Ophthalmic surgical robot end structure

Abstract

The application discloses an ophthalmic surgery robot end structure, which comprises a main seat, a rotating seat, a fixed seat, an end forceps, a first linear driving device, a second linear driving device and a rotating driving device. The rotating seat is arranged in the main seat, and both ends of the rotating seat are rotationally connected with both ends of the main seat. The rotating driving device is arranged on the main seat, and the output end of the rotating driving device is in transmission connection with the rotating seat to drive the rotating seat to rotate. The main seat is in sliding connection with the fixed seat, and the second linear driving device is arranged on the fixed seat to drive the main seat to slide on the fixed seat. The application can realize the synchronous rotation of the outer sleeve and the inner sleeve forceps around the axis of the outer sleeve and the movement along the axis of the outer sleeve. Meanwhile, the application can realize the clamping and loosening through the relative movement between the outer sleeve and the inner sleeve forceps. The motion consistency is good, the coaxiality is high, and the damage of the movement of the surgical instrument to the eyeball is reduced.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more specifically, to an end effector structure for an ophthalmic surgical robot. Background Technology

[0002] The eyeball is a very delicate human organ. Therefore, the working end of surgical instruments used in eye surgery is extremely small. For example, in minimally invasive eye surgery, to reduce the size of the surgical forceps and minimize damage to the eyeball, and also to minimize instrument deformation and structural damage to the eyeball while clamping and releasing the forceps, such as... Figure 1 As shown, the surgical forceps used typically include an outer tube and an inner tube. The outer tube is fitted over the inner tube, and the end of the inner tube has claws. The outer tube and the inner tube can move relative to each other. When the claws on the inner tube enter the outer tube, they retract to achieve a clamping function. When the claws of the inner tube extend out of the outer tube, they open to achieve a release.

[0003] Currently, ophthalmic surgery demands extremely high precision, and the introduction of surgical robots in ophthalmic surgery helps improve surgical accuracy and safety. When designing the end effector of a surgical robot equipped with surgical forceps, the end effector must allow the forceps to rotate around and move along the axis of the outer sheath, while also allowing the outer and inner sheaths to move relative to each other along the axis of the outer sheath. Furthermore, it must minimize the movement deviation of the forceps to reduce damage to the eyeball. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing surgical robot end effectors in meeting the requirements of surgical forceps manipulation in ophthalmic surgery, and to provide an end effector structure for ophthalmic surgical robots. This invention enables synchronous rotation of the outer and inner forceps around the axis of the outer tube and movement along the axis of the outer tube. Furthermore, it allows for clamping and releasing through the relative movement between the outer and inner forceps, resulting in good motion consistency and high coaxiality, thus reducing the risk of injury to the eyeball from the movement of surgical instruments.

[0005] The objective of this invention can be achieved using the following technical solutions:

[0006] An end effector structure for an ophthalmic surgical robot includes a main seat, a rotating seat, a fixed seat, end forceps, a first linear drive device, a second linear drive device, and a rotary drive device. The rotating seat is disposed within the main seat, and its two ends are rotatably connected to the two ends of the main seat. The rotary drive device is disposed on the main seat, and its output end is driven by the rotating seat to rotate. The main seat is slidably connected to the fixed seat. The second linear drive device is disposed on the fixed seat and is used to drive the main seat to slide on the fixed seat.

[0007] The end forceps include an outer tube, an inner forceps, and a support for mounting the outer tube and the inner forceps. The support includes a tube bracket fixedly connected to one end of the outer tube and a forceps bracket fixedly connected to the inner forceps. The tube bracket and the forceps bracket are slidable relative to each other along the axis of the outer tube. The tube bracket is slidably connected to the rotating seat, and the forceps bracket is detachably connected to the rotating seat. A first linear drive device is disposed on the rotating seat and is used to drive the tube bracket to slide along its own axis. The rotation axis of the rotating seat is the axis of the outer tube.

[0008] The ophthalmic surgical robot end effector structure provided by this invention enables synchronous movement or rotation of the outer sheath and inner forceps along or around the axis of the outer sheath. Simultaneously, driven by a first linear drive device, the outer sheath can also move independently along its own axis, thereby opening and closing the claws of the inner forceps. The linear movement of the outer sheath and inner forceps along the axis of the outer sheath is achieved by a second linear drive device driving the main seat to slide on the fixed frame, thus ensuring consistent linear movement of the outer sheath and inner forceps. Since the forceps support is detachably connected to the rotating base, and the sheath support and forceps support cannot rotate relative to each other, the outer sheath and inner forceps rotate synchronously with the rotation of the rotating base, resulting in consistent rotational movement. Furthermore, because the two ends of the rotating base are rotatably connected to the main seat, the coaxiality during rotation is high. Simultaneously, the first linear drive device is mounted on the rotating base, and performs both linear and rotational movements synchronously with the outer sheath and inner forceps. Therefore, when the first linear drive device moves the outer sheath, it ensures that the outer sheath and inner forceps are coaxial, allowing the claws of the inner forceps to close more evenly and stably.

[0009] Furthermore, the support is slidably connected to the rotating seat, and the rotating seat is provided with a locking device so that the tweezers holder is detachably connected to the rotating seat.

[0010] The support is slidably connected to the rotating base. A locking device on the rotating base allows for a detachable connection between the tweezers holder and the rotating base. When the locking device is released, the support can be pulled out for easy replacement and cleaning of the end tweezers. The locking device is used to lock the movement of the tweezers holder along the axis of the outer tube and to lock the rotation of the tweezers holder around the axis of the outer tube, so that the tweezers holder rotates synchronously with the rotating base, and the sleeve support rotates synchronously with the rotation of the tweezers holder. The sleeve support can slide relative to the tweezers holder, so the first linear drive device can drive the sleeve support to slide.

[0011] Furthermore, the sleeve support includes a hollow tubular rotating synchronous inner sleeve, and the tweezers support includes a hollow tubular rotating synchronous outer sleeve. The rotating synchronous inner sleeve is inserted into the rotating synchronous outer sleeve and the two are slidably connected. One end of the rotating synchronous inner sleeve is fixedly connected to one end of the outer sleeve. One end of the inner sleeve tweezers is inserted into the rotating synchronous inner sleeve. At least one through groove is formed on the side wall of the rotating synchronous inner sleeve along its own axis. A sliding part is provided on the inner peripheral side wall of the rotating synchronous outer sleeve, which slides in the through groove. The sliding part is fixedly connected to one end of the inner sleeve tweezers.

[0012] The axes of the outer sleeve, inner sleeve forceps, rotating synchronous inner sleeve, and rotating synchronous outer sleeve are all coaxial. This structure allows for relative movement between the forceps support and the sleeve support along the sleeve's axis. Simultaneously, because the through groove is formed along the inner sleeve's sidewall and its own axis, the rotating synchronous inner sleeve and the rotating synchronous outer sleeve cannot rotate relative to each other due to the cooperation of the through groove and the sliding part. Multiple through grooves and sliding parts can be provided and evenly distributed circumferentially. This ensures a higher degree of coaxiality between the axis of the inner sleeve forceps and the axis of the outer sleeve when multiple sliding parts are fixedly connected to the inner sleeve forceps.

[0013] Furthermore, the locking device includes a housing and a clamping cap on top of the housing. The housing is fixedly connected to the rotating seat. The housing has a through channel extending through both ends along the axis of the outer sleeve. The support is inserted into the through channel. The tweezers support also includes an outer tube sleeved outside the rotating synchronous outer sleeve. The outer tube is fixedly connected to the outer sleeve of the rotating synchronous outer sleeve and movably connected to the rotating synchronous inner sleeve. The inner side wall of the through channel and the outer side wall of the outer tube are provided with a rotation limiting structure for restricting the outer tube from rotating around its own axis. The inner side of the clamping cap and the outer side wall of the outer tube are provided with a translation limiting structure for restricting the support from moving along the axis of the first rotating shaft.

[0014] Since the inner and outer rotating synchronous sleeves cannot rotate relative to each other, and the outer tube is fixedly connected to the outer rotating synchronous sleeve, the relative rotation between the outer tube and the rotating seat is restricted by the rotation limiting structure. This restricts the relative rotation between the inner rotating synchronous sleeve and the rotating seat, and between the outer rotating synchronous sleeve and the rotating seat, thus allowing the inner and outer sleeves to rotate when the rotating seat is driven to rotate. Simultaneously, the translation limiting structure restricts the translation of the outer tube along its own axis, thereby limiting the movement of the outer rotating synchronous sleeve. However, since the inner rotating synchronous sleeve and the rotating seat can slide relative to each other, the first linear drive device on the rotating seat can drive the inner rotating synchronous sleeve to slide along its own axis, thereby achieving relative sliding between the outer sleeve and the inner sleeve, thus achieving clamping.

[0015] Furthermore, the rotation limiting structure includes a first protrusion on the inner wall of the through channel and a first groove on the outer wall of the outer tube, both the first protrusion and the first groove being arranged along the axial direction of the outer tube.

[0016] This structure not only restricts the relative rotation between the rotating synchronous outer sleeve and the rotating seat, but also allows the entire support to be easily pulled out from the lock and rotating seat when the translational limiting structure is released, enabling quick disassembly of the end tweezers. The first groove is located on the outer wall of the outer tube, and the first protrusion is located within the through channel, rather than on the outer wall of the outer tube. This prevents the support from being jammed by the rotating seat when it is pulled out.

[0017] Furthermore, the translational limiting structure includes a second groove along the outer side wall of the outer tube and a second protrusion on the inner side of the clamping cover. After the clamping cover is closed, the second protrusion is inserted into the second groove.

[0018] In this way, by tightening the clamping cap onto the housing, the movement of the outer tube can be restricted, and the support can be positioned and installed. After the operation, the support can be removed simply by opening the clamping cap, allowing for quick disassembly and replacement of the end forceps.

[0019] Furthermore, one side of the clamping cover is hinged to the housing, and the other side of the clamping cover is provided with at least one connecting spring. One end of the connecting spring is detachably or fixedly connected to the clamping cover, and the other end of the connecting spring is detachably or fixedly connected to the housing.

[0020] This solution uses a connecting spring to tighten the clamping cover, which ensures that the clamping cover is locked to the outer tube. At the same time, the clamping cover can be opened by removing one end of the connecting spring. Even if both ends of the connecting spring are fixedly connected, the clamping cover can be lifted to release the lock and pull out the end tweezers. The clamping cover can also automatically reset.

[0021] Furthermore, the first linear drive device includes a first stepper motor mounted on the rotary seat, a transmission worm gear fixedly connected to the output end of the first stepper motor at one end, a transmission turbine meshing with the transmission worm gear, a cam rotating synchronously with the turbine, a slider slidably connected to the rotary seat, and a first return spring. The cam abuts against one end of the slider to drive the slider to slide. One end of the first return spring is fixedly connected to the end of the slider that abuts against the cam. The other end of the first return spring is fixedly connected to the rotary seat. The other end of the slider abuts against the sleeve support.

[0022] The first linear drive device can use a linear motor for telescopic motion drive. However, the first linear drive device provided in this solution utilizes a worm gear and a worm shaft to facilitate adjustment of the transmission ratio, thereby better controlling the movement speed of the outer sleeve and achieving self-locking. Since the relative movement required between the outer sleeve and the inner sleeve tweezers is very small, using a cam to drive the slider allows for minute movements of the outer sleeve. Simultaneously, the structure using a cam to push out the slider and a spring for reset ensures that the first stepper motor rotates in the same direction, avoiding the misalignment of components during reverse rotation reset, and enabling more precise control of the outer sleeve's movement by controlling the first stepper motor. Furthermore, by setting the cam shape, the movement speed of the outer sleeve is controlled to be initially fast and then slow down when the first stepper motor rotates at a uniform speed, resulting in more stable clamping of the inner sleeve tweezers. When the slider is pushed out by the cam, the slider directly pushes out the sleeve, causing the outer sleeve to move. However, the sleeve support itself is not directly fixed to the slider, allowing for quick disassembly and replacement of the end tweezers simply by releasing the locking device.

[0023] Furthermore, the sleeve support also includes a sliding support and a second return spring. One end of the sliding support is inserted into the outer sleeve of the rotating synchronization sleeve and fixedly connected to the other end of the inner sleeve of the rotating synchronization sleeve. An abutment groove for accommodating the second return spring is provided on the side wall of the sliding support. One end of the second return spring abuts against one end of the outer sleeve of the rotating synchronization sleeve, and the other end of the second return spring abuts against the side wall of the abutment groove.

[0024] This solution uses a second spring to keep the end tweezers in a released state. The rotating synchronous outer sleeve can first abut against the slider. Then, after the rotating synchronous outer sleeve is pushed out by the slider, the end tweezers are in a clamped state. When the slider is reset under the action of the first reset spring, the rotating synchronous outer sleeve can also be reset under the action of the second reset spring.

[0025] Furthermore, the main seat is U-shaped, and through holes are provided at both ends of the main seat for rotatable connection with the rotating seat. The shell seat is provided with a first rotating shaft rotatably connected to the through holes at one end near the main seat. The first rotating shaft is hollow inside and communicates with the through channel. The axis of the first rotating shaft is on the same straight line as the axis of the through channel. The rotating seat is provided with a second rotating shaft at the other end near the main seat. The axis of the second rotating shaft is on the same straight line as the axis of the first rotating shaft. A first synchronous pulley is sleeved on the second rotating shaft. The rotary drive device is a second stepper motor. A second synchronous pulley is provided on the output shaft of the second stepper motor. A synchronous belt for transmission is provided between the first synchronous pulley and the second synchronous pulley.

[0026] The rotating base can also be U-shaped, allowing its two ends to be rotatably connected to the two ends of the U-shaped main base. However, in this design, the locking device is fixedly connected to one end of the rotating base, thus simplifying the structure by directly rotatably connecting the locking device to the main base. The other end of the rotating base has a second rotating shaft that inserts into the through-hole of the main base and rotatably connects to it. A first synchronous pulley is mounted on the extended second rotating shaft, and a second stepper motor drives the first synchronous pulley to rotate, thereby causing the rotating base to rotate. Using a synchronous belt transmission method allows for more precise control of the rotation angle.

[0027] Furthermore, the second linear drive device can be a linear motor, and the bottom of the main seat and the fixed seat are provided with a slide rail structure so that the main seat and the fixed seat are slidably connected.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] (1) It can realize the synchronous rotation of the outer tube and the inner tube forceps around the axis of the outer tube and the movement along the axis of the outer tube. At the same time, it can also achieve clamping and loosening through the relative movement between the outer tube and the inner tube forceps. It has good motion consistency and high coaxiality, reducing the damage to the eyeball caused by the movement of surgical instruments.

[0030] (2) Through the structure of the locking device, the cannula support and the forceps support, and the fact that the cannula support and the slider of the first linear drive device are not directly fixedly connected, the rapid installation and disassembly of the end forceps are truly realized, which facilitates the replacement and disinfection of surgical instruments.

[0031] (3) The transmission turbine and transmission worm of the first linear drive device can adjust the transmission ratio and achieve self-locking. At the same time, the cam pushes the slider and uses the first reset spring to reset, so that the first stepper motor, transmission turbine and transmission worm rotate in one direction, avoiding the error caused by the forward and reverse conversion, achieving more precise control, and controlling the movement speed of the outer tube by setting the shape of the cam. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of surgical forceps;

[0033] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0034] Figure 3 This is a schematic diagram of the rotating seat portion of the present invention;

[0035] Figure 4 This is a schematic diagram of the locking device of the present invention;

[0036] Figure 5 This is a schematic diagram of the overall structure of the end forceps of the present invention;

[0037] Figure 6 This is a schematic diagram of the cannula support and forceps support structure of the present invention;

[0038] Figure 7 This is a schematic diagram of the internal structure of the sleeve support of the present invention;

[0039] Figure 8 This is a schematic diagram of the rotating synchronous inner sleeve of the present invention;

[0040] Figure 9 This is a schematic diagram of the structure of the rotating synchronous outer sleeve of the present invention;

[0041] Figure 10 This is a schematic diagram of the structure of the first linear drive device of the present invention.

[0042] The markings in the diagram are explained below:

[0043] 1-Main seat, 2-Rotating seat, 21-Second rotating shaft, 3-Fixed seat, 4-End tweezers, 41-Outer sleeve, 42-Inner sleeve tweezers, 43-Support, 44-Sleeve support, 441-Rotational synchronization inner sleeve, 442-Through groove, 45-Tweezers support, 451-Rotational synchronization outer sleeve, 452-Sliding part, 453-Outer tube, 454-First groove, 455-Second groove, 5-First linear drive device, 51-First stepper motor, 52-Transmission 53-Willow gear, 54-Transmission turbine, 55-Cam, 56-Slider, 57-First return spring, 58-Roller, 6-Angle sensor, 7-Second linear drive device, 7-Rotary drive device, 71-First synchronous pulley, 72-Second synchronous pulley, 73-Second stepper motor, 8-Locker, 81-Housing base, 811-Through channel, 812-First protrusion, 82-Pressure cover, 821-Second protrusion, 83-Connecting spring, 84-First rotating shaft. Detailed Implementation

[0044] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0045] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0046] Example 1

[0047] like Figures 1 to 9 As shown, an end effector structure for an ophthalmic surgical robot includes a main seat 1, a rotating seat 2, a fixed seat 3, end forceps 4, a first linear drive device 5, a second linear drive device 6, and a rotary drive device 7. The rotating seat 2 is located inside the main seat 1, and its two ends are rotatably connected to the two ends of the main seat 1. The rotary drive device 7 is located on the main seat 1, and its output end is connected to the rotating seat 2 to drive the rotating seat 2 to rotate. The main seat 1 is slidably connected to the fixed seat 3. The second linear drive device 6 is located on the fixed seat 3 and is used to drive the main seat 1 to slide on the fixed seat 3.

[0048] The end forceps 4 includes an outer tube 41, an inner forceps 42, and a support 43 for mounting the outer tube 41 and the inner forceps 42. The support 43 includes a tube bracket 44 fixedly connected to one end of the outer tube 41 and a forceps bracket 45 fixedly connected to the inner forceps 42. The tube bracket 44 and the forceps bracket 45 can slide relative to each other along the axis of the outer tube 41. The tube bracket 44 is slidably connected to the rotating seat 2, and the forceps bracket 45 is detachably connected to the rotating seat 2. A first linear drive device 5 is provided on the rotating seat 2. The first linear drive device 5 is used to drive the tube bracket 44 to slide along its own axis. The rotation axis of the rotating seat 2 is the axis of the outer tube 41.

[0049] The ophthalmic surgical robot end effector structure provided by this invention can achieve synchronous movement or rotation of the outer sheath 41 and inner forceps 42 along or around the axis of the outer sheath 41. Simultaneously, driven by the first linear drive device 5, the outer sheath 41 can also move independently along its own axis, thereby opening and closing the claws at the end of the inner forceps 42. The linear movement of the outer sheath 41 and inner forceps 42 along the axis of the outer sheath 41 is achieved by the second linear drive device 6 driving the main seat 1 to slide on the fixed frame. Therefore, the linear movements of the outer sheath 41 and inner forceps 42 are consistent. Since the forceps support 45 is detachably connected to the rotating seat 2, and the sheath support 44 and forceps support 45 cannot rotate relative to each other, the outer sheath 41 and inner forceps 42 rotate synchronously with the rotation of the rotating seat 2, exhibiting consistent rotational movement. Furthermore, because the two ends of the rotating seat 2 are rotatably connected to the main seat 1, the coaxiality during rotation is high. Meanwhile, the first linear drive device 5 is mounted on the rotating base 2. The first linear drive device 5 performs linear and rotational movements synchronously with the outer tube 41 and the inner tweezers 42. Therefore, when the first linear drive device 5 drives the outer tube 41 to move, it ensures that the outer tube 41 and the inner tweezers 42 are coaxial. The outer tube 41 makes the claws of the inner tweezers 42 close more evenly and stably.

[0050] The support 43 is slidably connected to the rotating base 2, and the rotating base 2 is provided with a locking device 8 so that the tweezers holder 45 is detachably connected to the rotating base 2.

[0051] The support 43 is slidably connected to the rotating base 2. A locking device 8 is provided on the rotating base 2 to make the tweezers support 45 detachably connected to the rotating base 2. When the locking device 8 is released, the support 43 can be pulled out to facilitate the replacement and cleaning of the end tweezers 4. The locking device 8 is used to lock the movement of the tweezers support 45 along the axis of the outer tube 41 and to lock the rotation of the tweezers support 45 around the axis of the outer tube 41, so that the tweezers support 45 rotates synchronously with the rotating base 2, and the sleeve support 44 rotates synchronously with the rotation of the tweezers support 45. The sleeve support 44 can slide relative to the tweezers support 45, so the first linear drive device 5 can drive the sleeve support 44 to slide.

[0052] The sleeve support 44 includes a hollow tubular rotating synchronous inner sleeve 441, and the tweezers support 45 includes a hollow tubular rotating synchronous outer sleeve 541. The rotating synchronous inner sleeve 441 is inserted into the rotating synchronous outer sleeve 541 and the two are slidably connected. One end of the rotating synchronous inner sleeve 441 is fixedly connected to one end of the outer sleeve 41. One end of the inner sleeve tweezers 42 is inserted into the rotating synchronous inner sleeve 441. At least one through groove 442 is provided on the side wall of the rotating synchronous inner sleeve 441 along its own axis. A sliding part 452 is provided on the inner peripheral side wall of the rotating synchronous outer sleeve 541, which slides in the through groove 442. The sliding part 452 is fixedly connected to one end of the inner sleeve tweezers 42.

[0053] The axes of the outer sleeve 41, inner sleeve forceps 42, rotating synchronous inner sleeve 441, and rotating synchronous outer sleeve 541 are all coaxial. This structure allows for relative movement between the forceps support 45 and the sleeve support 44 along the sleeve's axis. Simultaneously, because the through groove 442 is formed along its own axis on the side wall of the inner sleeve, the rotating synchronous inner sleeve 441 and the rotating synchronous outer sleeve 541 cannot rotate relative to each other due to the cooperation of the through groove 442 and the sliding part 452. Multiple through grooves 442 and sliding parts 452 can be evenly distributed circumferentially, ensuring a higher coaxiality between the axis of the inner sleeve forceps 42 and the axis of the outer sleeve 41 when multiple sliding parts 452 are fixedly connected to the inner sleeve forceps 42.

[0054] The locking device 8 includes a housing 81 and a clamping cover 82 located on top of the housing 81. The housing 81 is fixedly connected to the rotating seat 2. The housing 81 has a through channel 811 with both ends through it along the axis of the outer sleeve 41. The support 43 is inserted into the through channel 811. The tweezers support 45 also includes an outer tube 453 sleeved outside the rotating synchronous outer sleeve 541. The outer tube 453 is fixedly connected to the outer side of the rotating synchronous outer sleeve 541 and is movably connected to the rotating synchronous inner sleeve 441. The inner side wall of the through channel 811 and the outer side wall of the outer tube 453 are provided with a rotation limiting structure for restricting the outer tube 453 from rotating around its own axis. The inner side of the clamping cover 82 and the outer side wall of the outer tube 453 are provided with a translation limiting structure for restricting the support 43 from moving along the axis of the first rotating shaft 84.

[0055] Since the inner sleeve 441 and the outer sleeve 541 cannot rotate relative to each other, and the outer tube 453 is fixedly connected to the outer sleeve 541, the rotation limiting structure restricts the relative rotation between the outer tube 453 and the rotating seat 2. This restricts the relative rotation between the inner sleeve 441 and the rotating seat 2, and between the outer sleeve 541 and the rotating seat 2. Therefore, when the rotating seat 2 is driven to rotate, the inner tweezers 42 and the outer tube 41 can rotate. Simultaneously, the translation limiting structure restricts the translation of the outer tube 453 along its own axis, thus limiting the movement of the outer sleeve 541. However, since the inner sleeve 441 and the rotating seat 2 can slide relative to each other, the first linear drive device 5 on the rotating seat 2 can drive the inner sleeve 441 to slide along its own axis, thereby achieving relative sliding between the outer tube 41 and the inner tweezers 42, thus achieving clamping.

[0056] The rotation limiting structure includes a first protrusion 812 on the inner sidewall of the through channel 811 and a first groove 454 on the outer sidewall of the outer tube 453. Both the first protrusion 812 and the first groove 454 are arranged along the axial direction of the outer tube 453.

[0057] This structure not only restricts the relative rotation between the rotating synchronous outer sleeve 541 and the rotating seat 2, but also allows the entire support 43 to be easily pulled out from the locker 8 and the rotating seat 2 when the translational limiting structure is released, enabling quick disassembly of the end tweezers 4. The first groove 454 is located on the outer wall of the outer tube 453 and the first protrusion 812 is located in the through channel, rather than on the outer wall of the outer tube 453. This prevents the support 43 from being jammed by the rotating seat 2 when it is pulled out.

[0058] The translational limiting structure includes a second groove 455 provided along the outer side wall of the outer tube 453, and a second protrusion 821 provided inside the clamping cover 82. After the clamping cover 82 is closed, the second protrusion 821 is inserted into the second groove 455.

[0059] In this way, by tightening the clamping cap 82 onto the housing 81, the movement of the outer tube 453 can be restricted, and the support 43 can be positioned and installed. After the operation, the support 43 can be removed by simply opening the clamping cap 82, allowing for quick disassembly and replacement of the end forceps 4.

[0060] One side of the pressure cover 82 is hinged to the housing 81, and the other side of the pressure cover 82 is provided with at least one connecting spring 83. One end of the connecting spring 83 is detachably or fixedly connected to the pressure cover 82, and the other end of the connecting spring 83 is detachably or fixedly connected to the housing 81.

[0061] This design uses a connecting spring 83 to secure the clamping cover 82, ensuring a tight lock between the clamping cover 82 and the outer tube 453. The clamping cover 82 can be opened by removing one end of the connecting spring 83. Even if both ends of the connecting spring 83 are fixedly connected, the clamping cover 82 can be pulled up to release the lock and remove the end tweezers 4. The clamping cover 82 also automatically resets. In this embodiment, two connecting springs 83 are used, positioned on both sides of the clamping cover 82, making the lock between the clamping cover 82 and the outer tube 453 more secure.

[0062] Example 2

[0063] In addition to the features described in Embodiment 1, this embodiment also includes the following features:

[0064] like Figure 10 As shown, the first linear drive device 5 includes a first stepper motor 51 mounted on a rotary seat 2, a transmission worm gear 52 with one end fixedly connected to the output end of the first stepper motor 51, a transmission turbine 53 meshing with the transmission worm gear 52, a cam 54 rotating synchronously with the turbine, a slider 55 slidably connected to the rotary seat 2, and a first return spring 56. The cam 54 abuts against one end of the slider 55 to drive the slider 55 to slide. One end of the first return spring 56 is fixedly connected to the end of the slider 55 near the cam 54. The other end of the first return spring 56 is fixedly connected to the rotary seat 2. The other end of the slider 55 abuts against the sleeve bracket 44.

[0065] The first linear drive device 5 provided in this solution utilizes a worm gear and a worm shaft to facilitate adjustment of the transmission ratio, thereby enabling better control of the moving speed of the outer sleeve 41 and achieving self-locking. Since the relative movement required between the outer sleeve 41 and the inner sleeve tweezers 42 is very small, the cam 54 drives the slider 55 to slide, achieving this minute movement of the outer sleeve 41. Simultaneously, the structure using the cam 54 to push out the slider 55 and the spring for reset ensures that the first stepper motor 51 rotates in the same direction, avoiding the misalignment of components during reverse rotation reset, and allowing for more precise control of the movement of the outer sleeve 41 by controlling the first stepper motor 51. Furthermore, by setting the shape of the cam 54, when the first stepper motor 51 rotates at a uniform speed, the moving speed of the outer sleeve 41 is controlled to be initially fast and then slow down, thus making the clamping of the inner sleeve tweezers 42 more stable. When the slider 55 is pushed out by the cam 54, the slider 55 pushes the sleeve directly out, causing the outer sleeve 41 to move. However, the sleeve support 44 itself is not directly fixed to the slider 55. In this way, the end tweezers 4 can be quickly disassembled and replaced simply by releasing the lock of the locker 8.

[0066] The sleeve support 44 also includes a sliding support and a second return spring. One end of the sliding support is inserted into the rotating synchronous outer sleeve 541 and fixedly connected to the other end of the rotating synchronous inner sleeve 441. An abutment groove for accommodating the second return spring is provided on the side wall of the sliding support. One end of the second return spring abuts against one end of the rotating synchronous outer sleeve 541, and the other end of the second return spring abuts against the side wall of the abutment groove.

[0067] This solution uses a second spring to keep the end tweezers 4 in a relaxed state. The rotating synchronous outer sleeve 541 can first come into contact with the slider 55. Then, after the rotating synchronous outer sleeve 541 is pushed out by the slider 55, the end tweezers 4 is in a clamped state. When the slider 55 is reset under the action of the first reset spring 56, the rotating synchronous outer sleeve 541 can also be reset under the action of the second reset spring.

[0068] A roller 57 is provided at one end of the slider 55 that abuts against the cam 54. The rotation axis of the roller 57 drives the rotation axis of the turbine 53 to be parallel to each other. The cam 54 contacts the side wall of the roller 57.

[0069] An angle sensor 58 can also be installed at the transmission turbine 53 to sense the rotation angle of the transmission turbine 53. This allows the angle sensor 58 and the first stepper motor 51 to be connected to the control device, thereby controlling the movement of the end tweezers 4.

[0070] Example 3

[0071] In addition to the features described in Embodiment 1 or 2, this embodiment also includes the following features:

[0072] like Figure 1 As shown, the main seat 1 is U-shaped, and through holes are provided at both ends of the main seat 1 for rotatable connection with the rotating seat 2. The shell seat 81 is provided with a first rotating shaft 84 rotatably connected to the through hole at one end near the main seat 1. The first rotating shaft 84 is hollow inside and communicates with the through channel 811. The axis of the first rotating shaft 84 and the axis of the through channel 811 are on the same straight line. The rotating seat 2 is provided with a second rotating shaft 21 at the other end near the main seat 1. The axis of the second rotating shaft 21 and the axis of the first rotating shaft 84 are on the same straight line. A first synchronous pulley 71 is sleeved on the second rotating shaft 21. The rotary drive device 7 is a second stepper motor 73. A second synchronous pulley 72 is provided on the output shaft of the second stepper motor 73. A synchronous belt for transmission is provided between the first synchronous pulley 71 and the second synchronous pulley 72.

[0073] The rotating seat 2 can also be U-shaped, allowing its two ends to be rotatably connected to the two ends of the U-shaped main seat 1. However, in this design, the locking device 8 is fixedly connected to one end of the rotating seat 2, thus simplifying the structure by directly rotatably connecting the locking device 8 to the main seat 1. A second rotating shaft 21 is installed at the other end of the rotating seat 2, inserted into the through hole of the main seat 1 and rotatably connected to it. A first synchronous pulley 71 is mounted on the extended second rotating shaft 21, and the first synchronous pulley 71 is driven to rotate by a second stepper motor 73, thereby causing the rotating seat 2 to rotate. Using a synchronous belt transmission method allows for more precise control of the rotation angle.

[0074] The second linear drive device 6 can be a linear motor. The bottom of the main seat 1 and the fixed seat 3 are provided with a slide rail structure so that the main seat 1 and the fixed seat 3 are slidably connected.

[0075] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An end effector structure for an ophthalmic surgical robot, characterized in that, The device includes a main seat (1), a rotating seat (2), a fixed seat (3), end tweezers (4), a first linear drive device (5), a second linear drive device (6), and a rotary drive device (7). The rotating seat (2) is located inside the main seat (1), and the two ends of the rotating seat (2) are rotatably connected to the two ends of the main seat (1). The rotary drive device (7) is located on the main seat (1), and the output end of the rotary drive device (7) is connected to the rotating seat (2) to drive the rotating seat (2) to rotate. The main seat (1) is slidably connected to the fixed seat (3). The second linear drive device (6) is located on the fixed seat (3) and is used to drive the main seat (1) to slide on the fixed seat (3). The end forceps (4) includes an outer tube (41), an inner forceps (42), and a support (43) for mounting the outer tube (41) and the inner forceps (42). The support (43) includes a tube support (44) fixedly connected to one end of the outer tube (41) and a forceps support (45) fixedly connected to the inner forceps (42). The tube support (44) and the forceps support (45) can slide relative to each other along the axis of the outer tube (41). The tube support (44) is slidably connected to the rotating seat (2). The forceps support (45) is detachably connected to the rotating seat (2). The first linear drive device (5) is provided on the rotating seat (2). The first linear drive device (5) is used to drive the tube support (44) to slide along its own axis. The rotation axis of the rotating seat (2) is the axis of the outer tube (41). The sleeve support (44) includes a hollow tubular rotating synchronous inner sleeve (441), and the tweezer support (45) includes a hollow tubular rotating synchronous outer sleeve (451). The rotating synchronous inner sleeve (441) is inserted into the rotating synchronous outer sleeve (451) and the two are slidably connected. One end of the rotating synchronous inner sleeve (441) is fixedly connected to one end of the outer sleeve (41). One end of the inner sleeve tweezer (42) is inserted into the rotating synchronous inner sleeve (441). At least one through groove (442) is provided on the side wall of the rotating synchronous inner sleeve (441) along its own axis. A sliding part (452) is provided on the inner peripheral side wall of the rotating synchronous outer sleeve (451) and slides in the through groove (442). The sliding part (452) is fixedly connected to one end of the inner sleeve tweezer (42).

2. The end effector structure of the ophthalmic surgical robot according to claim 1, characterized in that, The support (43) is slidably connected to the rotating seat (2), and the rotating seat (2) is provided with a locking device (8) so that the tweezers support (45) is detachably connected to the rotating seat (2).

3. The end effector structure of the ophthalmic surgical robot according to claim 2, characterized in that, The locking device (8) includes a housing (81) and a clamping cap (82) on the top of the housing (81). The housing (81) is fixedly connected to the rotating seat (2). The housing (81) has a through channel (811) with both ends through it along the axis of the outer sleeve (41). The support (43) is inserted into the through channel (811). The tweezers support (45) also includes an outer tube (453) sleeved outside the rotating synchronous outer sleeve (451). 53) The outer tube (453) is fixedly connected to the outer sleeve (451) of the rotating synchronous sleeve, and the outer tube (453) is movably connected to the inner sleeve (441) of the rotating synchronous sleeve. The inner side wall of the through channel (811) and the outer side wall of the outer tube (453) are provided with a rotation limiting structure for restricting the outer tube (453) from rotating around its own axis. The inner side of the pressing cover (82) and the outer side wall of the outer tube (453) are provided with a translation limiting structure for restricting the support (43) from moving along the axis of the first rotating shaft (84).

4. The end effector structure of the ophthalmic surgical robot according to claim 3, characterized in that, The rotation limiting structure includes a first protrusion (812) on the inner sidewall of the through channel (811) and a first groove (454) on the outer sidewall of the outer tube (453). The first protrusion (812) and the first groove (454) are both arranged along the axial direction of the outer tube (453).

5. The end effector structure of the ophthalmic surgical robot according to claim 4, characterized in that, The translational limiting structure includes a second groove (455) provided along the outer wall of the outer tube (453) and a second protrusion (821) provided on the inner side of the clamping cover (82). After the clamping cover (82) is closed, the second protrusion (821) is inserted into the second groove (455).

6. The end effector structure of the ophthalmic surgical robot according to claim 5, characterized in that, One side of the clamping cover (82) is hinged to the housing (81), and the other side of the clamping cover (82) is provided with at least one connecting spring (83). One end of the connecting spring (83) is detachably or fixedly connected to the clamping cover (82), and the other end of the connecting spring (83) is detachably or fixedly connected to the housing (81).

7. The end effector structure of the ophthalmic surgical robot according to claim 3, characterized in that, The first linear drive device (5) includes a first stepper motor (51) mounted on the rotary seat (2), a transmission worm (52) with one end fixedly connected to the output end of the first stepper motor (51), a transmission turbine (53) meshing with the transmission worm (52), a cam (54) rotating synchronously with the turbine, a slider (55) slidably connected to the rotary seat (2), and a first return spring (56). The cam (54) abuts against one end of the slider (55) to drive the slider (55) to slide. One end of the first return spring (56) is fixedly connected to the end of the slider (55) near the cam (54). The other end of the first return spring (56) is fixedly connected to the rotary seat (2). The other end of the slider (55) abuts against the sleeve support (44).

8. The end effector structure of the ophthalmic surgical robot according to claim 7, characterized in that, The sleeve support (44) also includes a sliding support and a second return spring. One end of the sliding support is inserted into the rotating synchronous outer sleeve (451) and fixedly connected to the other end of the rotating synchronous inner sleeve (441). The side wall of the sliding support is provided with an abutment groove for accommodating the second return spring. One end of the second return spring abuts against one end of the rotating synchronous outer sleeve (451), and the other end of the second return spring abuts against the side wall of the abutment groove.

9. The end effector structure of the ophthalmic surgical robot according to any one of claims 3 to 8, characterized in that, The main seat (1) is U-shaped. Both ends of the main seat (1) are provided with through holes for rotatably connecting with the rotating seat (2). The shell seat (81) is provided with a first rotating shaft (84) rotatably connected with the through hole at one end near the main seat (1). The first rotating shaft (84) is hollow inside and communicates with the through channel (811). The axis of the first rotating shaft (84) is on the same straight line as the axis of the through channel (811). The other end of the rotating seat (2) near the main seat (1) is provided with a second rotating shaft (21). The axis of the second rotating shaft (21) is on the same straight line as the axis of the first rotating shaft (84). A first synchronous pulley (71) is sleeved on the second rotating shaft (21). The rotary drive device (7) is a second stepper motor (73). A second synchronous pulley (72) is provided on the output shaft of the second stepper motor (73). A synchronous belt for transmission is provided between the first synchronous pulley (71) and the second synchronous pulley (72).

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