Microsurgical device from end effector and method for calibrating spatial position of telecentric point thereof

Abstract

The application relates to a microsurgery equipment from-end manipulator and a telecentric point space position calibration method thereof. The microsurgery equipment from-end manipulator comprises an XYZ slide table, a horizontal roll unit, a pitch unit, a feed unit and a rotation unit. The XYZ slide table is used for the coarse adjustment of the from-end manipulator end position. The horizontal roll unit is used for realizing the rotation movement of the from-end manipulator around a horizontal roll shaft. The pitch unit is used for realizing the rotation movement of the from-end manipulator around a pitch shaft. The feed unit is used for realizing the feed movement of a surgical instrument. The rotation unit is used for realizing the rotation movement of the surgical instrument. The horizontal roll unit is installed on the XYZ slide table. The pitch unit is installed on the horizontal roll unit. The feed unit is installed on the pitch unit. The rotation unit is installed on the feed unit. The application guarantees the high rigidity, stability and safety of the from-end manipulator, and overcomes the problem that the existing end instrument feed and rotation driving units and transmission units occupy a certain space and restrict the movement range of the parallelogram mechanism.

Description

[Technical Field]

[0001] This invention relates to the field of microsurgical equipment technology, specifically to a method for calibrating the spatial position of the distal point of a microsurgical device's actuator. [Background Technology]

[0002] The human eyeball has a very small internal space, with an average diameter of 24.6 mm. Many structures within the eyeball are as small as micrometers; for example, the vascular fibrosis membrane in the macular region is only 10 μm thick; the retina is 100 μm to 300 μm thick; and the diameter of retinal vessels is 40 μm to 120 μm. This confined space and micrometer-sized structures place extremely high demands on the precision and safety of intraocular surgery. Using microsurgical equipment combines the surgeon's clinical experience with the high precision, reliability, and stability of the equipment, thus improving the finesse and success rate of ophthalmic surgery.

[0003] Currently, several microsurgical ophthalmic devices have emerged both domestically and internationally, with applications covering fields such as corneal transplantation, cataract surgery, and retinal vein cannulation. During surgery, the miniature instruments at the end of the device must pass through an incision in the sclera of the eyeball to enter the eye and perform rotation, feeding, and resection actions. Johns Hopkins University has developed the Steady-Hand, EyeRobot 1, and Eye Robot 2 surgical devices, which mainly consist of an XYZ translation component, a remote centering component, and an end effector. In 2011, Eindhoven University developed a robotic system called PRECEYES for assisted vitreoretinal surgery, whose slave hand uses a parallel four-bar linkage to achieve remote centering motion with a motion accuracy of no less than 10 μm. In 2013, KU Leuven developed a four-degree-of-freedom master-slave control system based on an RCM mechanism, with an end effector positioning accuracy of 60 μm. In China, Beihang University proposed a retinal vascular bypass surgery robot-assisted system (RVBS), whose main body includes an XYZ stage, an RCM structure, and an end effector, with an end effector positioning accuracy of approximately 10 μm.

[0004] Parallelogram mechanisms are characterized by high rigidity. To ensure stability and safety, most existing microsurgical equipment employs a symmetrical double parallelogram mechanism. The end effector is located on the plane of symmetry of the double parallelogram mechanism. Furthermore, the drive and transmission units for end-effector feeding and rotation occupy space, constraining the range of motion of the parallelogram mechanism, generally less than 90°. Additionally, motion compensation is performed during operation to improve the positioning accuracy of the end effector. This can cause a certain degree of drift in the telecentric point of the parallelogram mechanism, leading to an enlarged eye incision and posing a certain safety risk. [Summary of the Invention]

[0005] The purpose of this invention is to address the aforementioned shortcomings by providing a slave actuator for a microsurgical device. This slave actuator ensures high rigidity, stability, and safety, and overcomes the problem that the drive and transmission units for feeding and rotating instruments at the end of existing microsurgical devices occupy a certain amount of space and constrain the movement range of the parallelogram mechanism. At the same time, it can solve the problem that existing devices, due to the drift of the telecentric point of the parallelogram mechanism, lead to an enlarged eye incision and thus pose a certain safety risk.

[0006] To achieve the above objectives, a microsurgical device with a slave actuator is designed, comprising an XYZ slide 1, a roll unit 2, a pitch unit 3, a feed unit 4, and a rotation unit 5. The XYZ slide 1 is used for coarse adjustment of the end position of the slave actuator. The roll unit 2 is used to realize the rotation of the slave actuator around a roll axis 37. The pitch unit 3 is used to realize the rotation of the slave actuator around a pitch axis 38. The feed unit 4 is used to realize the feed motion of the surgical instrument. The rotation unit 5 is used to realize the rotation motion of the surgical instrument. The roll unit 2 is mounted on the XYZ slide 1, the pitch unit 3 is mounted on the roll unit 2, the feed unit 4 is mounted on the pitch unit 3, and the rotation unit 5 is mounted on the feed unit 4.

[0007] Furthermore, the XYZ slide table 1 includes an X-axis slide table motor 6, a Y-axis slide table motor 7, and a Z-axis slide table motor 8. The Y-axis slide table motor 7 is mounted on the output end of the X-axis slide table motor 6 and slides along the X-axis under the drive of the X-axis slide table motor 6. The Z-axis slide table motor 8 is mounted on the output end of the Y-axis slide table motor 7 and slides along the Y-axis under the drive of the Y-axis slide table motor 7. The roll unit 2 is mounted on the output end of the Z-axis slide table motor 8 and slides along the Z-axis under the drive of the Z-axis slide table motor 8. The XYZ slide table 1 performs preoperative coarse adjustment of the position of the slave actuator through the X-axis slide table motor 6, Y-axis slide table motor 7, and Z-axis slide table motor 8.

[0008] Furthermore, the roll unit 2 is fixed on the XYZ slide table 1 by the connecting block A10. The roll unit 2 includes a roll axis motor 9, a synchronous belt 35, and a drive shaft 36. The roll axis motor 9 is mounted on the connecting block A10. The output end of the roll axis motor 9 is connected to the drive shaft 36 through the synchronous belt 35 and drives the drive shaft 36 to rotate. The drive shaft 36 is coaxially arranged with the roll axis 37. The roll unit 2 realizes the rotation of the slave actuator around the roll axis 37 through the roll axis motor 9, the synchronous belt 35, and the drive shaft 36.

[0009] Furthermore, the pitch unit 3 is fixed to the roll unit 2 via a connecting block B11, and the pitch unit 3 is offset relative to the roll axis 37 by a certain distance. The pitch unit 3 includes a pitch base 30, connecting rods A22, B23, C24, D25, E26, and F27. Connecting rods A22, B23, C24, D25, E26, and F27 form a double parallelogram mechanism. A pitch motor 32 is installed at the bottom of the pitch base 30, and a lead screw B31 is connected to the output end of the pitch motor 32. A transition block E29 is screwed onto the lead screw B31. The transition block E29 is hinged to the connecting rod F27 via a connecting rod G28. The pitch unit 3 realizes the rotation of the double parallelogram mechanism around the pitch axis 38 through the pitch motor 32, lead screw B31, transition block E29, and connecting rod G28.

[0010] Furthermore, the feed unit 4 is fixed to the pitch unit 3 via a connecting block C19. The feed unit 4 includes a feed motor 16, a lead screw A21, and a feed base 18. The feed motor 16 is mounted on the feed base 18, and the output end of the feed motor 16 is connected to the lead screw A21. The lead screw A21 is connected to the rotation unit 5. The feed unit 4 realizes the feeding motion of the end effector through the feed motor 16 and the lead screw A21.

[0011] Furthermore, the rotation unit 5 is fixed to the feed unit 4 by a connecting block D20, and the connecting block D20 is screwed onto the lead screw A21. The rotation unit 5 includes a rotation motor 15, a coupling A14, and a rotation base 17. The rotation motor 15 is mounted on the rotation base 17, and the output end of the rotation motor 15 is equipped with a coupling A14. The rotation unit 5 realizes the rotation movement of the end effector through the rotation motor 15 and the coupling A14.

[0012] Furthermore, a calibration fixture 12 is installed on the rotation unit 5. The calibration fixture 12 is used to calibrate the spatial position of the centroid of the parallelogram mechanism. The end of the calibration fixture 12 is designed with a ball head 13, and the total surface runout of the ball head 13 is less than 10 μm.

[0013] Furthermore, the ball head 13 is equipped with sensors for displacement measurement in the horizontal and vertical directions, namely dial indicator A39 and dial indicator B40, respectively. The dial indicator A39 is fixed vertically, and the head of the dial indicator A39 is in contact with the ball head 13. The dial indicator B40 is placed horizontally, and the head of the dial indicator B40 is in contact with the ball head 13.

[0014] Furthermore, a connecting block F33 and a connecting block G34 are provided between the pitch base 30 and the connecting block B11. Both the connecting block F33 and the connecting block G34 have multiple adjustment holes. The connecting block F33 can be adjusted to translate relative to the connecting block G34 along the Z-axis, and the pitch base 30 can be adjusted to translate relative to the connecting block F33 along the Y-axis.

[0015] The present invention also provides a method for calibrating the spatial position of the distal point of a slave actuator in a microsurgical device, comprising the following steps:

[0016] Step S1: Install calibration fixture 12 on the rotation unit 5 to calibrate the spatial position of the telecentric point of the parallelogram mechanism; the end of calibration fixture 12 is designed with a ball head 13, and the total surface runout of the ball head 13 is less than 10μm;

[0017] Step S2: Control the pitch motor 32 to rotate, thereby adjusting the pitch unit 3 to perform pitch motion, and at the same time measure the runout value of the outer surface of the ball head 13.

[0018] Step S3: Control the feed motor 16 to rotate, thereby adjusting the feed unit 4 to perform feed motion and adjusting the position of the ball head 13 along the feed direction;

[0019] Step S4: Repeat steps S2 to S3 until the runout value of the outer surface of the ball head 13 is less than the specified value;

[0020] Step S5: Establish a roll coordinate system {1} on the adapter block B11 of the roll unit 2. The origin O1 of the roll coordinate system {1} is located at the center of the adapter block B11. Set the X1 axis to coincide with the roll axis 37, the Y1 axis to be perpendicular to the X1 axis, and the Z1 axis to be determined by the right-hand coordinate system rule.

[0021] Step S6: Establish a pitch coordinate system {2} on the ball head 13 of the calibration fixture 12 of the pitch unit 3. The origin O2 of the pitch coordinate system {2} is located at the center of the ball head 13. Set the X2 axis to coincide with the axis of the calibration fixture 12, and set the Y2 axis to be parallel and in the same direction as the Y1 axis. The X2 axis is determined by the right-hand coordinate system rule.

[0022] Step S7: Control the roll axis motor 9 so that the Y1 axis of the roll coordinate system {1} is horizontal and the Z1 axis is vertically upward.

[0023] Step S8: Install dial indicator A39 and dial indicator B40 in the horizontal and vertical directions of ball head 13 respectively. Dial indicator A39 is fixed vertically with its head in contact with ball head 13; dial indicator B40 is placed horizontally with its head in contact with ball head 13.

[0024] Step S9: Control the roll axis motor 9 to rotate the roll unit 2 and the pitch unit 3 by a total of 180°; at this time, the Y1 axis rotates to the position Y1' and the Z1 axis rotates to the position Z1'; since the origin O2 of the pitch coordinate system {2} does not actually fall on the X1 axis of the roll coordinate system {1}, after rotation, the ball head 13 moves, and the change values ​​of the dial indicators after rotating 180° are read from the dial indicators A39 and B40, which are dy and dz respectively;

[0025] Step S10: Using the Y1 and Z1 axes as references, after the roll axis 37 rotates 180°, the dial indicator A39 head moves downwards, and the connecting block F33 is adjusted to translate dz / 2 relative to the connecting block G34 in the negative direction of the Z1 axis; conversely, the connecting block F33 is adjusted to translate dz / 2 relative to the connecting block G34 in the positive direction of the Z1 axis. At the same time, if the dial indicator B40 head moves to the right, the pitch base 30 is adjusted to translate dy / 2 relative to the connecting block F33 in the positive direction of the Y1 axis; conversely, the pitch base 30 is adjusted to translate dy / 2 relative to the connecting block F33 in the negative direction of the Y1 axis.

[0026] Step S11: Repeat steps S9 to S10 until the values ​​of dial indicator A39 and dial indicator B40 fluctuate less than the specified values.

[0027] Compared with existing technologies, this invention provides a novel end-effector for microsurgical devices. It achieves coarse adjustment of the end-effector's position via an XYZ slide, rotation of the end-effector around a roll axis via a roll unit, rotation of the end-effector around a pitch axis via a pitch unit, feeding of the surgical instrument via a feed unit, and rotation of the surgical instrument via a rotation unit. The pitch unit is offset relative to the roll axis and fixed to the roll unit. The pitch unit includes a double parallelogram mechanism, thus ensuring the high rigidity, stability, and safety inherent in parallelogram mechanisms, while also overcoming the limitations of existing microsurgical devices in end-effector instrument feeding and rotation. The rotating drive unit and transmission unit occupy a certain space, which restricts the movement range of the parallelogram mechanism (generally less than 90°). In addition, this invention calibrates the spatial position of the telecentric point of the parallelogram mechanism by installing a calibration fixture on the rotating unit. The calibration fixture is designed with a ball head at its end, and the total surface runout of the ball head should be as small as possible, preferably less than 10 μm. It also provides a method for calibrating the spatial position of the telecentric point of the slave actuator. This method solves the problem that existing microsurgical equipment can cause the telecentric point of the parallelogram mechanism to drift to a certain extent, leading to an enlarged eye incision and thus posing a certain safety risk. [Image Description]

[0028] Figure 1 This is a front view of the microsurgical device of the present invention from the end.

[0029] Figure 2 This is a front view of the feed unit and rotation unit of the microsurgical device of the present invention.

[0030] Figure 3 This is a perspective view of the end of the microsurgical device of the present invention;

[0031] Figure 4 This is a perspective view of the end-feed unit and the rotation unit of the microsurgical device of the present invention;

[0032] Figure 5 This is a perspective view of the pitch unit of the microsurgical device of the present invention.

[0033] Figure 6 This is a schematic diagram of the coordinate system of the pitch and roll units of the microsurgical device of the present invention.

[0034] Figure 7 This is a schematic diagram of the surface runout test of the rolling motion fixture at the end of the microsurgical device of the present invention;

[0035] In the diagram: 1. XYZ slide table; 2. Roll unit; 3. Pitch unit; 4. Feed unit; 5. Rotation unit; 6. X-axis slide table motor; 7. Y-axis slide table motor; 8. Z-axis slide table motor; 9. Roll axis motor; 10. Connecting block A; 11. Connecting block B; 12. Calibration fixture; 13. Ball joint; 14. Coupling A; 15. Rotation motor; 16. Feed motor; 17. Rotation base; 18. Feed base; 19. Connecting block C; 20. Connecting block D; 21. Lead screw A; 22. Connecting rod A; 23. Connecting rod B; 24. Connecting rod C; 25. Connecting rod D; 26. Connecting rod E; 27. Connecting rod F; 28. Connecting rod G; 29. ​​Adapter block E; 30. Pitch base; 31. Lead screw B; 32. Pitch... 33. Pitch motor; 34. Connecting block F; 35. Connecting block G; 36. Synchronous belt; 37. Drive shaft; 38. Roll shaft; 39. Pitch shaft; 40. Dial indicator A; 41. Dial indicator B; 42. Ball head after 180° roll; {1} Roll coordinate system; {2} Pitch coordinate system; O1, Origin of roll coordinate system; X1, X-axis of roll coordinate system; Y1, Y-axis of roll coordinate system; Z1, Z-axis of roll coordinate system; O2, Origin of pitch coordinate system; X2, X-axis of pitch coordinate system; Y2, Y-axis of pitch coordinate system; Z2, Z-axis of pitch coordinate system; dy, Horizontal runout value of ball head surface of calibrating tooling after 180° roll; dz, Vertical runout value of ball head surface of calibrating tooling after 180° roll. [Detailed Implementation]

[0036] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0037] As shown in the attached figures, the present invention provides a slave actuator for a microsurgical device, comprising an XYZ slide 1, a roll unit 2, a pitch unit 3, a feed unit 4, and a rotation unit 5. The XYZ slide 1 is used for coarse adjustment of the end position of the slave actuator. The roll unit 2 is used to realize the rotation of the slave actuator around the roll axis 37. The pitch unit 3 is used to realize the rotation of the slave actuator around the pitch axis 38. The feed unit 4 is used to realize the feed motion of the surgical instrument. The rotation unit 5 is used to realize the rotation motion of the surgical instrument. The roll unit 2 is mounted on the XYZ slide 1, the pitch unit 3 is mounted on the roll unit 2, the feed unit 4 is mounted on the pitch unit 3, and the rotation unit 5 is mounted on the feed unit 4.

[0038] The XYZ slide table 1 includes an X-axis slide table motor 6, a Y-axis slide table motor 7, and a Z-axis slide table motor 8. The Y-axis slide table motor 7 is installed at the output end of the X-axis slide table motor 6 and slides along the X-axis under the drive of the X-axis slide table motor 6. The Z-axis slide table motor 8 is installed at the output end of the Y-axis slide table motor 7 and slides along the Y-axis under the drive of the Y-axis slide table motor 7. The roll unit 2 is installed at the output end of the Z-axis slide table motor 8 and slides along the Z-axis under the drive of the Z-axis slide table motor 8. The XYZ slide table 1 performs preoperative coarse adjustment of the position of the slave actuator through the X-axis slide table motor 6, Y-axis slide table motor 7, and Z-axis slide table motor 8.

[0039] The roll unit 2 is fixed on the XYZ slide table 1 by the connecting block A10. The roll unit 2 includes a roll axis motor 9, a synchronous belt 35 and a drive shaft 36. The roll axis motor 9 is mounted on the connecting block A10. The output end of the roll axis motor 9 is connected to the drive shaft 36 through the synchronous belt 35 and drives the drive shaft 36 to rotate. The drive shaft 36 and the roll axis 37 are arranged coaxially. The roll unit 2 realizes the rotation of the slave actuator around the roll axis 37 through the roll axis motor 9, the synchronous belt 35 and the drive shaft 36.

[0040] The pitch unit 3 is fixed to the roll unit 2 via the connecting block B11, and the pitch unit 3 is offset relative to the roll axis 37 by a certain distance. The pitch unit 3 includes a pitch base 30, connecting rods A22, B23, C24, D25, E26, and F27. Connecting rods A22, B23, C24, D25, E26, and F27 form a double parallelogram mechanism. A pitch motor 32 is installed at the bottom of the pitch base 30. The output end of the pitch motor 32 is connected to a lead screw B31. A transition block E29 is screwed onto the lead screw B31. The transition block E29 is hinged to the connecting rod F27 via the connecting rod G28. The pitch unit 3 realizes the rotation of the double parallelogram mechanism around the pitch axis 38 through the pitch motor 32, lead screw B31, transition block E29, and connecting rod G28. A connecting block F33 and a connecting block G34 are provided between the pitch base 30 and the connecting block B11. Both the connecting block F33 and the connecting block G34 have multiple adjustment holes. The connecting block F33 can be adjusted to move relative to the connecting block G34 along the Z-axis, and the pitch base 30 can be adjusted to move relative to the connecting block F33 along the Y-axis.

[0041] The feed unit 4 is fixed to the pitch unit 3 via the connecting block C19. The feed unit 4 includes a feed motor 16, a lead screw A21, and a feed base 18. The feed motor 16 is mounted on the feed base 18, and the output end of the feed motor 16 is connected to the lead screw A21. The lead screw A21 is connected to the rotation unit 5. The feed unit 4 realizes the feeding motion of the end effector through the feed motor 16 and the lead screw A21.

[0042] The rotation unit 5 is fixed to the feed unit 4 via a connecting block D20, which is screwed onto the lead screw A21. The rotation unit 5 includes a rotation motor 15, a coupling A14, and a rotation base 17. The rotation motor 15 is mounted on the rotation base 17, and the output end of the rotation motor 15 is fitted with the coupling A14. The rotation unit 5 achieves the rotational movement of the end effector through the rotation motor 15 and the coupling A14. A calibration fixture 12 is mounted on the rotation unit 5. The calibration fixture 12 is used to calibrate the spatial position of the telecentric point of the parallelogram mechanism. The end of the calibration fixture 12 is designed with a ball head 13, and the total surface runout of the ball head 13 is less than 10 μm. Displacement measurement sensors are installed in the horizontal and vertical directions of the ball head 13, namely dial indicator A39 and dial indicator B40. Dial indicator A39 is fixed vertically and its head is in contact with the ball head 13. Dial indicator B40 is placed horizontally and its head is in contact with the ball head 13.

[0043] In summary, in this invention, the XYZ slide table 1 performs preoperative coarse adjustment of the slave actuator's position via the X-axis slide table motor 6, Y-axis slide table motor 7, and Z-axis slide table motor 8, and locks the slide table during surgery. The roll unit 2 is fixed to the XYZ slide table 1 via connecting block A10, and the roll unit 2 achieves slave-end rotation around the roll axis 37 via the roll axis motor 9, synchronous belt 35, and drive shaft 36. The pitch unit 3 is fixed to the roll unit 2 via connecting block B11 and offset relative to the roll axis 37 by a certain distance; the pitch unit 3 includes a double parallelogram mechanism composed of pitch base 30, connecting rod A22, connecting rod B23, connecting rod C24, connecting rod D25, connecting rod E26, and connecting rod F27; the pitch unit 3 achieves rotation of the double parallelogram mechanism around the pitch axis 38 via pitch motor 32, lead screw B31, adapter block E29, and connecting rod G28. Feed unit 4 is fixed to pitch unit 3 via connecting block C19. Feed unit 4 achieves end-effector feeding motion via feed motor 16 and lead screw A21. Rotation unit 5 is fixed to feed unit 4 via connecting block D20. Rotation unit 5 achieves end-effector rotation motion via rotation motor 15 and coupling A14. Further, calibration fixture 12 is installed on rotation unit 5 for calibrating the spatial position of the parallelogram's telecentric point. The end of calibration fixture 12 is designed with a ball head 13, and the total surface runout of the ball head 13 should be as small as possible, preferably less than 10 μm.

[0044] The method for calibrating the spatial position of the distal point of the actuator of the microsurgical device of the present invention will be further described below with reference to the accompanying drawings:

[0045] Step S1: Install calibration fixture 12 on the rotation unit 5 to calibrate the spatial position of the telecentric point of the parallelogram; the end of calibration fixture 12 is designed with a ball head 13, and the total surface runout of the ball head 13 should be as small as possible, preferably less than 10μm.

[0046] Step S2: Control the pitch motor 32 to rotate, thereby adjusting the pitch unit 3 to perform pitch motion, and at the same time measure the runout value of the outer surface of the ball head 13.

[0047] Step S3: Control the feed motor 16 to rotate, thereby adjusting the feed unit 4 to perform feed motion. Adjust the position of the ball head 13 along the feed direction.

[0048] Step S4: Repeat steps S2 to S3 until the runout value of the outer surface of the ball head 13 is less than a specified value; preferably, the runout value is less than 10 μm.

[0049] Step S5: Establish a roll coordinate system {1} on the adapter block B11 of roll unit 2. The origin O1 of the roll coordinate system {1} is located at the center of the adapter block B11. The X1 axis coincides with the roll axis 37, and the Y1 axis is as follows. Figure 6 As shown, the Z1 axis is determined by the right-hand coordinate system rule.

[0050] Step S6: Establish a pitch coordinate system {2} on the ball head 13 of the calibration fixture 12 of the pitch unit 3. The origin O2 of the pitch coordinate system {2} is located at the center of the ball head 13. The X2 axis coincides with the axis of the calibration fixture 12, the Y2 axis is parallel to the Y1 axis and in the same direction, and the X2 axis is determined by the right-hand coordinate system rule.

[0051] Step S7: Control the roll axis motor 9 so that the Y1 axis of the roll coordinate system {1} is horizontal and the Z1 axis is vertically upward, as shown. Figure 7 As shown in (a).

[0052] Step S8: Install two sensors in the horizontal and vertical directions respectively. These sensors can be contact or non-contact. Preferably, dial indicators are used as displacement measurement tools in this invention, namely dial indicator A39 and dial indicator B40. Dial indicator A39 is required to be vertically fixed with its head in contact with the ball head 13; dial indicator B40 is required to be horizontally placed with its head in contact with the ball head 13.

[0053] Step S9: Control the roll axis motor 9 to rotate the roll unit 2 and pitch unit 3 a total of 180°. At this time, the Y1 axis rotates to... Figure 7 (b) The position of Y1' is rotated to the position of Z1'. Since the origin O2 of the pitch coordinate system {2} does not actually fall on the X1 axis of the roll coordinate system {1}, after rotation, the ball head 13 moves to... Figure 7 (b) The position of the dashed circle can be read from dial indicator A39 and dial indicator B40. The changes in the meter head after rotating 180° are dy and dz, respectively.

[0054] Step S10, with Figure 7 Using the Y1 and Z1 axes as references, when the roll axis 37 rotates 180°, the dial indicator A39 moves downwards, and the adjusting block F33 is shifted relative to the adjusting block G34 in the negative direction of the Z1 axis by dz / 2; conversely, the adjusting block F33 is shifted relative to the adjusting block G34 in the positive direction of the Z1 axis by dz / 2. Simultaneously, if the dial indicator B40 moves to the right, the adjusting base 30 is shifted relative to the adjusting block F33 in the positive direction of the Y1 axis by dy / 2; conversely, the pitch base 30 is shifted relative to the adjusting block F33 in the negative direction of the Y1 axis by dy / 2.

[0055] Step S11: Repeat steps S9 to S10 until the fluctuation of the values ​​of dial gauge A39 and dial gauge B40 is less than a specified value. Preferably, the fluctuation value is less than 10 μm.

[0056] The contents not described in detail in this specification are existing technologies known to those skilled in the art. The standard parts used can be purchased from the market, and the irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the existing technology. The machinery, parts and equipment adopt conventional models in the existing technology, and the circuit connection adopts conventional connection methods in the existing technology, which will not be described in detail here.

[0057] This invention is not limited to the above-described embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of this invention shall be considered equivalent substitutions and shall be included within the scope of protection of this invention.

Claims

1. A microsurgical device from an end effector, characterized by: The device includes an XYZ slide (1), a roll unit (2), a pitch unit (3), a feed unit (4), and a rotation unit (5). The XYZ slide (1) is used for coarse adjustment of the end position of the actuator. The roll unit (2) is used to realize the rotation of the actuator around the roll axis (37). The pitch unit (3) is used to realize the rotation of the actuator around the pitch axis (38). The feed unit (4) is used to realize the feed motion of the surgical instrument. The rotation unit (5) is used to realize the rotation motion of the surgical instrument. The roll unit (2) is mounted on the XYZ slide (1), the pitch unit (3) is mounted on the roll unit (2), the feed unit (4) is mounted on the pitch unit (3), and the rotation unit (5) is mounted on the feed unit (4). The pitch unit (3) is fixed to the roll unit (2) by connecting block B (11), and the pitch unit (3) is offset relative to the roll axis (37) by a certain distance. The pitch unit (3) includes a pitch base (30), connecting rod A (22), connecting rod B (23), connecting rod C (24), connecting rod D (25), connecting rod E (26) and connecting rod F (27). Connecting rod A (22), connecting rod B (23), connecting rod C (24), connecting rod D (25), connecting rod E (26) and connecting rod F (27) form a double The parallelogram mechanism has a pitch motor (32) installed at the bottom of the pitch base (30). The output end of the pitch motor (32) is connected to a lead screw B (31). A transition block E (29) is screwed onto the lead screw B (31). The transition block E (29) is hinged to the connecting rod F (27) through the connecting rod G (28). The pitch unit (3) realizes the rotation of the double parallelogram mechanism around the pitch axis (38) through the pitch motor (32), lead screw B (31), transition block E (29) and connecting rod G (28). The self-rotating unit (5) is equipped with a calibration fixture (12), which is used to calibrate the spatial position of the telecentric point of the parallelogram mechanism; the end of the calibration fixture (12) is designed with a ball head (13), and the surface runout of the ball head (13) is less than 10μm; The ball head (13) is equipped with sensors for displacement measurement in the horizontal and vertical directions, namely dial indicator A (39) and dial indicator B (40). The dial indicator A (39) is fixed vertically and its head is in contact with the ball head (13). The dial indicator B (40) is placed horizontally and its head is in contact with the ball head (13). A connecting block F (33) and a connecting block G (34) are provided between the pitch base (30) and the connecting block B (11). Both the connecting block F (33) and the connecting block G (34) have multiple adjustment holes. The connecting block F (33) can be adjusted to translate relative to the connecting block G (34) along the Z-axis, and the pitch base (30) can be adjusted to translate relative to the connecting block F (33) along the Y-axis.

2. The microsurgical device distal end effector of claim 1, wherein: The XYZ slide table (1) includes an X-axis slide table motor (6), a Y-axis slide table motor (7), and a Z-axis slide table motor (8). The Y-axis slide table motor (7) is installed at the output end of the X-axis slide table motor (6) and slides along the X-axis under the drive of the X-axis slide table motor (6). The Z-axis slide table motor (8) is installed at the output end of the Y-axis slide table motor (7) and slides along the Y-axis under the drive of the Y-axis slide table motor (7). The roll unit (2) is installed at the output end of the Z-axis slide table motor (8) and slides along the Z-axis under the drive of the Z-axis slide table motor (8). The XYZ slide table (1) performs preoperative coarse adjustment of the position of the slave actuator through the X-axis slide table motor (6), the Y-axis slide table motor (7), and the Z-axis slide table motor (8).

3. The microsurgical device distal end effector of claim 1, wherein: The roll unit (2) is fixed on the XYZ slide table (1) by the connecting block A (10). The roll unit (2) includes a roll shaft motor (9), a synchronous belt (35) and a drive shaft (36). The roll shaft motor (9) is mounted on the connecting block A (10). The output end of the roll shaft motor (9) is connected to the drive shaft (36) through the synchronous belt (35) and drives the drive shaft (36) to rotate. The drive shaft (36) is coaxially arranged with the roll shaft (37). The roll unit (2) realizes the rotation of the slave actuator around the roll shaft (37) through the roll shaft motor (9), the synchronous belt (35) and the drive shaft (36).

4. The microsurgical device distal end effector of claim 1, wherein: The feed unit (4) is fixed on the pitch unit (3) by the connecting block C (19). The feed unit (4) includes a feed motor (16), a lead screw A (21) and a feed base (18). The feed motor (16) is mounted on the feed base (18). The output end of the feed motor (16) is connected to the lead screw A (21). The lead screw A (21) is connected to the rotation unit (5). The feed unit (4) realizes the feeding motion of the end effector through the feed motor (16) and the lead screw A (21).

5. The microsurgical device from tip-actuator of claim 4, wherein: The rotation unit (5) is fixed on the feed unit (4) by the connecting block D (20). The connecting block D (20) is screwed on the lead screw A (21). The rotation unit (5) includes a rotation motor (15), a coupling A (14) and a rotation base (17). The rotation motor (15) is installed on the rotation base (17). The output end of the rotation motor (15) is equipped with a coupling A (14). The rotation unit (5) realizes the rotation movement of the end effector through the rotation motor (15) and the coupling A (14).

6. A method for calibrating the spatial position of the distal point of a microsurgical device's slave actuator as described in any one of claims 1 to 5, characterized in that, Includes the following steps: Step S1: Install calibration fixture (12) on the self-rotating unit (5) to calibrate the spatial position of the telecentric point of the parallelogram mechanism; the end of the calibration fixture (12) is designed with a ball head (13), and the total surface runout of the ball head (13) is less than 10μm; Step S2: Control the pitch motor (32) to rotate, thereby adjusting the pitch unit (3) to perform pitch motion, and at the same time measure the runout value of the outer surface of the ball head (13); Step S3: Control the feed motor (16) to rotate, thereby adjusting the feed unit (4) to perform feed motion, and adjusting the position of the ball head (13) along the feed direction; Step S4: Repeat steps S2 to S3 until the runout value of the outer surface of the ball head (13) is less than the specified value; Step S5: Establish a roll coordinate system {1} on the connecting block B (11) of the roll unit (2). The origin O1 of the roll coordinate system {1} is located at the center of the connecting block B (11). Set the X1 axis to coincide with the roll axis (37), the Y1 axis to be perpendicular to the X1 axis, and the Z1 axis to be determined by the right-hand coordinate system rule. Step S6: Establish a pitch coordinate system {2} on the ball head (13) of the calibration fixture (12) of the pitch unit (3). The origin O2 of the pitch coordinate system {2} is located at the center of the ball head (13). Set the X2 axis to coincide with the axis of the calibration fixture (12), and set the Y2 axis to be parallel and in the same direction as the Y1 axis. The X2 axis is determined by the right-hand coordinate system rule. Step S7: Control the roll axis motor (9) so that the Y1 axis of the roll coordinate system {1} is horizontal and the Z1 axis is vertically upward; Step S8: Install dial indicator A (39) and dial indicator B (40) in the horizontal and vertical directions of the ball head (13) respectively. Dial indicator A (39) is fixed vertically with its head in contact with the ball head (13); dial indicator B (40) is placed horizontally with its head in contact with the ball head (13). Step S9: Control the roll axis motor (9) to rotate the roll unit (2) and pitch unit (3) by a total of 180°. At this time, the Y1 axis rotates to the position of Y1' and the Z1 axis rotates to the position of Z1'. Since the origin O2 of the pitch coordinate system {2} does not actually fall on the X1 axis of the roll coordinate system {1}, after rotation, the ball head (13) moves. Read the change values ​​of the dial head after rotating 180° from dial A (39) and dial B (40), which are dy and dz respectively. Step S10: Using the Y1 and Z1 axes as references, when the roll axis (37) rotates 180°, the dial indicator A (39) moves downward, and the connecting block F (33) is adjusted to translate dz / 2 relative to the connecting block G (34) in the negative direction of the Z1 axis; conversely, the connecting block F (33) is adjusted to translate dz / 2 relative to the connecting block G (34) in the positive direction of the Z1 axis; at the same time, if the dial indicator B (40) moves to the right, the pitch base (30) is adjusted to translate dy / 2 relative to the connecting block F (33) in the positive direction of the Y1 axis; conversely, the pitch base (30) is adjusted to translate dy / 2 relative to the connecting block F (33) in the negative direction of the Y1 axis. Step S11: Repeat steps S9 to S10 until the values ​​of dial gauge A (39) and dial gauge B (40) fluctuate less than the specified values.

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