A surgical device and a surgical robot

Abstract

The present application discloses a holding device and a surgical robot, which relates to the technical field of medical instruments, in order to solve the technical problem in the prior art that the holding device can only clamp surgical instruments and has low flexibility. The holding device of the present application includes a mounting unit and a second power unit, the mounting unit is configured to fix the instrument; the second power unit, the second power unit includes a push rod and a rotatable propulsion wheel; one end of the push rod abuts the end of the instrument, and the other end of the push rod abuts the propulsion wheel at the abutment position; the heights of different abutment positions on the propulsion wheel are different, and the push rod can move linearly relative to the mounting unit as the propulsion wheel rotates, so as to apply extrusion force to the end of the instrument. Therefore, the present application has the advantages of improved flexibility and a wide range of applications.

Description

[0001] This application is a divisional application. The invention name of the parent application is “A kind of ophthalmic surgical robot and ophthalmic surgical equipment”, the application number is 202210095903.7, and the application date is January 26, 2022. Technical Field

[0002] The present application relates to the technical field of medical devices, and more specifically, to a medical holding device and a surgical robot. Background Art

[0003] In the prior art, the installation of instruments at the end of ophthalmic surgical robots is mostly rigid, that is, the surgical instruments are directly fixed to the robotic arm or the drive unit of the surgical robot. Based on the above installation method, the operator can usually only control the movement of the robotic arm or the drive unit to drive the movement of the surgical instrument. The holding device can only play a fixing or clamping role and has no other functions. In actual ophthalmic surgery, surgical instruments such as tweezers, surgical scissors, syringes, etc., when installed on the end of the surgical robot, usually need to be able to meet functions such as self-rotation, force opening and closing, or local movement. The clamping device of existing surgical instruments cannot meet the more functional requirements of ophthalmic surgery. Summary of the Invention

[0004] The purpose of this application is to provide a device holding an instrument and a surgical robot, which can apply extrusion force to the end of the surgical instrument through a second power unit, thereby realizing local movement or opening and closing of the surgical instrument. Therefore, this application has the advantages of high flexibility and a wide range of applicable instruments.

[0005] The embodiment of the present application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a device for holding an instrument, comprising a mounting unit and a second power unit. The mounting unit is configured to secure an instrument; the second power unit comprises a push rod and a rotatable propulsion wheel; one end of the push rod abuts against an end of the instrument, and the other end of the push rod abuts against the propulsion wheel at an abutment position; different abutment positions on the propulsion wheel have different heights, and the push rod can move linearly relative to the mounting unit as the propulsion wheel rotates, thereby applying a compressive force to the end of the instrument.

[0007] In one embodiment, a protrusion is provided on one side surface of the propulsion wheel, and the propulsion wheel and the push rod abut against the protrusion; the protrusion is in a gradual form, and the height of the protrusion at the abutment position gradually increases or decreases as the propulsion wheel rotates.

[0008] In one embodiment, the propulsion wheel rotates around its own axis, and the protrusion is provided on an edge of a side surface of the propulsion wheel.

[0009] In one embodiment, the second power unit further includes a fifth power element, the fifth power element is connected to the propulsion wheel, and the propulsion wheel is driven to rotate by the fifth power element.

[0010] In one embodiment, the holding device further includes a limiting structure, which is configured to limit the rotation angle of the propulsion wheel.

[0011] In one embodiment, the limiting structure includes a blocking piece and a photoelectric switch. The photoelectric switch is configured to detect the blocking piece, and the blocking piece is provided at an edge of the propulsion wheel.

[0012] In one embodiment, the holding device further includes a first power unit, the first power unit is connected to the mounting unit, and the mounting unit is driven to rotate by the first power unit.

[0013] In one embodiment, the first power unit includes a transmission assembly and a fourth power element, and the fourth power element drives the mounting unit to rotate through the transmission assembly.

[0014] In one embodiment, the transmission assembly is a gear pair, and the gear pair includes a first gear and a second gear meshing with each other, the first gear is connected to the fourth power element, and the second gear is connected to the mounting unit.

[0015] In one embodiment, the first power unit and the second power unit are arranged side by side on the same side of the mounting unit.

[0016] In one embodiment, the mounting unit has a mounting hole, and one end of the instrument is inserted into the mounting hole to complete the installation.

[0017] In one embodiment, the mounting hole is a through hole, one end of the push rod extends into the through hole and abuts against the end of the instrument; a baffle is provided on the push rod, and the minimum diameter of the baffle is larger than the maximum diameter of the through hole.

[0018] In one embodiment, the mounting unit further has a locking hole, which is connected to the mounting hole; a locking member that cooperates with the locking hole can extend into the locking hole and abut against the instrument to fasten the instrument.

[0019] In one embodiment, the axial direction of the locking hole is perpendicular to the axial direction of the mounting hole.

[0020] In one embodiment, the holding device further includes at least one encoder, one encoder being used in conjunction with one power element; the encoder is configured to record parameters of the power element, the parameters including rotor speed, rotor position and / or mechanical position.

[0021] In one embodiment, the holding device further includes a fixing unit, and the mounting unit is rotatably disposed in the fixing unit.

[0022] A second aspect of the present application provides a surgical robot comprising a holding device provided in any embodiment of the first aspect of the present application and at least one drive unit. The holding device is mounted on a drive unit; when the holding device grips an instrument, the instrument is driven by the drive unit to move.

[0023] In one embodiment, the surgical robot includes a first drive unit, a second drive unit and a third drive unit, the first drive unit is connected to the second drive unit, the second drive unit is connected to the third drive unit, and the third drive unit is provided with a holding device; the second drive unit includes: at least one group of RCM structures consisting of a first quadrilateral structure and a second quadrilateral structure.

[0024] The beneficial effects of the present application compared with the prior art are as follows: the holding device provided by the present application, the push rod in the second power unit applies a squeezing force to the end of the surgical instrument by moving, thereby realizing the partial movement or opening and closing action of the surgical instrument. The propulsion wheel in the second power unit abuts against the push rod, and the push rod is subjected to force at abutment positions at different heights as the propulsion wheel rotates, and moves relative to the mounting unit, so as to realize the function of the holding device applying a squeezing force to the end of the instrument or adjusting the squeezing force. Therefore, the holding device provided by the present application can be applied to more types of surgical instruments. While achieving stable clamping of the surgical instrument, it can also assist the surgical instrument in achieving more functions such as opening and closing, partial movement, etc. The holding device and surgical robot provided by the present application are highly flexible and have a wide range of applications. They can well meet the needs of more instrument operations in ophthalmic surgery and effectively improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without any creative work.

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 is a structural schematic diagram of the first driving unit of the present invention;

[0028] Figure 3 is a schematic structural diagram of the second driving unit of the present invention;

[0029] Figure 4 is a schematic structural diagram of the third driving unit of the present invention;

[0030] Figure 5A schematic diagram of the device of the present invention when in operation;

[0031] Figure 6 It is another overall structural schematic diagram of the present invention;

[0032] Figure 7 Schematic diagram of the collision between the conventional RCM structure and the microscope;

[0033] Figure 8 This is a schematic diagram of the working state of the miniaturized RCM structure;

[0034] Figure 9 This is another working state diagram after the RCM structure is miniaturized;

[0035] Figure 10 Schematic diagram of the working state of the RCM structure of the present invention when performing surgery on the right eye of a patient;

[0036] Figure 11 This is a schematic diagram of an ophthalmic surgical device of the present invention during surgery;

[0037] Figure 12 This is a schematic diagram of the robot's structure;

[0038] Figure 13 Schematic diagram of the structure of the holding device for fixing the syringe;

[0039] Figure 14 A schematic diagram of the structure of the holding device when fixing the forceps;

[0040] Figure 15 for Figure 14 Top view of . DETAILED DESCRIPTION

[0041] The following is a further detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. It should be noted that the embodiments are only a detailed explanation of the present invention and should not be regarded as limiting the present invention. All features disclosed in the embodiments of the present invention, or all steps in the methods or processes disclosed, except for mutually exclusive features and / or steps, can be combined in any way.

[0042] An ophthalmic surgical robot includes a first drive unit 20, a second drive unit 30, and a third drive unit 40. The three drive units can respectively perform motion in three dimensions, enabling the ophthalmic surgical robot to meet flexibility requirements. The first drive unit 20 is connected to the second drive unit 30, which is in turn connected to the third drive unit 40. The third drive unit 40 is provided with an instrument 60. During operation, the third drive unit 40 can drive the instrument 60 to move, the second drive unit 30 can drive the third drive unit 40 and the instrument 60 thereon to move, and the first drive unit 20 can drive the second drive unit 30, the third drive unit 40 thereon, and the instrument 60 to move. By controlling the three different drive units, precise control of the instrument 60, particularly the distal end 70 of the instrument 60, can be achieved.

[0043] First drive unit

[0044] The first drive unit 20, serving as the primary power unit, drives the second drive unit 30, the third drive unit 40 thereon, and the device 60. To facilitate control of the device 60, the first drive unit 20 preferably provides unidirectional rotational motion. Specifically, the first drive unit 20 includes a base 11, on which is mounted a first power element 21. The output end of the first power element 21 is connected to a connector 24, which is connected to a base 51. The base 51 is used to mount the second drive unit 30. Thus, by controlling the operation of the first power element 21, the base 51 can be rotated, thereby controlling the robot's unidirectional rotation.

[0045] Preferably, in order to ensure the smooth movement of the base 51, the base 11 is U-shaped, and both ends of the base 51 are connected to the U-shaped base 11 through connecting parts 24. At one side of the connection position, there is power output of the first power element 21, so that the first power element 21 can drive the base 51 to move, and a bearing 16 is provided at the other side connection position to facilitate its rotation.

[0046] Preferably, the first drive unit 20 is equipped with a first reducer 23, which is installed between the connector 24 and the first power element 21. The first reducer 23 can reduce the speed output by the first drive unit 20. Furthermore, the first reducer 23 is a harmonic reducer, which can eliminate the gear gaps in mechanical movement. In traditional technology, stepper motors are usually used to directly complete the transmission, relying on the movement of mechanical gears to drive the movement of mechanical elements. After multiple movements, the gaps between the machines accumulate, thereby increasing the error. However, the present invention uses a harmonic reducer to eliminate mechanical errors.

[0047] Preferably, a counterweight 17 is mounted on the connector 24 near the bearing 16. The counterweight 17 can evenly distribute the load on the first power element 21, thereby extending the service life of the first power element 21 and ensuring accurate power output of the first power element 21.

[0048] Second drive unit

[0049] The second driving unit 30 is mounted on the base 51 .

[0050] The second drive unit 30 includes an RCM structure, which includes a first quadrilateral structure 52 and a second quadrilateral structure 53. The first quadrilateral structure 52 and the second quadrilateral structure 53 have a common overlapping vertex 54, which defines two sides of the first quadrilateral structure 52 and two sides of the second quadrilateral structure 53. The first quadrilateral structure 52 includes a second connecting rod 522 and a third connecting rod 523 connected to the overlapping vertex 54, and the second quadrilateral structure 53 includes a fourth connecting rod 531 and a sixth connecting rod 533 connected to the overlapping vertex 54, located at the overlapping vertex 54. The third connecting rod 523 and the fourth connecting rod 531 are integrally formed, and the sixth connecting rod 533 and the second connecting rod 522 are integrally formed. The term "integrally formed" here means that the two sides are actually formed at one time, or it can also mean that the connection between the two sides is not a movable connection, but a fixed connection. The fixed connection here means that the connection between the two sides is fixed and cannot be changed, and the degree of the angle formed between them is fixed. Fixed is the antonym of movable, indicating that the positional relationship between two connected edges is fixed.

[0051] Preferably, the third link 523 and the fourth link 531, and the sixth link 533 and the second link 522 are connected together in a straight line, or the third link 523 and the fourth link 531, and the sixth link 533 and the second link 522 are connected together in a non-linear line, for example, the third link 523 and the fourth link 531, and the sixth link 533 and the second link 522 form a certain angle with a common vertex. Of course, the fixed angle can be continuously changed with different designs, for example, the angle is an obtuse angle, and for example, the angle range is [120°-180°].

[0052] Preferably, the angle between the third connecting rod 523 and the fourth connecting rod 531 is the same as the angle between the sixth connecting rod 533 and the second connecting rod 522 .

[0053] Preferably, the third link 523 and the fourth link 531 constitute the second combined link 32, and the sixth link 533 and the second link 522 constitute the first combined link 31. The first combined link 31 and the second combined link 32 are hinged at the overlapping vertex 54. That is, the first combined link 31 and the second combined link 32 are movably connected, and during the operation of the RCM structure, the angle formed between the first combined link 31 and the second combined link 32 will change.

[0054] Preferably, the first quadrilateral structure 52 also includes a first link 521 and a "seventh link" in addition to the second link 522 and the third link 523. The second link 522 and the third link 523 are connected and hinged through the overlapping vertex 54, and the third link 523 and the first link 521 are connected and hinged through the first vertex 61; the "seventh link" includes a base 51, and the base 51 is hinged to the second link 522 and the first link 521, respectively, and the hinge positions are the second vertex 62 and the third vertex 63, respectively. The part of the base 51 located between the second vertex 62 and the third vertex 63 is the "seventh link".

[0055] Preferably, the second quadrilateral structure 53 also includes a fifth link 532 and an "eighth link" in addition to the sixth link 533 and the fourth link 531. The fourth link 531 and the sixth link 533 are connected and hinged through the overlapping vertex 54, the fifth link 532 and the sixth link 533 are connected and hinged through the fourth vertex 64, and the "eighth link" includes an end mounting frame 534. The end mounting frame 534 is hinged to the fourth link 531 and the fifth link 532, respectively, and the hinge positions are the fifth vertex 65 and the sixth vertex 66, respectively. The part of the end mounting frame 534 located between the fifth vertex 65 and the sixth vertex 66 is the "eighth link".

[0056] In the technical solution of the present invention, in addition to the common vertex, the angles between the edges connecting the other three vertices of the first quadrilateral and the other three vertices of the second quadrilateral and these remaining vertices can be adjusted at will. During the movement of the RCM structure, the movement of one edge (connecting rod) will drive the movement of the remaining edges (connecting rods), and the positional relationship between them is one-to-one, thereby allowing the instrument 60 connected to the second quadrilateral structure to achieve tight movement and improve the accuracy of control. From another perspective, the RCM structure designed using the technical solution of the present invention can be miniaturized and compact due to its foldability. This is very useful during surgery, especially ophthalmic surgery, because conventional ophthalmic surgery also requires the use of a microscope. When the RCM structure is relatively large, there is not enough space to use the microscope, which increases the risk of surgery. The present invention can effectively solve this problem. In addition, from the perspective of the movement dimension of the instrument 60, the second drive unit 30 of the present invention can not only achieve angle adjustment of the instrument 60, but also achieve left and right movement control of the end 70, which can easily achieve the movement of the instrument 60 while keeping the end 70 stationary.

[0057] Preferably, the first quadrilateral structure 52 and the second quadrilateral structure 53 are both parallelogram structures. That is, within the same quadrilateral, the lengths of opposite sides are equal. For example, the length of the "eighth connecting rod" is equal to the length of the sixth connecting rod 533; the length of the fifth connecting rod 532 is equal to the length of the fourth connecting rod 531; and the length of the first connecting rod 521 is equal to the length of the second connecting rod 522.

[0058] Preferably, the second drive unit 30 includes at least one set of RCM structures consisting of a first quadrilateral structure 52 and a second quadrilateral structure 53. These RCM structures move synchronously, which can ensure that the third drive unit 40 installed on the second drive unit 30 is firmly installed and that the third drive unit 40 is driven by the second drive unit 30 to move stably. Figure 3 In the embodiment, there are two groups of RCM structures in the second drive unit 30. In the two adjacent groups of RCM structures, the corresponding connecting rods are connected by support rods. Specifically, a first support rod 55 is provided between the two third connecting rods 523, a fourth support rod 58 is provided between the two second connecting rods 522, a second support rod 56 is provided between the two sixth connecting rods 533, and a third support rod 57 is provided between the two fifth connecting rods 532. The addition of support rods can maintain good linkage between different groups of RCM structures. Figure 6In the two groups of RCM structures, a connecting plate 15 for connecting the connecting rods is provided between the corresponding connecting rods (for example, a connecting plate is provided between the two second combined connecting rods 32, etc.). The connecting plate 15 is integrally formed with the corresponding connecting rod, which can improve the rigidity of the connecting rod and is more convenient in assembly. In addition, this method can achieve perfect linkage between different groups of RCM structures. Of course, since the connecting plate and the corresponding two connecting rods are integrally formed, the whole can also be regarded as the same group of RCM structures at this time, but unlike the traditional RCM structure, it has two hinge points based on one position.

[0059] In addition, in the design process of the RCM structure for ophthalmic surgery, the RCM structure is not simply and arbitrarily designed. Its size calculation and connecting rod angle need to go through a lot of calculations. Because when using robots for ophthalmic surgery, in addition to using robot-assisted surgery, it is also necessary to use a microscope. An ophthalmic surgical robot that has not been structurally optimized is very likely to interfere with the microscope, that is, the ophthalmic surgical robot is prone to collision with the microscope during operation. In order to avoid interference problems, sometimes during the operation, the microscope needs to be frequently moved away or moved back, which is very troublesome and interrupts the intraoperative operation, prolonging the operation time. For example, Figure 7 As shown, the RCM structure collides with the microscope 10.

[0060] In some ways, we miniaturize and optimize the design of the RCM structure so that the RCM structure will not collide with the microscope 10 during movement. Figure 8 As shown, attached Figure 8 The RCM structure shown does not collide with the microscope 10 during movement. However, such an RCM structure still has problems: Figure 8 The state shown can be used to operate on the patient's left eye, and the microscope 10 will not be blocked in this state; when the RCM structure needs to operate on the patient's right eye, the RCM structure is driven to move and becomes attached. Figure 9 In the state shown, although the RCM structure does not collide with the microscope 10, it will block the line of sight of the microscope 10, which will also affect the surgical process.

[0061] To solve this problem, we conducted a large amount of calculations and motion simulations. The specific calculation process is as follows:

[0062] Refer to the attached Figure 12, is a simplified structural diagram of the robot, and each important point on the structural diagram is marked. The MP (P1P2P3P4) in the figure represents the area of ​​the microscope 10. The intersection of the extension line of the axis N1N2 where the end 70 of the instrument 60 is located and the axis of the first power element 21 is the R line, which is defined as the target RCM point, that is, the RCM point that meets the design requirements. The actual RCM of the robot with a double parallelogram mechanism in the current state is R. One goal of optimizing the RCM structure is to make the actual RCM coincide with the target RCM point to meet the robot design requirements. The target RCM point has two main requirements: the first requirement is that the R' position falls at the intersection of the axis m of the first power element 21 and the axis N1N2 of the needle, so as to reduce the trauma to the eye entry point during the operation. With J1 as the origin, establish a coordinate system. The lengths of the sides of the dual quadrilateral mechanism are as shown in the figure. Let R' (x', y'), then R' (h1 + a, -h2), where h1 is the x-axis projection distance from R' to joint point J3, and h2 is the y-axis projection distance from R' to joint point J3. To ensure that the robot can perform surgery on both eyes without interfering with the side of the person's face:

[0063] R'(x',y') is: ;

[0064] define J5(x1,y1), J6(x2,y2), N1(x3,y3);

[0065] according to: ;

[0066] get: .

[0067] It is required that during the movement, as ω changes, the trajectories of J5, J6, and N1 do not interfere with the microscope area MP.

[0068] In summary, the parameters of the double parallel four-bar mechanism (a, b, c, d, α, β, t) satisfy the following: (1) the actual RCM and the target RCM coincide, that is, R = R'; (2) the J5, J6, N1 trajectory does not interfere with the microscope area MP, that is, J5, J6, N1 ∉ MP.

[0069] Through the above calculation process, a connecting rod combination with optimal dimensions within the RCM structure was finally designed. The third connecting rod 523 is the same length as the distance between the second vertex 62 and the third vertex 63 on the control base 51 (the seventh connecting rod). The ratio of the first connecting rod 521 to the seventh connecting rod is between 1 / 2 and 7 / 8. The length of the first connecting rod 521 is the same as the second connecting rod 522. The ratio of the sixth connecting rod 533 to the second connecting rod 522 is between 1 / 4 and 3 / 4. The distance between the fifth vertex 65 and the sixth vertex 66 on the end mounting bracket 534 (i.e., the eighth connecting rod) is the same length as the sixth connecting rod 533. The ratio of the fourth connecting rod 531 to the third connecting rod 523 is between 3 / 4 and 11 / 12. The length of the fifth connecting rod 532 is the same as the fourth connecting rod 531. The angle between the second link 522 and the sixth link 533 in the first combination link 31 is 120°-175°, and the angle between the fourth link 531 and the third link 523 in the second combination link 32 is 120°-175°. Setting the links in different proportions will not only affect the movement trajectory of the instrument, but also the movement accuracy of the instrument. By setting the links in the above-mentioned specific proportions, we first achieved that the device will not collide with the microscope during operation and will not block the microscope. In addition, on this basis, through the specific proportion of the RCM structure in this technical solution, we can improve the accuracy of the device during retinal tissue puncture to the 10μm level, which is much smaller than the diameter of the blood vessels on the retina, greatly improving the safety and success rate of the operation. In other words, the structural design of the present invention can achieve movement within a range of 10μm, improving the accurate positioning of the puncture structure.

[0070] Preferably, the length of the seventh connecting rod is between 10 and 50 cm, which meets the requirements of ophthalmic surgery.

[0071] Specifically, in this embodiment, the length of the seventh connecting rod is 30 cm, the length of the first connecting rod 521 is 22.5 cm, and the length of the fifth connecting rod 532 is 25 cm. The lengths of the second connecting rod 522 and the sixth connecting rod 533 in the first combined connecting rod 31 are 22.5 cm and 12.5 cm, respectively. The lengths of the fourth connecting rod 531 and the third connecting rod 523 in the second combined connecting rod 32 are 25 cm and 30 cm, respectively. The length of the eighth connecting rod is 12.5 cm. The angle between the second connecting rod 522 and the sixth connecting rod 533 in the first combined connecting rod 31 is 165°, and the angle between the fourth connecting rod 531 and the third connecting rod 523 in the second combined connecting rod 32 is also 165°. It should be noted that the above-mentioned connecting rod lengths are measured as the distance between the hinge points on the connecting rods.

[0072] Specifically, in some other embodiments, the length of the seventh connecting rod is 12 cm, the length of the first connecting rod 521 is 9 cm, the length of the fifth connecting rod 532 is 14 cm, the lengths of the second connecting rod 522 and the sixth connecting rod 533 in the first combined connecting rod 31 are 9 cm and 5 cm, respectively, the lengths of the fourth connecting rod 531 and the third connecting rod 523 in the second combined connecting rod 32 are 14 cm and 12 cm, respectively, and the length of the eighth connecting rod is 5 cm. The included angle between the second connecting rod 522 and the sixth connecting rod 533 in the first combined connecting rod 31 is 158°, and the included angle between the fourth connecting rod 531 and the third connecting rod 523 in the second combined connecting rod 32 is 165°.

[0073] Through the above technical solutions, please see Figure 11 , Figure 11 This is a schematic diagram of the device performing surgery on a patient's right eye (a schematic diagram of an ophthalmic surgical device performing surgery). At this time, the device will not come into contact with the microscope 10. If the device needs to perform surgery on the patient's left eye, the RCM structure can be controlled to retract, thereby adjusting the angle of the instrument 60. The retracted RCM structure will not come into contact with the microscope 10. In other words, during the entire movement process, the device only moves within the half space above the patient, such as within the left half space, and will not move into the right half space. Under this technical solution, whether the robot is treating the patient's left or right eye, the device will not block the microscope 10, thus solving the technical problem of needing to frequently move the microscope 10.

[0074] Preferably, the present invention provides an ophthalmic surgical device, Figure 12 In addition to the surgical robot 93, a main console 92 is also used in conjunction with the surgical robot 93. The main console 92 can be used to control the movement of the surgical robot 93. The main console 92 is connected to a control handle 94. The operator controls the operation of the surgical robot 93 by operating the control handle 94. The main console 92 is also connected to a foot pedal 91. The foot pedal 91 can be used to control the enable and disable of the control handle 94 and the surgical robot 93, and / or adjust the speed ratio of the control handle 94 and the surgical robot 93, such as speed increase and speed decrease, so as to facilitate the operator to control and select different speed ratios of the control handle 94 during operation. It should be noted that the above-mentioned connection does not only represent a connection through a cable, but also represents a data connection, which can be wired or wireless.

[0075] Preferably, the surgical robot 93 includes a sensing unit, which is used to identify the distance between the surgical robot 93 and other objects, especially the distance between the position of the RCM structure on the surgical robot 93 and other objects other than the patient, which are considered obstacles. For example, it is used to identify the distance between the RCM structure and the microscope 10, thereby avoiding collisions. When the sensing unit identifies that the distance between the RCM structure and the microscope 10 is less than a preset safety distance, the RCM structure is considered to be prone to collision with the microscope 10, the control handle 94 vibrates, and the device sounds an alarm to remind the operator that a collision may occur. Furthermore, while vibrating, the control handle 94 temporarily blocks the function of controlling the movement of the surgical robot 93 (the blocking time is generally 5-15 seconds) to avoid the operator being frightened by the vibration, which causes the control handle 94 to move significantly, thereby causing the surgical robot 93 to move incorrectly.

[0076] Preferably, a button is provided on the control handle 94: a continue button 95. When the handle vibrates, the robot stops moving, the control handle 94 is shielded, and the robot awaits operator instructions. If the operator clicks the continue button 95, the robot will continue moving according to the instructions of the control handle 94. It should be noted that because the distance between the RCM structure and other objects is less than the preset safety distance at this time, the load on the control handle 94 increases, causing the movement speed of the control handle 94 to slow down, and accordingly, the movement speed of the RCM structure also slows down. The control handle 94 will not resume the original control mode until the distance between the RCM structure and other objects exceeds the safety distance.

[0077] Preferably, when the distance between the RCM structure and the other object falls below the safe distance, the distance between them continues to decrease until it reaches a preset minimum distance. At this point, the control handle 94 is locked, preventing further movement even by the operator, and the RCM structure also cannot move. At this point, the device emits a sharp alarm. After a period of time, the control handle 94 returns to its initial position, and the surgical robot 93 also returns to its initial position (the initial position is when the RCM structure is fully retracted).

[0078] Preferably, the control handle 94 is also provided with a button: a recalculate path button 96. When the handle vibrates, the robot stops moving and awaits operator instructions. If the operator clicks the recalculate path button 96, the robot pauses for a period of time (depending on computing performance, generally within 1 minute) and recalculates different movement paths, with the distal end 70 of the instrument 60 positioned in the same position. Under these paths, the RCM structure will not contact obstacles and will maintain a sufficient safety distance. After the calculated path is displayed on the main console 92. The operator selects the appropriate path, and the surgical robot 93 automatically moves according to the calculated path. During this period, the control handle 94 cannot be manipulated. The robot calculates up to three different paths for the operator to choose from. If the robot cannot calculate a path that meets the safety distance, the device emits a sharp alarm. After a period of time, the control handle 94 returns to its initial position, and the surgical robot 93 also returns to its initial position.

[0079] Preferably, the control handle 94 is also provided with buttons for precisely controlling the position of the distal surgical instrument, such as a button for controlling the distal surgical instrument 70 to advance 10 microns and / or a button for controlling the distal surgical instrument 70 to retract 10 microns. Precise control of the distal surgical instrument can help surgeons perform subretinal puncture and intravascular bypass surgeries with greater precision.

[0080] Preferably, the second drive unit 30 further includes a second power element 12, which inputs power to the RCM structure to achieve motion control of the RCM structure. Specifically, the second power element 12 controls the motion of the first quadrilateral structure 52, thereby driving the motion of the second quadrilateral structure 53, thereby achieving motion of the adjustment device 60.

[0081] Preferably, the second drive unit 30 does not directly output power to the first quadrilateral structure 52. For example, the rotating shaft of the motor or the lifting rod is directly connected to one side of the first parallelogram. Because direct power output is adopted, its accuracy depends entirely on the accuracy of the motor itself. Of course, the higher the accuracy of the motor used, the higher the control accuracy. However, the problem brought about is that the cost is higher and the volume is relatively large, which is not conducive to the miniaturization of the equipment.

[0082] Therefore, the present invention application does not adopt a direct control method, but an indirect control method. Specifically, the second power element 12 is connected to the first screw 510 through the first coupling 511, and the first screw 510 is provided with a first slider 13, and the first slider 13 is hingedly connected to a driving rod 80, one end of the driving rod 80 is hinged to the first slider 13, and the other end is hinged to a certain position on the first quadrilateral structure 52, so that the second power element 12 can drive the first quadrilateral structure 52 to move. During the driving process, the use of a screw method can improve the accuracy of the movement, thereby reducing the requirements for the second power element 12, and also reducing the volume of the second power element 12, saving costs. In addition, the self-locking characteristics and counterweight function of the mechanism structure itself can be utilized, so that the RCM structure will not collapse in the event of a sudden power outage, thereby avoiding damage to the patient by the instrument 60 during surgery.

[0083] Preferably, one end of the driving rod 80 is hinged to the first slider 13 , and the other end is connected to the fourth support rod 58 and is rotatably connected to the middle position of the fourth support rod 58 .

[0084] The third drive unit

[0085] The third driving unit 40 is mounted on the end mounting bracket 534 .

[0086] The third drive unit 40, serving as a tertiary power unit, directly drives the movement of the instrument 60. To facilitate control of the instrument 60, the third drive unit 40 should no longer be configured for rotational control, but rather for simpler linear control. This is because simple linear control provides the most convenient and direct control of the end terminal 70. Specifically, the end terminal mounting bracket 534 is provided with a second lead screw 71, mounted on which is a second slider 18, and on which the instrument 60 is mounted. The second lead screw 71 drives the second slider 18 to move, thereby controlling the movement of the instrument 60.

[0087] Preferably, the second lead screw 71 is driven by the third power element 14, but it is not directly connected to the third power element 14, but is indirectly connected to the third power element 14 through a gear set. This method has two advantages: 1. The third power element 14 and the second lead screw 71 are not on the same straight line, which can reduce the overall length of the third drive unit 40. 2. Through the gear set, the third power element 14 can be installed on the back of the end mounting bracket 534. In this way, the third power element 14 is installed between the two RCM structures (between the two sets of connecting rods), which improves space utilization, which is very useful for reducing the volume of the equipment. Specifically, the power output end of the third power element 14 is connected to the first gear 74, the first gear 74 is meshed with the second gear 75, and the axial position of the second gear 75 is connected to the second lead screw 71 through a coupling.

[0088] Weaponry:

[0089] The instrument 60 is mounted on the third drive unit 40 via an instrument holding device, so that the instrument 60 can be controlled by the third drive unit 40 .

[0090] The holding device may be immovable so that the device 60 can be fixedly mounted on the third drive unit 40, for example, Figure 4 The disclosed device is an apparatus mounting bracket 72 for mounting the apparatus 60. The apparatus 60 moves completely with the movement of the first drive unit 20, the second drive unit 30, and the third drive unit 40, and does not have the ability to move independently.

[0091] The holding device can also be movable, so that the instrument 60 mounted on the holding device can also be movable, that is, the instrument 60 can be movably mounted on the third drive unit 40. Figure 13 The disclosed device includes a mounting unit 81 for mounting an instrument 60. The device also includes a fixing unit 82. The mounting unit 81 is rotatably connected to the fixing unit 82. For example, the fixing unit 82 includes a bearing, and the fixing unit 82 is connected to the mounting unit 81 via the bearing. Thus, rotation of the mounting unit 81 can drive rotation of the instrument 60. Furthermore, the instrument 60 is detachably connected to the mounting unit 81. For example, the mounting unit 81 includes a mounting hole 83 for mounting the instrument 60. The instrument 60 is installed by inserting the instrument 60 into the mounting hole 83. Furthermore, the mounting unit 81 includes a locking hole 90 for securing the instrument 60. The axis of the locking hole 90 is oriented at 90 degrees to the axis of the mounting hole 83. By securing a bolt in the locking hole 90, the bolt abuts against the instrument 60, thereby securing the instrument 60.

[0092] Preferably, the instrument 60 can be a surgical element or other useful items, such as a syringe or forceps. Figure 13 As shown, a syringe is fixed on the mounting unit 81; for example, Figure 14 As shown, tweezers are fixed on the mounting unit 81 .

[0093] Preferably, the holding device further includes a first power unit, which can provide rotational power to the mounting unit 81, thereby causing the instrument 60 to rotate. The first power unit includes a fourth power element 84 and a first gear 85 connected to the fourth power element 84. The mounting unit 81 is provided with a second gear 86, which meshes with the first gear 85. Furthermore, one end of the mounting unit 81 is used to connect to the instrument 60, and the other end of the mounting unit 81 is connected to the second gear 86.

[0094] When the instrument 60 fixed on the holding device is some special instrument, these special instruments require an additional power unit to drive, such as tweezers, which require an additional power unit to drive themselves to complete the two operations of clamping and releasing. (Surgical tweezers are finished products purchased on the market, which have their own resilience. When the end of the tweezers is acted upon by force, the tweezers clamp, and when the force disappears, the tweezers release.) Preferably, the holding device also includes a second power unit, which is used to provide this additional force to the tweezers. A through hole is provided in the mounting unit 81, and the through hole allows the force of the second power unit to act directly on the tweezers installed in the mounting unit 81. More specifically, the second power unit includes a fifth power element 97, which is connected to a propulsion wheel 98. The propulsion wheel 98 is provided with protrusions 99 of different heights. The protrusion 99 on the propulsion wheel 98 is positioned in abutment with a push rod 89, which extends into the through hole of the mounting unit 81 and can abut against the tweezers. The propulsion wheel 98 is driven to rotate by the fifth power element 97, and the protrusions 99 at different positions on the propulsion wheel 98 abut against the push rod 89. Since the protrusions 99 at different positions are of different heights, the protrusions 99 on the propulsion wheel 98 can provide different strokes for the push rod 89 when rotating, thereby completing the clamping and loosening operations of the tweezers by squeezing the elastic tweezers.

[0095] Preferably, a baffle 87 is provided on the push rod 89 , and the minimum diameter of the baffle 87 is larger than the maximum diameter of the through hole of the mounting unit 81 , so that the baffle 87 can prevent the push rod 89 from being completely embedded in the through hole.

[0096] Preferably, the protrusion 99 on the propulsion wheel 98 is in a gradual form, and as the propulsion wheel 98 rotates, the height of the protrusion 99 gradually increases or decreases.

[0097] Preferably, a limiting structure is further included, which is used to limit the rotation angle of the propulsion wheel 98, thereby preventing the propulsion wheel 98 from rotating excessively. The limiting structure includes a baffle 88 provided on the propulsion wheel 98 and a paired photoelectric switch 79.

[0098] When the device 60 fixed on the holding device is a syringe, no additional power unit is needed. Preferably, the push rod 89 is detachable. When the push rod 89 is disassembled, the power connection between the fifth power element 97 and the device 60 is disconnected.

[0099] Preferably, the holding device further includes a mounting plate 76, and all parts inside the holding device can be mounted on the mounting plate 76. The mounting plate 76 is connected to the second slider 18, so that when the third drive unit controls the movement of the second slider 18, it can also drive the device 60 inside the holding device to move.

[0100] In the above technical solution, the first power element 21, the second power element 12, the third power element 14, the fourth power element 84, and the fifth power element 97 can be conventional power elements, such as motors. Preferably, the first power element 21, the second power element 12, the third power element 14, the fourth power element 84, and the fifth power element 97 are equipped with an encoder to record parameters such as rotor speed, rotor position, and mechanical position. For example, the first encoder 22 is mounted on the first power element 21.

[0101] Preferably, the robot is provided with photoelectric switches or other limiting structures for the first drive unit 20, the second drive unit 30, and the third drive unit 40 to prevent excessive movement of each position.

[0102] The above are only specific implementation methods of the invention, but the scope of protection of the invention is not limited to this. Any changes or substitutions that are not conceived through creative work should be covered within the scope of protection of the invention. Therefore, the scope of protection of the invention should be based on the scope of protection defined in the claims.

Claims

1. A surgical robot, characterized in that: Applied to ophthalmic surgery, the surgical robot comprises: The device comprises a mounting unit and a second power unit, wherein the mounting unit is configured to fix the device; the second power unit comprises a push rod and a rotatable propulsion wheel; one end of the push rod abuts against the end of the device, and the other end of the push rod abuts against the propulsion wheel at an abutment position; different abutment positions on the propulsion wheel have different heights, and the push rod can move linearly relative to the mounting unit as the propulsion wheel rotates to apply a squeezing force to the end of the device; Multiple drive units, the holding device is installed on one of the drive units; when the holding device clamps the instrument, the instrument is driven by the drive unit to move; the multiple drive units include a first drive unit, a second drive unit and a third drive unit, the first drive unit is connected to the second drive unit, the second drive unit is connected to the third drive unit, and the third drive unit is provided with the holding device; the three drive units can respectively complete movement in three dimensions. During operation, by controlling the three different drive units, precise control of the instrument can be achieved; The second driving unit includes: at least one RCM structure consisting of a first quadrilateral structure and a second quadrilateral structure; wherein the first quadrilateral structure and the second quadrilateral structure have common overlapping vertices, and the overlapping vertices define two sides of the first quadrilateral structure and two sides of the second quadrilateral structure; The first quadrilateral structure includes a second link and a third link connected to the overlapping vertex at the overlapping vertex position, and the second quadrilateral structure includes a fourth link and a sixth link connected to the overlapping vertex at the overlapping vertex position; the third link and the fourth link are integrally formed, and the sixth link and the second link are integrally formed; The first quadrilateral structure further includes: a first link and a seventh link; the second link and the third link are connected and hinged through the overlapping vertices; the third link and the first link are connected and hinged through the first vertex; The seventh connecting rod comprises: a base, the base being hinged to the second connecting rod and the first connecting rod respectively, the hinge positions being the second vertex and the third vertex respectively, and the portion of the base between the second vertex and the third vertex being the seventh connecting rod; The second quadrilateral structure further includes: a fifth link and an eighth link; the fourth link and the sixth link are connected and hinged through the overlapping vertices, and the fifth link and the sixth link are connected and hinged through the fourth vertex; The eighth connecting rod comprises: an end mounting frame, the end mounting frame being hinged to the fourth connecting rod and the fifth connecting rod respectively, and the hinge positions are respectively the fifth vertex and the sixth vertex, and the portion of the end mounting frame located between the fifth vertex and the sixth vertex is the eighth connecting rod; The third drive unit is mounted on the end mounting bracket of the second drive unit, and the third drive unit is capable of linearly controlling the instrument. The first drive unit includes a base, on which a first power element is mounted, and an output end of the first power element is connected to a connector, which is connected to a base. The base is used to mount the second drive unit, and the base can be rotated by controlling the operation of the first power element. The ratio of the first connecting rod to the seventh connecting rod is between 1 / 2 and 7 / 8; The ratio of the sixth connecting rod to the second connecting rod is between 1 / 4 and 3 / 4; The ratio of the fourth connecting rod to the third connecting rod is between 3 / 4 and 11 / 12; The second connecting rod and the sixth connecting rod constitute a first combined connecting rod, the fourth connecting rod and the third connecting rod constitute a second combined connecting rod, the first combined connecting rod and the second combined connecting rod are hinged at overlapping apex positions, the first combined connecting rod and the second combined connecting rod are movably connected, and during the operation of the RCM structure, the angle formed between the first combined connecting rod and the second combined connecting rod will change; The included angle between the second connecting rod and the sixth connecting rod in the first combined connecting rod is 120°-175°, and the included angle between the fourth connecting rod and the third connecting rod in the second combined connecting rod is 120°-175°; By setting the connecting rods with the above-mentioned proportions, the actual RCM point and the target RCM point coincide with each other, and the trajectory of the RCM structure does not interfere with the microscope area during movement, and will not collide with the microscope. Moreover, during the entire movement process, the robot will only move in the half space above the patient. Regardless of whether the robot is treating the patient's left eye or right eye, the robot will not block the microscope.

2. The surgical robot according to claim 1, characterized in that: A protrusion is provided on one side surface of the propulsion wheel, and the propulsion wheel and the push rod abut against the protrusion at the protrusion; the protrusion is in a gradual form, and the height of the protrusion at the abutting position gradually increases or decreases as the propulsion wheel rotates.

3. The surgical robot according to claim 2, characterized in that: The propulsion wheel rotates around its own axis, and the protrusion is arranged on the edge of one side surface of the propulsion wheel.

4. The surgical robot according to claim 1, wherein: The second power unit further includes a fifth power element, wherein the fifth power element is connected to the propulsion wheel, and the propulsion wheel is driven to rotate by the fifth power element.

5. The surgical robot according to claim 1, characterized in that: The weapon holding device further includes a limiting structure, which is connected to the propulsion wheel.

6. The surgical robot according to claim 5, characterized in that: The limiting structure includes a baffle and a photoelectric switch. The photoelectric switch is configured to detect the baffle, and the baffle is provided on the edge of the propulsion wheel.

7. The surgical robot according to claim 1, characterized in that: The weapon holding device further includes a first power unit, which is connected to the mounting unit, and the mounting unit is driven to rotate by the first power unit.

8. The surgical robot according to claim 7, characterized in that: The first power unit includes a transmission assembly and a fourth power element, and the fourth power element drives the mounting unit to rotate through the transmission assembly.

9. The surgical robot according to claim 8, characterized in that: The transmission assembly is a gear pair, which includes a first gear and a second gear that are meshed with each other. The first gear is connected to the fourth power element, and the second gear is connected to the mounting unit.

10. The surgical robot according to claim 7, characterized in that: The first power unit and the second power unit are arranged side by side on the same side of the mounting unit.

11. The surgical robot according to any one of claims 1 to 10, characterized in that: The mounting unit has a mounting hole, and one end of the instrument is inserted into the mounting hole to complete the installation.

12. The surgical robot according to claim 11, characterized in that: The mounting hole is a through hole, one end of the push rod extends into the through hole and abuts against the end of the instrument; a baffle is provided on the push rod, and the minimum diameter of the baffle is larger than the maximum diameter of the through hole.

13. The surgical robot according to claim 11, characterized in that: The mounting unit further comprises a locking hole, which is communicated with the mounting hole; a locking member matched with the locking hole can fasten the instrument by extending into the locking hole and abutting against the instrument.

14. The surgical robot according to claim 13, characterized in that: The axial direction of the locking hole is perpendicular to the axial direction of the mounting hole.

15. The surgical robot according to claim 1, characterized in that: The holding device further comprises at least one encoder, one of the encoders being used in conjunction with one power element; the encoder being configured to record parameters of the power element, the parameters comprising rotor speed, rotor position and / or mechanical position.

16. The surgical robot according to claim 1, characterized in that: The weapon holding device further includes a fixing unit, and the mounting unit is rotatably disposed in the fixing unit.

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