot, which consists of a preloading module and an intervention module. The preloading module has four degrees of freedom and includes a vertical adsorption fixation mechanism and a push-type pitch mechanism, enabling both fixation of breast soft tissue and active manipulation of the breast soft tissue. The intervention module includes an XYZ adjustment intervention posture module and a fused RCM telecentric mechanism intervention feed module, which enables adjustment in the three directions of the generalized spatial rectangular coordinate system X, Y, and Z, as well as circumferential adjustment of the intervention needle around a fixed point. Its working state is similar to that of a scorpion's tail.

[0006] Furthermore, the vertical adsorption fixation mechanism includes: a vertical linear feeding suction cup mechanism and a turntable mechanism. The vertical adsorption fixation mechanism is the base of the entire bionic scorpion adsorption breast intervention robot. The breast soft tissue is fixed by the vertical suction cup. The turntable mechanism helps the push-type pitch mechanism to adjust within a range of 0-180°.

[0007] Furthermore, the vertical linear feed suction cup mechanism includes: a vertical linear feed suction cup mechanism motor screw, a vertical linear feed suction cup mechanism fixed suction cup slider, a vertical linear feed suction cup mechanism fixed support, a vertical linear feed suction cup mechanism suction cup rod, and a vertical linear feed suction cup mechanism fixed suction cup base. The vertical linear feed suction cup mechanism motor screw drives the vertical linear feed suction cup mechanism fixed suction cup slider to achieve vertical feed movement, thereby enabling the vertical linear feed suction cup mechanism suction cup rod fixedly connected to the vertical linear feed suction cup mechanism fixed support to achieve feed movement. After the vertical linear feed suction cup mechanism suction cup rod adsorbs the breast soft tissue, it is pulled vertically downward, which plays a role in fixing the breast soft tissue.

[0008] Furthermore, the turntable mechanism includes: a cylindrical platform for the ground support suction cup shaft section, a preload module cylindrical large gear, a preload module cylindrical small gear, a turntable stepper motor, a turntable coupling, a turntable thrust ball bearing, and a turntable base. The preload module cylindrical large gear and preload module cylindrical small gear have a module of 2 and have 92 and 23 teeth, respectively. The turntable stepper motor drives the preload module cylindrical small gear with a module of 2 and 23 teeth, connected to the turntable coupling, to drive the preload module cylindrical large gear with 2 and 92 teeth. The turntable thrust ball bearing is located on the turntable base. The cylindrical platform at the ground support suction cup shaft end cooperates with the turntable thrust ball bearing to realize the rotation of the cylindrical platform at the ground support suction cup shaft end.

[0009] Furthermore, the aforementioned push-type pitch mechanism includes: a push-type pitch mechanism stepper motor pad, a push-type pitch mechanism stepper motor, a push-type pitch mechanism coupling, a push-type pitch mechanism shaft segment, a push-type pitch mechanism bracket, a push-type pitch mechanism motor screw, a push-type pitch mechanism slider, a push-type pitch mechanism support, a push-type pitch mechanism suction cup rod, and a push-type pitch mechanism slide base. The push-type pitch mechanism stepper motor is located on the push-type pitch mechanism stepper motor pad and drives the push-type pitch mechanism shaft segment at the other end of the push-type pitch mechanism coupling. The push-type pitch mechanism shaft segment and the push-type pitch mechanism bracket are fixed, so the push-type pitch mechanism bracket will drive the push-type pitch mechanism slide base to perform pitch movement together. The push-type pitch mechanism motor screw drives the push-type pitch mechanism suction cup rod on the push-type pitch mechanism slider to achieve linear feed movement, which can realize the control of breast soft tissue by pitch adjustment.

[0010] Furthermore, the XYZ adjustment intervention posture module includes: an X-direction stepper motor, an X-direction coupling, an X-direction lead screw, a Y-direction motor, a Y-direction coupling, a Y-direction lead screw, a Y-direction slider, a Y-direction base, an X-direction slider, an X-direction base, a Z-direction base, a Z-direction support bearing, a Z-direction lead screw, a Z-direction slider, a synchronous belt mechanism, and a synchronous belt drive motor. The XYZ adjustment intervention posture module is actually composed of three lead screw and slide mechanisms connected in series. The X-direction stepper motor and the X-direction lead screw drive the X-direction slider through the X-direction coupling, thereby driving the Y-direction base on the X-direction slider. The Y-direction stepper motor and the Y-direction lead screw drive the Y-direction slider through the Y-direction coupling, thereby driving the Z-direction base on the Y-direction slider. The Z-direction lead screw is driven by a synchronous belt drive motor, which in turn drives the synchronous belt. The Z-direction slider moves linearly with the Z-direction lead screw. The Z-direction support bearing is located on the Z-direction base.

[0011] Furthermore, the integrated RCM telecentric mechanism intervention feed module includes: an RCM telecentric mechanism stepper motor bracket, an RCM telecentric mechanism stepper motor, an RCM telecentric mechanism small cylindrical gear, an RCM telecentric mechanism large cylindrical gear, an RCM telecentric mechanism large gear guide rail, an intervention mechanism base, an intervention needle, an intervention rotary motor, an intervention mechanism slide plate, an intervention mechanism lead screw, an intervention mechanism coupling, and an intervention mechanism stepper motor. The RCM telecentric mechanism small cylindrical gear and the RCM telecentric mechanism large cylindrical gear have a module of 2 and a number of teeth of 50 and 10, respectively. The RCM telecentric mechanism stepper motor is fixed on the RCM telecentric mechanism stepper motor bracket. The end of the RCM telecentric mechanism stepper motor bracket is fixedly connected to the RCM telecentric mechanism large cylindrical gear guide rail, forming a slider guide. The RCM telecentric mechanism stepper motor drives the RCM telecentric mechanism small cylindrical gear connected to it. Since the RCM telecentric mechanism large cylindrical gear and the Z-direction slider are fixedly connected, the RCM telecentric mechanism stepper motor will move in an arc along the RCM telecentric mechanism large gear guide rail, thus forming an arc track in the RCM telecentric mechanism type. This lays the foundation for subsequent circumferential adjustment of the intervention needle around a fixed point. The intervention mechanism base is fixed on the outside of the RCM telecentric mechanism stepper motor bracket. The intervention mechanism stepper motor drives the intervention mechanism lead screw connected through the intervention mechanism coupling, thereby realizing the linear movement of the intervention mechanism slide plate. The intervention rotary motor is fixed on the intervention mechanism slide plate, and the intervention needle is connected to the intervention rotary motor to realize rotary needle insertion.

[0012] All the suction cup rods have a diameter of 16mm and a suction force of approximately 14N. They are corrugated suction cups, which have the advantages of strong adaptability to uneven surfaces and less damage compared to elliptical and flat suction cups.

[0013] The specific connection method of this invention is as follows: the vertical linear feed suction cup mechanism and the turntable mechanism are fixedly connected together by bolts, so that they do not rotate with the turntable operation. The stepper motor pad of the push-type pitch mechanism is fixed above the cylindrical support of the ground-mounted suction cup. This is to enable the push-type pitch mechanism to achieve rotational movement. The XYZ adjustment intervention attitude module is located on the other side of the turntable base. The X-direction base is fixedly connected to the turntable base by bolts. The Y-direction base is fixedly connected to the X-direction slider by bolts. The Z-direction base is fixedly connected to the Y-direction slider by bolts. The RCM telecentric mechanism stepper motor is fixed on the RCM telecentric mechanism stepper motor bracket. The RCM telecentric mechanism large gear guide rail, which is fixedly connected to the end of the support, forms a slider guide rail assembly. The RCM telecentric mechanism stepper motor drives the RCM telecentric mechanism small gear connected to it. Since the RCM telecentric mechanism large gear and the Z-direction slider are fixedly connected, the RCM telecentric mechanism stepper motor will achieve arc motion with the RCM telecentric mechanism large gear guide rail. The intervention mechanism base is fixed on the outside of the RCM telecentric mechanism stepper motor support. The intervention mechanism stepper motor drives the intervention mechanism lead screw connected through the intervention mechanism coupling, thereby realizing the linear motion of the intervention mechanism slide plate. The intervention rotary motor is fixed on the intervention mechanism slide plate, and the intervention needle is connected to the intervention rotary motor to realize the rotary needle insertion.

[0014] This invention is used to assist in breast interventional surgery and has the following beneficial effects:

[0015] (1) Two suction cups were selected to fix and actively manipulate the breast soft tissue respectively, which reduced the error caused by the high mobility of the breast soft tissue and made it more flexible, enabling more complex intervention paths.

[0016] (2) A puncture module was designed using the bionic scorpion tail. The XYZ adjustment intervention posture module can realize the adjustment and fusion of the three directions of the generalized spatial rectangular coordinate system and the RCM telecentric mechanism intervention feed module, so that the intervention needle can be adjusted around a fixed point in the circumferential adjustment. The intervention needle can also rotate, making the intervention needle highly flexible.

[0017] (3) The corrugated suction cup is well-suited for use. Compared with elliptical and flat suction cups, it has the advantages of strong adaptability to uneven surfaces and less damage.

[0018] (4) The telecentric mechanism design in the integrated RCM telecentric mechanism intervention feed module adopts an arc track, which is simple to design and has good stability. Summary of the Invention

[0019] The purpose of this invention is to propose a biomimetic scorpion-adhesive breast intervention robot to help doctors solve the problems of traditional breast intervention surgery where the lesion is located behind important tissues or the intervention path is difficult, so as to achieve high-precision and more flexible intervention surgery. Attached Figure Description

[0020] Figure 1 This is a structural diagram of a biomimetic scorpion-inspired suction-type breast intervention robot.

[0021] Figure 2 This is a structural diagram of a vertical adsorption fixing mechanism.

[0022] Figure 3 This is a structural diagram of a push-type pitch mechanism.

[0023] Figure 4 It is the XYZ adjustment intervention attitude module.

[0024] Figure 5 It is an integrated RCM telecentric mechanism intervention feed module.

[0025] The component names and numbers in the attached diagram are as follows:

[0026] Preloading module (1), Intervention module (2), Ground support suction cup cylindrical platform (3), Preloading module cylindrical large gear (4), Preloading module cylindrical small gear (5), Turntable stepper motor (6), Turntable coupling (7), Turntable thrust ball bearing (8), Turntable base (9), Vertical linear feed suction cup mechanism motor screw (10), Vertical linear feed suction cup mechanism fixed suction cup slider (11), Vertical linear feed suction cup mechanism fixed support (12), Vertical linear feed suction cup The mechanism suction cup rod (13), vertical linear feed suction cup mechanism fixed suction cup base (14), push-type pitch mechanism stepper motor pad (15), push-type pitch mechanism stepper motor (16), push-type pitch mechanism coupling (17), push-type pitch mechanism shaft section (18), push-type pitch mechanism bracket (19), push-type pitch mechanism motor screw (20), push-type pitch mechanism slider (21), push-type pitch mechanism support (22), push-type pitch mechanism suction cup rod (23), push-type Pitch mechanism slide base (24), X-direction stepper motor (25), X-direction coupling (26), X-direction lead screw (27), Y-direction motor (28), Y-direction coupling (29), Y-direction lead screw (30), Y-direction slider (31), Y-direction base (32), X-direction slider (33), X-direction base (34), Z-direction base (35), Z-direction bracket bearing (36), Z-direction lead screw (37), Z-direction slider (38), synchronous belt mechanism (39), synchronous... With drive motor (40), RCM telecentric mechanism stepper motor bracket (41), RCM telecentric mechanism stepper motor (42), RCM telecentric mechanism cylindrical pinion (43), RCM telecentric mechanism cylindrical gear (44), RCM telecentric mechanism large gear guide rail (45), intervention mechanism base (46), intervention needle (47), intervention rotary motor (48), intervention mechanism slide plate (49), intervention mechanism lead screw (50), intervention mechanism coupling (51), intervention mechanism stepper motor (52). Detailed Implementation

[0027] The invention will now be further described in detail with reference to the accompanying drawings.

[0028] The structural composition of the present invention is as follows Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5As shown, the biomimetic scorpion-adsorption breast intervention robot consists of a preloading module (1) and an intervention module (2). The preloading module has 4 degrees of freedom, including a vertical linear feed suction cup mechanism, a turntable mechanism, and a push-type pitch mechanism, which realizes the fixation and active control of breast soft tissue. The intervention module (2) includes an XYZ adjustment intervention posture module and a fusion RCM telecentric mechanism intervention feed module, which can realize the adjustment of the three directions of the generalized spatial rectangular coordinate system X, Y, and Z, and can also realize the circumferential adjustment of the intervention needle (47) around a fixed point. Its working state is similar to the tail of a scorpion.

[0029] The preloading module (1) includes: a ground support suction cup cylindrical platform (3), a preloading module cylindrical large gear (4), a preloading module cylindrical small gear (5), a turntable stepper motor (6), a turntable coupling (7), a turntable thrust ball bearing (8), a turntable base (9), a vertical linear feed suction cup mechanism motor screw (10), a vertical linear feed suction cup mechanism fixed suction cup slider (11), a vertical linear feed suction cup mechanism fixed support (12), a vertical linear feed suction cup mechanism suction cup rod (13), a vertical linear feed suction cup mechanism fixed suction cup base (14), and a push-type pitch mechanism stepper motor pad. (15) Stepper motor for push-type pitch mechanism (16) Coupling for push-type pitch mechanism (17) Shaft section for push-type pitch mechanism (18) Bracket for push-type pitch mechanism (19) Motor screw for push-type pitch mechanism (20) Slider for push-type pitch mechanism (21) Support for push-type pitch mechanism (22) Suction cup rod for push-type pitch mechanism (23) Slide base for push-type pitch mechanism (24) The motor screw (10) of the vertical linear feed suction cup mechanism drives the fixed suction cup slider (11) of the vertical linear feed suction cup mechanism to achieve the movement in the vertical direction of the feed, thereby making the vertical linear feed mechanism fixedly connected to it move in the vertical direction. The suction cup rod (13) of the vertical linear feed suction cup mechanism on the fixed support (12) of the suction cup mechanism achieves the feeding motion. After the vertical linear feed suction cup rod (13) adsorbs the soft tissue of the breast, it is pulled vertically downward, which plays the role of fixing the soft tissue of the breast. The preloading module cylindrical large gear (4) and preloading module cylindrical small gear (5) mesh with each other. The turntable thrust ball bearing (8) is located on the turntable base (9). The ground support suction cup shaft end cylindrical platform (3) cooperates with the turntable thrust ball bearing (9) to realize the rotation of the ground support suction cup shaft end cylindrical platform (3). The push-type pitch mechanism steps. The motor (16) is located on the stepper motor pad (15) of the push-type pitch mechanism and drives the push-type pitch mechanism shaft section (18) at the other end of the push-type pitch mechanism coupling (17). The push-type pitch mechanism shaft section (18) and the push-type pitch mechanism bracket (19) are fixed, so the push-type pitch mechanism bracket (19) will drive the push-type pitch mechanism slide base (24) to perform pitch movement together. The push-type pitch mechanism motor screw (20) drives the push-type pitch mechanism slider (21) to achieve linear feed movement of the push-type pitch mechanism suction cup rod (23), which can realize the control of breast soft tissue by pitch adjustment.

[0030] The intervention module (2) includes: an X-direction stepper motor (25), an X-direction coupling (26), an X-direction lead screw (27), a Y-direction motor (28), a Y-direction coupling (29), a Y-direction lead screw (30), a Y-direction slider (31), a Y-direction base (32), an X-direction slider (33), an X-direction base (34), a Z-direction base (35), a Z-direction bracket bearing (36), a Z-direction lead screw (37), a Z-direction slider (38), a timing belt mechanism (39), and a timing... With drive motor (40), RCM telecentric mechanism stepper motor bracket (41), RCM telecentric mechanism stepper motor (42), RCM telecentric mechanism cylindrical pinion (43), RCM telecentric mechanism cylindrical gear (44), RCM telecentric mechanism large gear guide rail (45), intervention mechanism base (46), intervention needle (47), intervention rotary motor (48), intervention mechanism slide plate (49), intervention mechanism lead screw (50), intervention mechanism coupling (51), intervention mechanism stepper motor (52). The X-direction stepper motor (25) and X-direction lead screw (27) drive the X-direction slider (33) via the X-direction coupling (26), which in turn drives the Y-direction base (32) on the X-direction slider (33). The Y-direction stepper motor (28) and Y-direction lead screw (30) drive the Y-direction slider (31) via the Y-direction coupling (29), which in turn drives the Z-direction base (35) on the Y-direction slider (31). The Z-direction lead screw (37) is driven by the synchronous belt drive motor (40) via the synchronous belt drive motor (40), which drives the synchronous belt (39). The Z-direction slider (38) moves linearly with the Z-direction lead screw (37). The Z-direction bracket bearing (36) is located on the Z-direction base (35). The RCM telecentric mechanism stepper motor (42) is fixed on the RCM telecentric mechanism stepper motor bracket (41). The end of the RCM telecentric mechanism stepper motor bracket (41) is fixedly connected to the RCM telecentric mechanism cylindrical gear (44). The RCM telecentric mechanism large gear guide rail (45) forms a slider guide rail combination. The RCM telecentric mechanism stepper motor (42) drives the RCM telecentric mechanism cylindrical small gear (43) connected to it. Since the RCM telecentric mechanism cylindrical large gear (44) and the Z-direction slider (38) are fixedly connected, the RCM telecentric mechanism stepper motor (42) will achieve arc movement with the RCM telecentric mechanism large gear (44) guide rail, thus forming an arc track in the RCM telecentric mechanism type. The intervention mechanism base (46) is fixed on the outside of the RCM telecentric mechanism stepper motor bracket (41). The intervention mechanism stepper motor (52) drives the intervention mechanism lead screw (50) connected through the intervention mechanism coupling (51), thereby realizing the linear movement of the intervention mechanism slide plate (49). The intervention rotary motor (48) is fixed on the intervention mechanism slide plate (49). The intervention needle (47) is connected to the intervention rotary motor (48) to realize the rotational needle insertion.

[0031] A method for using a biomimetic scorpion-inspired suction-type breast intervention robot includes the following steps:

[0032] Surgical steps: The preloading module (1) drives the vertical linear feed suction cup mechanism fixed suction cup slider (11) through the vertical linear feed suction cup mechanism motor screw (10) to realize the vertical linear feed suction cup mechanism suction cup rod (13) to realize the feed movement, adsorb the breast soft tissue, and pull it vertically downward, which plays the role of fixing the breast soft tissue. Next, the turntable module drives the push-type pitch mechanism to perform circumferential adjustment from 0 to 180°. The push-type pitch mechanism is driven by the push-type pitch mechanism stepper motor (16) to realize the pitch adjustment to control the breast soft tissue, so that the lesion point is exposed in a more easily intervened position. Then, the X-direction stepper motor is used to control the breast soft tissue. The machine (25), the Y-direction stepper motor (28), and the synchronous belt drive motor (40) drive the attitude adjustment in the X, Y, and Z directions. The RCM telecentric mechanism stepper motor (42) is fixed on the RCM telecentric mechanism stepper motor bracket (41). The RCM telecentric mechanism stepper motor (42) drives the circumferential adjustment around a fixed arc track. Finally, the intervention mechanism stepper motor (52) drives the intervention mechanism slide plate (49) to realize the linear movement of the intervention needle (47). The rotary motor (48) is fixed on the intervention mechanism slide plate (49). The intervention needle (47) is connected to the intervention rotary motor (48) to realize the rotary needle insertion.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. The descriptions in the above specification are merely illustrative of the principles of the invention; various changes and modifications can be made without departing from the spirit and scope of the invention, and all such changes and modifications fall within the scope of the claims. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A biomimetic scorpion-inspired suction-type breast intervention robot, characterized in that: The biomimetic scorpion-adsorption breast intervention robot consists of a preloading module (1) and an intervention module (2). The preloading module has 4 degrees of freedom, including a vertical linear feed suction cup mechanism, a turntable mechanism and a push-type pitch mechanism. The intervention module (2) includes an XYZ adjustment intervention posture module and an intervention feed module that integrates an RCM telecentric mechanism. It can realize the adjustment of the three directions of the generalized spatial rectangular coordinate system X, Y and Z, and can also realize the circumferential adjustment of the intervention needle (47) around a fixed point. The motor screw (10) of the vertical linear feed suction cup mechanism drives the fixed suction cup slider (11) of the vertical linear feed suction cup mechanism to achieve vertical feed motion, thereby enabling the suction cup rod (13) of the vertical linear feed suction cup mechanism on the fixed support (12) of the vertical linear feed suction cup mechanism fixed to it to achieve feed motion. After the suction cup rod (13) of the vertical linear feed suction cup mechanism adsorbs the breast soft tissue, it is pulled vertically downward. The preload module cylindrical gear (4) and preload module are used to preload the breast tissue. The modular cylindrical pinions (5) mesh with each other, the turntable thrust ball bearing (8) is embedded in the turntable base (9), the ground support suction cup shaft end cylindrical platform (3) cooperates with the turntable thrust ball bearing (8), thereby realizing the rotation of the ground support suction cup shaft end cylindrical platform (3), the push-type pitch mechanism stepper motor (16) is located on the push-type pitch mechanism stepper motor pad (15), driving the push-type pitch mechanism shaft section (18) at the other end of the push-type pitch mechanism coupling (17), the push-type pitch mechanism shaft section ( 18) The push-type pitch mechanism bracket (19) is fixed, so the push-type pitch mechanism bracket (19) will drive the push-type pitch mechanism slide base (24) to perform pitch motion together. The push-type pitch mechanism motor screw (20) drives the push-type pitch mechanism slider (21) to push the push-type pitch mechanism suction cup rod (23) to achieve linear feed motion. The X-direction stepper motor (25), Y-direction stepper motor (28), and synchronous belt drive motor (40) drive to achieve attitude adjustment in the X, Y, and Z directions. The stepper motor (42) of the RCM telecentric mechanism is fixed on the stepper motor bracket (41) of the RCM telecentric mechanism. The circumferential adjustment around the arc track with a fixed point is achieved by the stepper motor (42) of the RCM telecentric mechanism. Finally, the intervention mechanism slide plate (49) is driven by the intervention mechanism stepper motor (52) to achieve the linear movement of the intervention needle (47). The intervention rotary motor (48) is fixed on the intervention mechanism slide plate (49). The intervention needle (47) is connected to the intervention rotary motor (48).

2. The biomimetic scorpion-based suction-type breast intervention robot according to claim 1, characterized in that: The preload module cylindrical large gear (4) and preload module cylindrical small gear (5) have a module of 2, the preload module cylindrical large gear has 92 teeth, the preload module cylindrical small gear has 23 teeth, the RCM telecentric mechanism cylindrical small gear (43) and RCM telecentric mechanism cylindrical large gear (44) have a module of 2, the RCM telecentric mechanism cylindrical small gear has 10 teeth, and the RCM telecentric mechanism cylindrical large gear has 50 teeth.

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