Medical robot for myopia surgery
By designing a medical robot with a mounting base, hinge mechanism, and variable manipulator, the problems of insufficient stability and high cost of existing robotic arms are solved. This enables the use of multiple manipulators without the need for replacement, reducing costs and improving the stability and flexibility of surgery.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- PEOPLES HOSPITAL PEKING UNIV
- Filing Date
- 2024-01-16
- Publication Date
- 2026-08-04
AI Technical Summary
Existing medical robots in myopia surgery suffer from insufficient stability due to the lack of a fixed structure for the robotic arms, and require multiple robotic arms to perform various operations, resulting in high usage costs.
A medical robot was designed, comprising a mounting base, a hinge mechanism, Y-axis and X-axis translation mechanisms, a flexible robotic arm, and a variable manipulator head. The hinge mechanism and variable manipulator head enable the use of multiple manipulators without the need for replacement, and the locking control motor and spring mechanism improve stability.
It reduces the cost of medical robots, improves the stability and flexibility of surgery, and avoids damage caused by hand tremors.
Smart Images
Figure CN117958975B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of surgical instrument technology, specifically relating to a medical robot used for myopia surgery. Background Technology
[0002] Myopia is a type of refractive error. To correct this refractive error, refractive surgery is performed. Current refractive surgeries include femtosecond LASIK and LASIK. The former involves using a focused laser to cut the corneal stromal lenticule, which is then removed by the surgeon through the incision in the eye to change the eye's refractive state. The latter involves lifting a corneal flap and performing laser ablation of the corneal stromal to correct the refractive error. However, because the operating space on the cornea is small, even slight hand tremors can easily cause damage (the amplitude of a human hand tremor is about 100μm, which drives the surgical forceps to vibrate at a frequency of 10Hz). Therefore, doctors have developed medical robots to perform corneal stromal lenticule removal and corneal flap lifting and repositioning operations.
[0003] Existing medical robots are devices that combine advanced robotics and ophthalmic surgical techniques. These robotic systems typically consist of high-precision robotic arms, microscopes, imaging systems, and intelligent control software, designed to improve the accuracy and safety of laser treatment. However, existing medical robots operate via wired control, and the lack of fixed structures between the joints of the robotic arms leads to insufficient stability. Furthermore, each robotic arm can only carry one operating tool, while LASIK surgery requires multiple operating tools, necessitating the use of multiple robotic arms, which results in higher operating costs. Summary of the Invention
[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a medical robot for myopia surgery.
[0005] The technical solution adopted to solve the above technical problems is: a medical robot for myopia surgery, including a mounting base, a hinge mechanism provided on the mounting base, a Y-axis translation mechanism fixedly connected to the end of the hinge mechanism away from the mounting base, an X-axis translation mechanism provided on the lower surface of the Y-axis translation mechanism, a drive box provided on the lower surface of the X-axis translation mechanism, a flexible robotic arm provided on the lower surface of the drive box, a variable operating head fixedly connected to the end of the flexible robotic arm away from the drive box, and a handle fixedly connected to one side of the Y-axis translation mechanism; The above technical solution allows doctors to perform surgery using different surgical heads without needing to use multiple robotic arms or change surgical heads, significantly reducing the cost of medical robots. At the same time, the robotic arms can be locked, greatly improving the stability during surgery.
[0006] The flexible robotic arm includes several robotic arm sections, each robotic arm section including a housing, and a locking moving block is slidably connected inside the housing. Both sides of the locking moving block are provided with circulating grooves. The variable operating head includes a connecting seat disposed at the bottom of the robotic arm segment. A pair of connecting plates are fixedly connected to the end of the connecting seat away from the robotic arm segment. A fourth motor is fixedly connected to one side of the connecting plate. A rotating shaft is fixedly connected to the output end of the fourth motor. A protrusion is fixedly connected to the rotating shaft. A pair of clamping plates are disposed through the rotating shaft. A first fixed shaft is fixedly connected between the pair of clamping plates. A scissor fixing end is fixedly connected to one side of the clamping plate. A first rotating sleeve is rotatably sleeved outside the first fixed shaft. A scissor movable end is fixedly connected to one side of the first rotating sleeve. A second fixed shaft is fixedly connected between the pair of clamping plates. A second rotating sleeve is rotatably sleeved outside the second fixed shaft. A tweezer movable end is fixedly connected to one side of the second rotating sleeve. A tweezer fixing end is fixedly connected to the side of the clamping plate near the second fixed shaft. The protrusion engages with the clamping plate.
[0007] The above technical solution enables the operating head control motor to drive the first roller to rotate, the first roller to drive the operating head control line to rotate, and the operating head control line to drive the first or second rotating sleeve to rotate, thereby controlling the opening and closing of the movable end of the scissors or forceps to perform surgical operations. When it is necessary to replace the operating head, the fourth motor drives the rotating shaft to rotate, and the rotating shaft drives the clamping plate to rotate through the protrusion. The clamping plate rotates 180° to replace the operating head.
[0008] Furthermore, the clamping plate has fixing grooves at both ends on the outer side, and the connecting plate has a pair of fixing grooves on the inner side. A third spring is fixedly connected in the fixing groove, and a steel ball is fixedly connected at the end of the third spring away from the fixing groove. The steel ball and the fixing groove engage with each other. The second rotating sleeve and the first rotating sleeve both have wire grooves on their outer sides.
[0009] With the above technical solution, when changing the operating head, the steel ball is pushed out of the fixed groove. After the clamping plate has rotated, the third spring pushes the steel ball into another fixed groove for locking, preventing the clamping plate from rotating arbitrarily.
[0010] Furthermore, the Y-axis translation mechanism includes a first protective shell fixedly connected to the lower surface of the mounting base, a first motor fixedly connected to one side of the first protective shell, a first lead screw fixedly connected to the output end of the first motor, and a pair of first slide rods fixedly connected between the first protective shells. The Y-axis translation mechanism also includes a second protective shell slidably connected to the first slide rods, the second protective shell being threadedly connected to the first lead screw, a second motor fixedly connected to one end of the second protective shell, a second lead screw fixedly connected to the output end of the second motor, and a pair of second slide rods fixedly connected between the second protective shells.
[0011] Furthermore, the drive box includes a housing that is slidably connected to a second slide rod, the housing and the second lead screw being threadedly connected, a plurality of third motors being fixedly connected to the inner bottom wall of the housing, a first winding reel being fixedly connected to the output end of the third motor, a direction control line being wound on the first winding reel, the direction control line passing through the slidably connected housing, a first bracket being fixedly connected to the inner top wall of the housing, an operating head control motor being fixedly connected to the first bracket, and a first roller being fixedly connected to the output end of the operating head control motor.
[0012] The above technical solution allows four third motors to control the rotation of the first winding disc, and the first winding disc to control the length of the direction control line. This enables the four direction control lines to work together to control the orientation of the variable operating head, greatly improving the flexibility of the robotic arm during surgery. The operating head control motor controls the opening and closing of the operating head by controlling the operating head control line.
[0013] Furthermore, a hanger is fixedly connected to the inner top wall of the housing, and a fixed base is fixedly connected to the lower end of the hanger. Support rods are slidably connected to both sides of the fixed base. A first spring is sleeved on the support rod. A fixed frame is fixedly connected to the end of the support rod away from the fixed base. A second roller is rotatably connected to the fixed frame. A pair of guide wheels are fixedly connected to the inner bottom wall of the housing. An operating head control line is sleeved on the guide wheel, the second roller, the first roller, and the wire groove. The operating head control line passes through and slidably connects to the housing. A second bracket is fixedly connected to the inner top wall of the housing. A locking control motor is fixedly connected to the second bracket. A second winding reel is fixedly connected to the output end of the locking control motor. A locking control line is wound on the second winding reel. The locking control line passes through and slidably connects to the housing.
[0014] Through the above technical solution, the locking control motor drives the locking control line to move, thereby controlling the locking and unlocking of the robotic arm. The second roller on the fixed frame, pushed by the first spring, keeps the operating head control line in a taut state, preventing the operating head control line from coming off the cable groove.
[0015] Furthermore, several slip rings are fixedly connected to the outer side of the housing, and a sliding connection direction control line passes through the slip rings. A spherical recess is formed at the upper end of the housing, and a fixed hemispherical seat is fixedly connected to the lower end of the housing. A movable hemispherical seat is slidably connected to the end of the housing near the fixed hemispherical seat. A slide rail is formed in the fixed hemispherical seat, and a limit block is fixedly connected to the end of the movable hemispherical seat near the fixed hemispherical seat. The limit block and the slide rail slide against each other. A connecting frame is fixedly connected to the locking moving block, and a connecting hole is formed on the connecting frame. A locking control line passes through the connecting hole.
[0016] The above technical solution allows the robotic arm segments to be assembled into a robotic arm, and the locking moving block can be moved by the locking control line. The locking moving block and the metal limit rod cooperate with each other to control the direction of the robotic arm for locking and unlocking.
[0017] Furthermore, the inner wall of the housing is provided with a pair of limiting grooves, and the fixed hemispherical seat and the movable hemispherical seat are engaged with each other in the spherical recess. Limiting strips are fixedly connected to both sides of the locking moving block, and the limiting strips are slidably engaged with the limiting grooves. A second spring is fixedly connected to the end of the locking moving block near the spherical recess, and a push rod is fixedly connected to the end of the locking moving block away from the second spring. A pair of metal limiting rods are rotatably connected to the inner wall of the housing, and the end of the metal limiting rod away from the housing is slidably engaged with the circulating slide groove.
[0018] Through the above technical solution, the locking control line pulls the locking moving block along the limiting groove through the connecting frame. At this time, the metal limiting rod is blocked by the second wedge block, disengages from the lock at the intersection of the first and sixth slide grooves, and moves along the first slide groove. Then the locking control motor stops, allowing the second winding disc to rotate freely. After that, it moves along the second and third slide grooves under the push of the second spring, and then stops at the intersection of the third and fourth slide grooves. At this time, the locking moving block pushes the movable hemisphere outward through the push rod, causing the fixed hemisphere and the movable hemisphere to separate and expand. Since the robotic arm segment is connected by the spherical recess, the expanded movable hemisphere and the fixed hemisphere cannot move freely in the spherical recess, thereby locking the robotic arm segment.
[0019] Furthermore, the circulating slide includes a first slide on the locking moving block, a second slide at one end of the locking moving block in the first slide, a sixth slide at the end of the locking moving block away from the second slide, a third slide at the end of the locking moving block away from the first slide, a fourth slide at the end of the locking moving block away from the second slide, and a fifth slide at the end of the locking moving block away from the third slide. The first, second, third, fourth, fifth, and sixth slides are connected. A first wedge block is fixedly connected to the end of the third slide near the fourth slide, and a second wedge block is fixedly connected to the end of the sixth slide near the first slide.
[0020] The above technical solution allows the metal limit rod to move within the circulating slide, thereby limiting the position of the locking moving block and enabling the robotic arm segment to be locked and unlocked.
[0021] Furthermore, the mounting base includes an L-shaped fixing plate, with several positioning plates fixedly connected to one side of the L-shaped fixing plate. The positioning plates have fixing holes. The hinge mechanism includes a first support frame fixed to the L-shaped fixing plate, a first connecting rod rotatably connected to the first support frame, a third connecting rod rotatably connected to the first support frame, a second connecting rod rotatably connected to the end of the first connecting rod away from the first support frame, a second support frame rotatably connected to the end of the second connecting rod away from the first connecting rod, an L-shaped connecting rod rotatably connected to the second support frame, an end of the L-shaped connecting rod away from the second support frame rotatably connected to the first connecting rod, the L-shaped connecting rod and the third connecting rod rotatably connected, a second rotating seat rotatably connected to the end of the first connecting rod away from the second support frame, a first rotating seat rotatably connected to the end of the second connecting rod away from the second support frame, a locking spring between the first rotating seat and the second rotating seat, and the second support frame fixedly connected to the Y-axis translation mechanism.
[0022] The above technical solution allows the entire unit to be folded and erected, avoiding the use of space above the operating table and facilitating hand operations on the eye by other surgical instruments. The unit can be flipped down using the handle. When the unit is in the erect state, the locking spring between the second rotating seat on the L-shaped connecting rod and the first rotating seat on the first connecting rod pushes the first connecting rod to rotate towards the second connecting rod. At this time, the rotation is blocked by the wall, thus keeping the unit in an upright state and preventing it from rotating and falling. When falling, the locking spring pushes the first connecting rod to rotate towards the second support frame. At this time, the L-shaped fixing plate prevents the unit from continuing to flip, thus stabilizing the unit in a horizontal position.
[0023] The beneficial effects of the present invention are as follows: (1) By installing the drive box on the X-axis translation mechanism and the X-axis translation mechanism on the Y-axis translation mechanism, the robotic arm can move on the X and Y axes, expanding the range of movement. At the same time, the first winding disk is controlled by four third motors, and the length of the direction control line is controlled by the first winding disk. Thus, the four direction control lines cooperate to control the orientation of the variable operating head, greatly improving the flexibility of the robotic arm during surgery and avoiding damage caused by hand tremors when the doctor performs manual surgery. (2) The present invention sets a variable operating head at the lower end of the robotic arm. The operating head control motor drives the first roller to rotate, and the first roller drives the operating head control line to move, thereby driving the first rotating sleeve or the second rotating sleeve to rotate, so that the movable end of the scissors or forceps can be opened and closed for surgical operation. The fourth motor drives the rotating shaft to rotate, and the rotating shaft drives the clamp plate to rotate through the protrusion, so that the operating head can be rotated and replaced. During the replacement process, the guide wheel on the fixed frame pushed by the first spring keeps the operating head control line taut and prevents the operating head control line from leaving the groove. When the clamp plate is rotated to the position, the steel ball is pushed into the groove by the third spring. The clamp is locked in the fixed groove to prevent the operating head from rotating out of position and affecting the operation. By setting a variable operating head, doctors can use different operating heads to perform surgery without using multiple robotic arms or changing operating heads, which greatly reduces the cost of medical robots; (3) In this invention, the locking control motor drives the second winding disk to rotate, the second winding disk drives the locking control line to rotate, and the locking control line pulls the locking moving block along the limiting groove through the connecting frame. At this time, the metal limiting rod is blocked by the second wedge block and disengages from the intersection of the first slide groove and the sixth slide groove. The locking mechanism locks the robotic arm segment and moves it along the first slide rail. Then, the locking control motor stops, allowing the second winding disc to rotate freely. Afterward, it moves along the second and third slide rails under the push of the second spring, and then stops at the intersection of the third and fourth slide rails. At this time, the locking moving block pushes the movable hemisphere outward through the push rod, causing the fixed hemisphere and the movable hemisphere to separate and expand. Since the robotic arm segment is connected by a spherical recess, the expanded movable hemisphere and the fixed hemisphere cannot move freely in the spherical recess, thus locking the robotic arm segment and greatly improving the stability during the operation. Attached Figure Description
[0024] Figure 1 This is an overall structural diagram of the medical robot used for myopia surgery according to the present invention; Figure 2 This is a structural diagram of the X and Y axis translation mechanism of the medical robot used for myopia surgery according to the present invention; Figure 3 This is a structural diagram of the hinge mechanism of the medical robot used for myopia surgery according to the present invention. Figure 4 This is a cross-sectional view of the hinge mechanism of the medical robot used for myopia surgery according to the present invention. Figure 5 This is a cross-sectional view of the drive box of the medical robot used for myopia surgery according to the present invention; Figure 6 This is a diagram of the internal structure of the drive box of the medical robot used for myopia surgery according to the present invention. Figure 7 yes Figure 5 Enlarged view of point A; Figure 8 This is a structural diagram of the variable manipulator head of the medical robot used for myopia surgery according to the present invention; Figure 9 This is a first-view sectional view of the variable operating head of the medical robot used for myopia surgery according to the present invention; Figure 10 This is a second-view sectional view of the variable operating head of the medical robot used for myopia surgery according to the present invention; Figure 11 This is a first-view sectional view of a segment of the robotic arm of the medical robot used for myopia surgery according to the present invention; Figure 12 This is a second-view sectional view of a segment of the robotic arm of the medical robot used for myopia surgery according to the present invention; Figure 13 This is a diagram of the slide structure of the medical robot used in myopia surgery according to the present invention.
[0025] Reference numerals: 1. Mounting base; 11. L-shaped fixing plate; 12. Positioning plate; 13. Fixing hole; 2. Hinge mechanism; 21. First support frame; 22. First connecting rod; 23. Second support frame; 24. Second connecting rod; 25. L-shaped connecting rod; 26. Third connecting rod; 27. First rotating seat; 28. Second rotating seat; 29. Locking spring; 3. Y-axis translation mechanism; 31. First protective shell; 32. First motor; 33. First lead screw; 34. First slide rod; 4. X-axis translation mechanism; 41. Second protective shell; 42. Second motor; 43. Second lead screw; 44. Second slide bar; 5. Drive box; 51. Housing; 52. Third motor; 53. First winding reel; 54. Direction control line; 55. First bracket; 56. Operating head control motor; 57. First roller; 58. Operating head control line; 59. Hanger; 510. Fixed base; 511. Support rod; 512. First spring; 513. Fixed frame; 514. Second roller; 515. Guide wheel; 516. Second bracket; 517. Locking control motor; 518. Second winding reel; 519. Locking control 6. Line; 6. Robotic arm segment; 61. Housing; 62. Fixed hemispherical seat; 63. Slide rail; 64. Movable hemispherical seat; 65. Limiting block; 66. Spherical recess; 67. Locking moving block; 68. Metal limiting rod; 69. Limiting groove; 610. Push rod; 611. Connecting frame; 612. Connecting hole; 613. Second spring; 614. Slip ring; 615. Limiting strip; 7. Variable operating head; 71. Connecting seat; 72. Connecting plate; 73. Fourth motor; 74. Rotating shaft; 75. Protrusion; 76. Clamping plate; 77. Scissor fixing end; 7 8. First fixed shaft; 79. First rotating sleeve; 710. Scissors movable end; 711. Tweezers fixed end; 712. Second fixed shaft; 713. Second rotating sleeve; 714. Tweezers movable end; 715. Wire groove; 716. Fixed groove; 717. Third spring; 718. Steel ball; 719. Fixed groove; 8. Circulating slide; 81. First slide; 82. Second slide; 83. Third slide; 84. First wedge block; 85. Fourth slide; 86. Fifth slide; 87. Sixth slide; 88. Second wedge block; 9. Handle. Detailed Implementation
[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.
[0027] like Figures 1-13As shown, the medical robot for myopia surgery in this embodiment includes a mounting base 1, which includes an L-shaped fixing plate 11. A plurality of positioning plates 12 are fixedly connected to one side of the L-shaped fixing plate 11. Fixing holes 13 are provided on the positioning plates 12. An X-axis translation mechanism 4 is provided on the lower surface of the Y-axis translation mechanism 3. A drive box 5 is provided on the lower surface of the X-axis translation mechanism 4. A flexible robotic arm is provided on the lower surface of the drive box 5. A variable operating head 7 is fixedly connected to the end of the flexible robotic arm away from the drive box 5. A handle 9 is fixedly connected to one side of the Y-axis translation mechanism 3.
[0028] like Figures 1-2 As shown, a Y-axis translation mechanism 3 is fixedly connected to the end of the hinge mechanism 2 away from the mounting base 1. An X-axis translation mechanism 4 is provided on the lower surface of the Y-axis translation mechanism 3. The Y-axis translation mechanism 3 includes a first protective shell 31 fixedly connected to the lower surface of the mounting base 1. A first motor 32 is fixedly connected to one side of the first protective shell 31. A first lead screw 33 is fixedly connected to the output end of the first motor 32. A pair of first sliding rods 34 are fixedly connected between the first protective shells 31. The Y-axis translation mechanism 3 includes a second protective shell 41 slidably connected to the first sliding rods 34. The second protective shell 41 is threadedly connected to the first lead screw 33. One end of the device is fixedly connected to a second motor 42, and the output end of the second motor 42 is fixedly connected to a second lead screw 43. A pair of second slide rods 44 are fixedly connected between the second protective shells 41. The first motor 32 drives the first lead screw 33 to rotate, causing the X-axis translation mechanism 4 to move along the first slide rod 34. The second motor 42 drives the second lead screw 43 to rotate, causing the drive box 5 to move along the second slide rod 44. This allows the drive box 5 to move horizontally, thereby changing the position of the variable operating head 7. During myopia surgery, the variable operating head 7 can operate around the eyeball, greatly improving the overall flexibility.
[0029] like Figure 3 and Figure 4As shown, a hinge mechanism 2 is provided on the mounting base 1. The hinge mechanism 2 includes a first support frame 21 fixed on an L-shaped fixing plate 11. A first connecting rod 22 is rotatably connected to the first support frame 21. A third connecting rod 26 is rotatably connected to the first support frame 21. A second connecting rod 24 is rotatably connected to the end of the first connecting rod 22 away from the first support frame 21. A second support frame 23 is rotatably connected to the end of the second connecting rod 24 away from the first connecting rod 22. An L-shaped connecting rod 25 is rotatably connected to the second support frame 23. The end of the L-shaped connecting rod 25 away from the second support frame 23 is rotatably connected to the first connecting rod 22. The L-shaped connecting rod 25 and the third connecting rod 26 are rotatably connected. A second rotating seat 28 is rotatably connected to the end of the first connecting rod 22 away from the second support frame 23. A first rotating seat 27 is rotatably connected to the end of the second connecting rod 24 away from the second support frame 23. The first rotating seat 27 and the third connecting rod 26 are rotatably connected to the first connecting rod 24. A locking spring 29 is provided between the two rotating seats 28. The second support frame 23 is fixedly connected to the Y-axis translation mechanism 3. In the initial state, the locking spring 29 pushes the second connecting rod 24 to rotate towards the side closer to the first connecting rod 22, thereby causing the whole to rotate towards the wall. At this time, the wall prevents the whole from continuing to rotate, so that the whole can lean against the wall and avoid flipping and falling. After the doctor flips the whole down by the handle 9, the locking spring 29 pushes the second connecting rod 24 to rotate away from the first connecting rod 22, thereby causing the whole to flip down. At this time, the L-shaped fixing plate 11 prevents the whole from continuing to rotate, keeping the whole in a horizontal state. Before the operation, the space above the patient's eyeball is occupied by the laser surgery device. After the laser operation is completed, the device is removed. The doctor lowers the whole by the handle 9, and then uses the variable operating head 7 to remove the lens cut by the laser from the eyeball.
[0030] like Figures 5-7 As shown, a drive box 5 is provided on the lower surface of the X-axis translation mechanism 4. The drive box 5 includes a housing 51 that is slidably connected to the second slide rod 44. The housing 51 and the second lead screw 43 are threaded together. Several third motors 52 are fixedly connected to the inner bottom wall of the housing 51. A first winding reel 53 is fixedly connected to the output end of the third motor 52. A direction control line 54 is wound on the first winding reel 53. The direction control line 54 passes through the slidably connected housing 51. A first bracket 55 is fixedly connected to the inner top wall of the housing 51. An operating head control motor 56 is fixedly connected to the first bracket 55. A first roller 57 is fixedly connected to the output end of the operating head control motor 56. The first winding reel 53 is rotated by different third motors 52. The first winding reel 53 winds up or unwinds the direction control line 54, thereby causing the robotic arm segment 6 and the variable operating head 7 to point in different directions. The bent robotic arm segment 6 drives the variable operating head 7 to move, so that the tweezers on the variable operating head 7 are inserted from the incision on the side of the eyeball, thereby removing the cut lens.
[0031] A hanger 59 is fixedly connected to the inner top wall of the housing 51. A fixed base 510 is fixedly connected to the lower end of the hanger 59. Support rods 511 are slidably connected to both sides of the fixed base 510. A first spring 512 is sleeved on the support rods 511. A fixed frame 513 is fixedly connected to the end of the support rods 511 away from the fixed base 510. A second roller 514 is rotatably connected to the fixed frame 513. A pair of guide wheels 515 are fixedly connected to the inner bottom wall of the housing 51. The guide wheels 515, the second roller 514, the first roller 57, and the wire groove 71 are all connected together. Each of the five components is equipped with an operating head control line 58, which passes through the sliding connection housing 51. A second bracket 516 is fixedly connected to the inner top wall of the housing 51, and a locking control motor 517 is fixedly connected to the second bracket 516. A second winding reel 518 is fixedly connected to the output end of the locking control motor 517, and a locking control line 519 is wound on the second winding reel 518. The locking control line 519 passes through the sliding connection housing 51. When the locking control motor 517 is started, it drives the second winding reel 519. 8. Rotation of the second winding reel 518 causes the locking control line 519 to rotate, pulling the locking control line 519. The operating head control motor 56 then drives the first roller 57 to rotate, which in turn drives the operating head control line 58 to rotate. The operating head control line 58 then drives the first rotating sleeve 79 or the second rotating sleeve 713 to rotate, thereby controlling the opening and closing of the movable end 710 of the scissors or the movable end 714 of the forceps for surgical operations. When the clamp 76 rotates, to prevent the operating head control line 58 from disengaging from the wire groove 715, the first spring 512 pushes it... The second roller 514 on the fixing frame 513 keeps the operating head control line 58 taut at all times. During the operation, the robotic arm segment 6 is locked by the locking control motor 517, thereby minimizing the vibration of the robotic arm segment 6 and preventing the robotic arm segment 6 from moving arbitrarily and causing damage when the forceps are inserted into the eyeball. The operating head control motor 56 drives the movement of the operating head control line 58 to open and close the forceps or scissors, so that the scissors perform the cutting operation and the forceps hold the lens or surgical cloth for subsequent operations.
[0032] like Figures 8-10As shown, a variable operating head 7 is fixedly connected to the end of the flexible robotic arm away from the drive box 5. The variable operating head 7 includes a connecting seat 71 located at the bottom of the robotic arm section 6. A pair of connecting plates 72 are fixedly connected to the end of the connecting seat 71 away from the robotic arm section 6. A fourth motor 73 is fixedly connected to one side of the connecting plate 72. A rotating shaft 74 is fixedly connected to the output end of the fourth motor 73. A protrusion 75 is fixedly connected to the rotating shaft 74. A pair of clamping plates 76 are passed through the rotating shaft 74. A first fixed shaft 78 is fixedly connected between the pair of clamping plates 76. A scissor fixing end 77 is fixedly connected to one side of the clamping plate 76. A first rotating sleeve 79 is rotatably sleeved on the outside of the first fixed shaft 78. A scissor movable end 710 is fixedly connected to one side of the first rotating sleeve 79. The pair of clamping plates 76... A second fixed shaft 712 is fixedly connected to the second fixed shaft 712, and a second rotating sleeve 713 is rotatably sleeved on the outside of the second fixed shaft 712. A forceps movable end 714 is fixedly connected to one side of the second rotating sleeve 713. A forceps fixed end 711 is fixedly connected to the side of the clamp 76 near the second fixed shaft 712. A protrusion 75 engages with the clamp 76. When it is necessary to change the operating head, the fourth motor 73 drives the rotating shaft 74 to rotate. The rotating shaft 74 drives the clamp 76 to rotate through the protrusion 75. The clamp 76 rotates 180° to change the operating head. During the operation, the incision can be enlarged with scissors, and then the lens cut by the laser can be removed with forceps. In this process, there is no need to change the operating head or use multiple robotic arms, which greatly reduces the operation time and operation cost.
[0033] Both ends of the outer side of the clamping plate 76 are provided with fixing grooves 719, and the inner side of the connecting plate 72 is provided with a pair of fixing grooves 716. A third spring 717 is fixedly connected in the fixing grooves 716. A steel ball 718 is fixedly connected to the end of the third spring 717 away from the fixing grooves 716. The steel ball 718 and the fixing grooves 719 are engaged with each other. The outer sides of the second rotating sleeve 713 and the first rotating sleeve 79 are provided with wire grooves 715. When changing the operating head, the steel ball 718 is pushed away from the fixing groove 719. After the clamping plate 76 has rotated, the third spring 717 pushes the steel ball 718 into another fixing groove 719 for locking, so as to prevent the clamping plate 76 from rotating at will.
[0034] like Figures 11-13 As shown, the flexible robotic arm includes several robotic arm sections 6. Each robotic arm section 6 includes a housing 61. A locking moving block 67 is slidably connected inside the housing 61. Both sides of the locking moving block 67 are provided with circulating grooves 8.
[0035] Several slip rings 614 are fixedly connected to the outside of the housing 61. A sliding connection direction control line 54 passes through the slip rings 614. A spherical recess 66 is provided at the upper end of the housing 61. A fixed hemispherical seat 62 is fixedly connected to the lower end of the housing 61. A movable hemispherical seat 64 is slidably connected to the end of the housing 61 near the fixed hemispherical seat 62. A slide rail 63 is provided in the fixed hemispherical seat 62. A limit block 65 is fixedly connected to the end of the movable hemispherical seat 64 near the fixed hemispherical seat 62. The limit block 65 and the slide rail 63 slide and cooperate with each other. A connecting frame 611 is fixedly connected to the locking moving block 67. A connecting hole 612 is provided on the connecting frame 611. A locking control line 519 passes through the connecting hole 612 and is fixedly connected. The fixed hemispherical seat 62 and the movable hemispherical seat 64 can move freely in the spherical recess 66, so that the robotic arm section 6 can rotate flexibly. The locking moving block 67 can be moved within the housing 61 by the locking control line 519.
[0036] The inner wall of the housing 61 has a pair of limiting grooves 69. The fixed hemispherical seat 62 and the movable hemispherical seat 64 are engaged with the spherical recess 66. Limiting strips 615 are fixedly connected to both sides of the locking moving block 67. The limiting strips 615 slide with the limiting grooves 69. A second spring 613 is fixedly connected to the end of the locking moving block 67 near the spherical recess 66, and a push rod 610 is fixedly connected to the end of the locking moving block 67 away from the second spring 613. A pair of metal limiting rods 68 are rotatably connected to the inner wall of the housing 61. The end of the metal limiting rods 68 away from the housing 61 slides with the circulating slide groove 8. The locking control line 519 pulls the locking moving block 67 along the limiting grooves 69 through the connecting bracket 611. At this time, the metal limiting rods 68 are engaged with the spherical recess 66. Due to the obstruction of the second wedge block 88, the positioning rod 68 disengages from the lock at the intersection of the first slide groove 81 and the sixth slide groove 87 and moves along the first slide groove 81. Then, the locking control motor 517 is de-energized, the second winding disc 518 rotates freely, and the metal limiting rod 68 moves within the circulating slide groove 8 under the push of the second spring 613, no longer hooking the locking moving block 67. At this time, the locking moving block 67 pushes the movable hemispherical seat 64 outward through the push rod 610, causing the fixed hemispherical seat 62 and the movable hemispherical seat 64 to separate and expand. Since the robotic arm segment 6 is connected by the spherical recess 66, the expanded movable hemispherical seat 64 and the fixed hemispherical seat 62 cannot move freely in the spherical recess 66, thereby locking the robotic arm segment 6.
[0037] The circulating slide 8 includes a first slide 81 formed on the locking moving block 67, a second slide 82 formed at one end of the first slide 81, a sixth slide 87 formed at the end of the first slide 81 away from the second slide 82, a third slide 83 formed at the end of the second slide 82 away from the first slide 81, a fourth slide 85 formed at the end of the third slide 83 away from the second slide 82, and a fifth slide 86 formed at the end of the fourth slide 85 away from the third slide 83. The first slide 81, second slide 82, third slide 83, fourth slide 85, fifth slide 86, and sixth slide 87 are connected. The third slide 83 is located near... One end of the fourth slide 85 is fixedly connected to the first wedge block 84, and the end of the sixth slide 87 near the first slide 81 is fixedly connected to the second wedge block 88. When locked, the metal limiting rod 68 is blocked by the second wedge block 88, disengages from the lock at the intersection of the first slide 81 and the sixth slide 87, and moves along the first slide 81. Then the locking control motor 517 is de-energized, the second winding disc 518 rotates freely, and the metal limiting rod 68 moves along the second slide 82 and the third slide 83 under the push of the second spring 613, and then stops at the intersection of the third slide 83 and the fourth slide 85. The locking moving block 67 can push out the movable hemispherical seat 64. When unlocked, the metal limiting rod 68 is blocked by the first wedge block 84 and moves into the fourth slide 85 and the fifth slide 86. Then, pushed by the second spring 613, it enters the intersection of the sixth slide groove 87 and the first slide groove 81, so that the push rod 610 no longer pushes the movable hemisphere 64 to move outward. At this time, the movable hemisphere 64 moves freely, so that the fixed hemisphere 62 and the movable hemisphere 64 can move freely in the spherical recess 66.
[0038] The working principle of this embodiment is as follows: After the doctor flips the entire unit down using handle 9, the locking spring 29 pushes the second connecting rod 24 to rotate away from the first connecting rod 22, thereby flipping the entire unit down. At this time, the L-shaped fixing plate 11 prevents the entire unit from continuing to rotate, keeping the entire unit in a horizontal state. During the operation, the first motor 32 drives the first lead screw 33 to rotate, causing the X-axis translation mechanism 4 to move along the first slide rod 34. The second motor 42 drives the second lead screw 43 to rotate, causing the drive box 5 to move along the second slide rod 44, thus allowing the drive box 5 to move horizontally. Different third motors 52 drive the first winding reel 53 to rotate, and the first winding reel 53 controls the winding or unwinding direction of the wire 54, thereby causing the robotic arm section 6 and the variable operating head 7 to point in different directions. When the predetermined direction is reached, the locking control motor 517 is activated, and the locking control motor 517 drives the second winding reel 518 to rotate. The locking control line 519 rotates, and the locking control line 519 pulls the locking moving block 67 along the limiting groove 69 through the connecting bracket 611. At this time, the metal limiting rod 68 is blocked by the second wedge block 88, disengages from the lock at the intersection of the first slide groove 81 and the sixth slide groove 87, and moves along the first slide groove 81. Then the locking control motor 517 is de-energized, the second winding disc 518 rotates freely, and the metal limiting rod 68 moves along the second slide groove 82 and the third slide groove 83 under the push of the second spring 613, and then stops at the intersection of the third slide groove 83 and the fourth slide groove 85. At this time, the locking moving block 67 pushes the movable hemispherical seat 64 outward through the push rod 610, so that the fixed hemispherical seat 62 and the movable hemispherical seat 64 separate and expand. Since the robotic arm segment 6 is connected by the spherical recess 66, the expanded movable hemispherical seat 64 and the fixed hemispherical seat 62 cannot move freely in the spherical recess 66, thereby locking the robotic arm segment 6.
[0039] When unlocking is required, the locking control motor 517 drives the second winding disc 518 to rotate again. The second winding disc 518 drives the locking control line 519 to rotate. The locking control line 519 pulls the locking moving block 67 along the limiting groove 69 through the connecting bracket 611. At this time, the metal limiting rod 68 moves into the fourth slide groove 85 and the fifth slide groove 86 due to the obstruction of the first wedge block 84. Then, under the push of the second spring 613, it enters the intersection of the sixth slide groove 87 and the first slide groove 81, so that the push rod 610 no longer pushes the movable hemisphere 64 to move outward. At this time, the movable hemisphere 64 moves freely, allowing the fixed hemisphere 62 and the movable hemisphere 64 to move freely in the spherical recess 66.
[0040] The operating head control motor 56 drives the first roller 57 to rotate, which in turn drives the operating head control line 58 to rotate. The operating head control line 58 then drives the first rotating sleeve 79 or the second rotating sleeve 713 to rotate, thereby controlling the opening and closing of the movable end 710 of the scissors or the movable end 714 of the forceps for surgical operations. When the operating head needs to be replaced, the fourth motor 73 drives the rotating shaft 74 to rotate. The rotating shaft 74 drives the clamping plate 76 to rotate via the protrusion 75. The clamping plate 76 rotates 180° to replace the operating head. During the replacement, the steel ball 718 is pushed out of the fixed groove 719. After the clamping plate 76 has rotated, the third spring 717 pushes the steel ball 718 into another fixed groove 719 for locking, preventing the clamping plate 76 from rotating arbitrarily. When the clamping plate 76 rotates, in order to prevent the operating head control line 58 from coming out of the groove 715, the second roller 514 on the fixing frame 513, driven by the first spring 512, keeps the operating head control line 58 in a taut state.
[0041] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.
Claims
1. A medical robot for myopia surgery, comprising a mounting base (1), characterized in that: The mounting base (1) is provided with a hinge mechanism (2). The hinge mechanism (2) is fixedly connected to a Y-axis translation mechanism (3) at one end away from the mounting base (1). The lower surface of the Y-axis translation mechanism (3) is provided with an X-axis translation mechanism (4). The lower surface of the X-axis translation mechanism (4) is provided with a drive box (5). The lower surface of the drive box (5) is provided with a flexible robotic arm. The end of the flexible robotic arm away from the drive box (5) is fixedly connected with a variable operating head (7). A handle (9) is fixedly connected to one side of the Y-axis translation mechanism (3). The flexible robotic arm includes several robotic arm sections (6), each robotic arm section (6) includes a housing (61), and a locking moving block (67) is slidably connected inside the housing (61). Circulating grooves (8) are provided on both sides of the locking moving block (67). A plurality of slip rings (614) are fixedly connected to the outside of the housing (61). A sliding connection direction control line (54) passes through the slip rings (614). A spherical recess (66) is provided at the upper end of the housing (61). A fixed hemispherical seat (62) is fixedly connected to the lower end of the housing (61). A movable hemispherical seat (64) is slidably connected to one end of the housing (61) near the fixed hemispherical seat (62). A slide rail (63) is provided inside the fixed hemispherical seat (62). A limit block (65) is fixedly connected to one end of the movable hemispherical seat (64) near the fixed hemispherical seat (62). The limit block (65) and the slide rail (63) slide and cooperate with each other. A connecting frame (611) is fixedly connected to the locking moving block (67). A connecting hole (612) is provided on the connecting frame (611). A locking control line (519) passes through the connecting hole (612). The inner wall of the housing (61) is provided with a pair of limiting grooves (69). The fixed hemispherical seat (62) and the movable hemispherical seat (64) are engaged with the spherical recess (66). Limiting strips (615) are fixedly connected to both sides of the locking moving block (67). The limiting strips (615) and the limiting grooves (69) are slidably engaged. A second spring (613) is fixedly connected to one end of the locking moving block (67) near the spherical recess (66). A push rod (610) is fixedly connected to one end of the locking moving block (67) away from the second spring (613). A pair of metal limiting rods (68) are rotatably connected to the inner wall of the housing (61). The end of the metal limiting rod (68) away from the housing (61) is slidably engaged with the circulating slide groove (8).
2. The medical robot for myopia surgery according to claim 1, characterized in that, The variable operating head (7) includes a connecting seat (71) disposed on the bottom section (6) of the robotic arm. A pair of connecting plates (72) are fixedly connected to one end of the connecting seat (71) away from the robotic arm section (6). A fourth motor (73) is fixedly connected to one side of the connecting plate (72). A rotating shaft (74) is fixedly connected to the output end of the fourth motor (73). A protrusion (75) is fixedly connected to the rotating shaft (74). A pair of clamping plates (76) are disposed through the rotating shaft (74). A first fixed shaft (78) is fixedly connected between the pair of clamping plates (76). A pair of scissors is fixedly connected to one side of the clamping plate (76). The fixed end (77) is provided with a first rotating sleeve (79) on the outside of the first fixed shaft (78). A scissor movable end (710) is fixedly connected to one side of the first rotating sleeve (79). A second fixed shaft (712) is fixedly connected between a pair of clamps (76). A second rotating sleeve (713) is provided on the outside of the second fixed shaft (712). A tweezer movable end (714) is fixedly connected to one side of the second rotating sleeve (713). A tweezer fixed end (711) is fixedly connected to the side of the clamp (76) near the second fixed shaft (712). The protrusion (75) engages with the clamp (76).
3. The medical robot for myopia surgery according to claim 2, characterized in that, The clamping plate (76) has a fixing groove (719) at both ends on the outer side. The connecting plate (72) has a pair of fixing grooves (716) on the inner side. A third spring (717) is fixedly connected in the fixing groove (716). A steel ball (718) is fixedly connected at the end of the third spring (717) away from the fixing groove (716). The steel ball (718) and the fixing groove (719) are engaged with each other. The second rotating sleeve (713) and the first rotating sleeve (79) both have wire grooves (715) on the outside.
4. The medical robot for myopia surgery according to claim 3, characterized in that, The Y-axis translation mechanism (3) includes a first protective shell (31) fixedly connected to the lower surface of the mounting base (1), a first motor (32) fixedly connected to one side of the first protective shell (31), a first lead screw (33) fixedly connected to the output end of the first motor (32), and a pair of first slide rods (34) fixedly connected between the first protective shells (31). The Y-axis translation mechanism (3) includes a second protective shell (41) slidably connected to the first slide rod (34), the second protective shell (41) being threadedly connected to the first lead screw (33), a second motor (42) fixedly connected to one end of the second protective shell (41), a second lead screw (43) fixedly connected to the output end of the second motor (42), and a pair of second slide rods (44) fixedly connected between the second protective shells (41).
5. The medical robot for myopia surgery according to claim 4, characterized in that, The drive box (5) includes a housing (51) that is slidably connected to a second slide rod (44). The housing (51) is threadedly connected to a second lead screw (43). A plurality of third motors (52) are fixedly connected to the inner bottom wall of the housing (51). A first winding reel (53) is fixedly connected to the output end of the third motor (52). A direction control line (54) is wound on the first winding reel (53). The direction control line (54) passes through the slidably connected housing (51). A first bracket (55) is fixedly connected to the inner top wall of the housing (51). An operating head control motor (56) is fixedly connected to the first bracket (55). A first roller (57) is fixedly connected to the output end of the operating head control motor (56).
6. The medical robot for myopia surgery according to claim 5, characterized in that, A hanger (59) is fixedly connected to the inner top wall of the box (51). A fixed seat (510) is fixedly connected to the lower end of the hanger (59). Support rods (511) are slidably connected to both sides of the fixed seat (510). A first spring (512) is sleeved on the support rod (511). A fixed frame (513) is fixedly connected to the end of the support rod (511) away from the fixed seat (510). A second roller (514) is rotatably connected to the fixed frame (513). A pair of guide wheels (515) are fixedly connected to the inner bottom wall of the box (51). An operating head control line (58) is fitted around the roller (514), the first roller (57) and the wire groove (715). The operating head control line (58) passes through the sliding connection box (51). A second bracket (516) is fixedly connected to the inner top wall of the box (51). A locking control motor (517) is fixedly connected to the second bracket (516). A second winding reel (518) is fixedly connected to the output end of the locking control motor (517). A locking control line (519) is wound on the second winding reel (518). The locking control line (519) passes through the sliding connection box (51).
7. The medical robot for myopia surgery according to claim 1, characterized in that, The circulating slide (8) includes a first slide (81) formed on the locking moving block (67), a second slide (82) formed at one end of the first slide (81) on the locking moving block (67), a sixth slide (87) formed at the end of the locking moving block (67) away from the second slide (82) on the first slide (81), a third slide (83) formed at the end of the locking moving block (67) away from the first slide (81) on the second slide (82), and the third slide (83) formed by the locking moving block (67) away from the second slide (82) on the third slide (83). A fourth slide groove (85) is provided at one end. The locking moving block (67) is provided with a fifth slide groove (86) at the end of the fourth slide groove (85) away from the third slide groove (83). The first slide groove (81), the second slide groove (82), the third slide groove (83), the fourth slide groove (85), the fifth slide groove (86) and the sixth slide groove (87) are connected. A first wedge block (84) is fixedly connected to the end of the third slide groove (83) near the fourth slide groove (85). A second wedge block (88) is fixedly connected to the end of the sixth slide groove (87) near the first slide groove (81).
8. The medical robot for myopia surgery according to claim 1, characterized in that, The mounting base (1) includes an L-shaped fixing plate (11), and a plurality of positioning plates (12) are fixedly connected to one side of the L-shaped fixing plate (11). The positioning plates (12) are provided with fixing holes (13). The hinge mechanism (2) includes a first support frame (21) fixed on the L-shaped fixing plate (11). A first connecting rod (22) is rotatably connected to the first support frame (21). A third connecting rod (26) is rotatably connected to the first support frame (21). A second connecting rod (24) is rotatably connected to the end of the first connecting rod (22) away from the first support frame (21). A second support frame (26) is rotatably connected to the end of the second connecting rod (24) away from the first connecting rod (22). 3) An L-shaped connecting rod (25) is rotatably connected to the second support frame (23). The end of the L-shaped connecting rod (25) away from the second support frame (23) is rotatably connected to the first connecting rod (22). The L-shaped connecting rod (25) and the third connecting rod (26) are rotatably connected. The end of the first connecting rod (22) away from the second support frame (23) is rotatably connected to the second rotating seat (28). The end of the second connecting rod (24) away from the second support frame (23) is rotatably connected to the first rotating seat (27). A locking spring (29) is provided between the first rotating seat (27) and the second rotating seat (28). The second support frame (23) is fixedly connected to the Y-axis translation mechanism (3).