Auxiliary adjustment device and adjustment method of telecentric mechanism

Abstract

This application relates to an auxiliary adjustment device and an adjustment method for a telecentric mechanism. The adjustment method includes: acquiring target parameters of the telecentric mechanism; determining adjustment parameters of the telecentric mechanism based on the target parameters; and adjusting the telecentric mechanism based on the adjustment parameters and the auxiliary adjustment device. The telecentric mechanism adjustment method provided by this application not only allows operators to quickly correct the telecentric mechanism but also has the advantage of low correction and adjustment costs.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an auxiliary adjustment device and a method for adjusting a telecentric mechanism. Background Technology

[0002] The point at which a surgical robot remains stationary during surgery is called the telecentric point of its execution mechanism. In surgical robot design, the spatial position of this telecentric point must remain absolutely constant throughout the procedure to minimize damage to the surgical wound. However, during assembly, the actual telecentric point may deviate from the designed telecentric point. The absolute positional accuracy of the telecentric point largely determines the overall precision of the minimally invasive laparoscopic surgery system; therefore, calibrating the absolute position of the surgical robot's telecentric point is of significant practical importance. Summary of the Invention

[0003] Therefore, it is necessary to provide an auxiliary adjustment device and a telecentric mechanism adjustment method to address the above problems.

[0004] In a first aspect, embodiments of this application provide an auxiliary adjustment device for assisting in adjusting the telecentric mechanism of a surgical robot, the auxiliary adjustment device comprising:

[0005] support;

[0006] At least two length measuring gauges are spaced apart on the support; the probes of the at least two length measuring gauges are perpendicular to each other and are both located on a first plane; the first plane is parallel to the motion plane of the telecentric mechanism.

[0007] In one embodiment, the auxiliary adjustment device further includes:

[0008] Base; the bracket is mounted on the base;

[0009] A hanger is mounted on the base; the hanger is used to suspend the telecentric mechanism.

[0010] In one embodiment, the length measuring instrument is a dial indicator or a micrometer.

[0011] The aforementioned auxiliary adjustment device assists operators in correcting and adjusting the telecentric point of the telecentric mechanism. Specifically, it allows the target ball at the telecentric point to contact the probe on the length measuring gauge, compressing the length measuring gauge to a preset value. The telecentric mechanism is then corrected and adjusted until the change in the length measuring gauge value equals the target's adjustment displacement. This auxiliary adjustment device not only assists operators in quickly correcting the telecentric mechanism but also has a low manufacturing cost.

[0012] Secondly, embodiments of this application provide an adjustment method for a telecentric mechanism, the adjustment method comprising:

[0013] Obtain the target parameters of the telecentric mechanism;

[0014] The adjustment parameters of the telecentric mechanism are determined based on the target parameters;

[0015] The telecentric mechanism is adjusted according to the adjustment parameters and the auxiliary adjustment device as described in any one of claims 1-3.

[0016] In one embodiment, the target parameter is the rotation error angle;

[0017] The step of obtaining the target parameters of the telecentric mechanism includes:

[0018] Obtain the actual displacement deviation of the telecentric mechanism;

[0019] The rotation error angle is determined based on the actual displacement deviation and the basic parameters of the telecentric mechanism.

[0020] In one embodiment, the actual displacement deviation includes a first displacement deviation and / or a second displacement deviation; the first displacement deviation is the displacement deviation of the telecentric mechanism along a first direction, and the second displacement deviation is the displacement deviation of the telecentric mechanism along a second direction, wherein the first direction and the second direction are perpendicular to each other, and both the first direction and the second direction coincide with the motion plane of the telecentric mechanism.

[0021] In one embodiment, the step of obtaining the actual displacement deviation of the telecentric mechanism includes:

[0022] Drive the telecentric mechanism to rotate by a preset angle;

[0023] The actual displacement deviation after the telecentric mechanism rotates by a preset angle is obtained.

[0024] In one embodiment, the basic parameters of the telecentric mechanism include the initial angle of the telecentric mechanism and the side length of the parallelogram mechanism of the telecentric mechanism.

[0025] In one embodiment, the adjustment parameter is an adjustment displacement, which includes a first adjustment displacement and / or a second adjustment displacement; the first adjustment displacement is the adjustment displacement of the telecentric mechanism along the first direction, and the second adjustment displacement is the adjustment displacement of the telecentric mechanism along the second direction.

[0026] In one embodiment, the step of adjusting the telecentric mechanism according to the adjustment parameter and the auxiliary adjustment device as described in any one of claims 1-3 includes:

[0027] A target ball is assembled at the distal point of the telecentric mechanism;

[0028] The target ball is brought into contact with the probe of the length measuring instrument, and the length measuring instrument is compressed to a preset value.

[0029] Adjust the telecentric mechanism until the change in value on the length measuring gauge equals the value of the adjustment displacement.

[0030] The above-mentioned method for adjusting the telecentric mechanism involves first obtaining the target parameters of the telecentric mechanism, then determining the adjustment parameters of the telecentric mechanism based on the target parameters, and finally adjusting the telecentric mechanism according to the adjustment parameters and the auxiliary adjustment device. This not only allows operators to quickly correct the telecentric mechanism, but also has the advantage of low adjustment cost. Attached Figure Description

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 This is a schematic diagram of the auxiliary adjustment device and telecentric mechanism provided in an embodiment of this application.

[0033] Figure 2 for Figure 1 The diagram shows the length measuring table and structural schematic of the auxiliary adjustment device.

[0034] Figure 3 for Figure 1 The diagram shows the structure of the telecentric mechanism.

[0035] Figure 4 This is a schematic flowchart of an adjustment method for a telecentric mechanism provided in an embodiment of this application.

[0036] Figure 5 for Figure 4 The flowchart of S100 in the adjustment method shown is illustrated.

[0037] Figure 6 for Figure 1 A schematic diagram of the motion of the equivalent configuration of the parallelogram mechanism of the telecentric mechanism shown.

[0038] Figure 7 for Figure 5 The flowchart of S110 in the adjustment method shown is illustrated.

[0039] Figure 8 for Figure 4 The flowchart of S300 in the adjustment method shown is illustrated.

[0040] Figure 9 A schematic diagram of the telecentric point jump of the telecentric mechanism provided in the embodiments of this application before adjustment.

[0041] Figure 10 A schematic diagram of the telecentric mechanism provided in this application embodiment, showing the movement of the telecentric point after adjustment.

[0042] Explanation of reference numerals in the attached figures:

[0043] 100. Auxiliary adjustment device; 110. Support; 120. Length measuring gauge; 121. First length measuring gauge; 122. Second length measuring gauge; 123. Third length measuring gauge; 130. Base; 131. First base; 132. Second base; 140. Hanger; 200. Telecentric mechanism; 210. Parallelogram mechanism; 220. Telecentric point. Detailed Implementation

[0044] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0045] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0046] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0047] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0048] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0049] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0050] As described in the background section, the absolute positional accuracy of the distal point largely determines the overall accuracy of the minimally invasive laparoscopic surgery system. Therefore, calibrating the absolute position of the distal point of the surgical robot is of great practical significance.

[0051] In the related technologies of telecentric mechanism calibration, a verification and control method for the telecentric mechanism has been proposed. This method includes: offline acquisition of the initial position of the RCM point of the robot arm and acquisition of the initial position of the sensor mark on the bed using an optical sensor; obtaining the initial relative position of the RCM point and the sensor mark using a transformation relationship, the initial position of the RCM point, and the initial position of the sensor mark; online acquisition of the current position of the RCM point and calculation of the relative position change of the RCM point based on the current position and the initial position of the RCM point; determining the desired position of the sensor mark based on the relative position change of the RCM point; and controlling the movement of the bed based on the desired position. However, this method requires calibration of the telecentric mechanism based on optical sensors, which has the disadvantage of high cost.

[0052] In view of at least one of the above problems, embodiments of this application provide an auxiliary adjustment device and an adjustment method for a telecentric mechanism. When adjusting the telecentric mechanism, the target parameters of the telecentric mechanism are first obtained, and then the adjustment parameters of the telecentric mechanism are determined according to the target parameters. Then, the telecentric mechanism is adjusted according to the adjustment parameters and the auxiliary adjustment device. In this way, not only can the operator quickly correct the telecentric mechanism, but it also has the advantage of low adjustment cost.

[0053] Firstly, referring to Figure 1 and Figure 2 As shown, this application embodiment provides an auxiliary adjustment device 100 for assisting in the adjustment of a telecentric mechanism 200 of a surgical robot. The auxiliary adjustment device 100 includes a support 110 and at least two length measuring gauges 120. The at least two length measuring gauges 120 are spaced apart on the support 110. The probes of the at least two length measuring gauges 120 are perpendicular to each other and are both located on a first plane. The first plane is parallel to the motion plane of the telecentric mechanism 200.

[0054] It should be noted that the telecentric mechanism 200 can perform rotational and pitching motions. Here, the plane of motion of the telecentric mechanism 200 refers to the plane of pitching motion of the telecentric mechanism 200. Further, the telecentric mechanism 200 includes a parallelogram mechanism 210, which can perform pitching motion. Therefore, in this embodiment, the plane of motion of the telecentric mechanism 200 refers to the plane of pitching motion of the parallelogram mechanism 210. Further, combined with... Figure 3 and Figure 6 As shown, when the parallelogram mechanism 210 performs pitch motion, the plane of pitch motion of the parallelogram mechanism 210 is the plane in which the parallelogram mechanism 210 is located, that is: the plane of pitch motion of the parallelogram mechanism 210 is Figure 6The plane containing the equivalent configuration. It is understood that by making the probes of the at least two length measuring gauges 120 perpendicular to each other, the length measuring gauges 120 can be guaranteed to detect the adjustment displacement of the telecentric mechanism 200 in the plane of its pitch motion. It should be emphasized that when adjusting the telecentric mechanism 200, the first plane should coincide with the plane of its pitch motion.

[0055] The auxiliary adjustment device 100 provided in this application embodiment can assist operators in correcting and adjusting the telecentric point 220 of the telecentric mechanism 200. Specifically, it can make the target ball on the telecentric point 220 contact the probe on the length measuring gauge 120, compress the length measuring gauge 120 to a preset value, and then correct and adjust the telecentric mechanism 200 until the change in value on the length measuring gauge 120 is equal to the adjustment displacement of the target. This auxiliary adjustment device 100 not only assists operators in quickly correcting the telecentric mechanism 200, but also has a low manufacturing cost.

[0056] In one embodiment, reference Figure 1 As shown, the auxiliary adjustment device 100 also includes a base 130, a bracket 110, and a hanger 140. The bracket 110 is mounted on the base 130. The hanger 140 is mounted on the base 130. The hanger 140 is used to suspend the telecentric mechanism 200. Thus, the telecentric mechanism 200 can be suspended on the hanger 140, and the target ball at the telecentric point 220 can be brought into contact with the probe on the length measuring gauge 120, thereby allowing for the correction and adjustment of the telecentric mechanism 200.

[0057] Specifically, the base 130 may include a first base 131 and a second base 132, with a bracket 110 disposed on the first base 131 and a hanger 140 disposed on the second base 132. Furthermore, the height of the first base 131 is less than the height of the second base 132, which facilitates the correction and adjustment of the telecentric mechanism 200.

[0058] Specifically, the hanger 140 can be an L-shaped rigid structural member, with one end of the hanger 140 fixedly connected to the second base 132 and the other end detachably connected to the telecentric mechanism 200. Furthermore, the telecentric mechanism 200 and the hanger 140 can be connected by fasteners.

[0059] In one embodiment, reference Figure 2As shown, there are three length measuring gauges 120: a first length measuring gauge 121, a second length measuring gauge 122, and a third length measuring gauge 123. The probes of the first length measuring gauge 121, the second length measuring gauge 122, and the third length measuring gauge 123 are perpendicular to each other, and the probes of the first length measuring gauge 121 and the second length measuring gauge 122 are located on a first plane. This effectively establishes a reference coordinate system using the three length measuring gauges 120. When assembling the telecentric mechanism 200, the default coordinate system of the telecentric mechanism 200 is made parallel to this reference coordinate system.

[0060] In one embodiment, the bracket 110 includes a rod (not shown) and an assembly portion (not shown) disposed at one end of the rod, the other end of the rod being connected to a first base 131. Specifically, the assembly portion includes a first assembly plate (not shown), a second assembly plate (not shown), and a third assembly plate (not shown) connected to each other, wherein the planes of the first assembly plate, the second assembly plate, and the third assembly plate are perpendicular to each other, a first length measuring gauge 121 is mounted on the first assembly plate, a second length measuring gauge 122 is mounted on the second assembly plate, and a third length measuring gauge 123 is mounted on the third assembly plate.

[0061] In one embodiment, the length measuring instrument is a dial indicator or a micrometer. This application does not limit the type of length measuring instrument.

[0062] Secondly, referring to Figure 4 As shown in the embodiment of this application, an adjustment method for a telecentric mechanism is provided, the adjustment method comprising:

[0063] S100: Obtain the target parameters of the telecentric mechanism. For example, the target parameters may be the rotation error angle after the telecentric mechanism rotates by a preset angle or the actual displacement deviation after the telecentric mechanism rotates by a preset angle.

[0064] S200: Determine the adjustment parameters of the telecentric mechanism based on the target parameters. For example, the adjustment parameters may be the adjustment displacement of the telecentric mechanism.

[0065] S300: Adjust the telecentric mechanism according to the adjustment parameters and the auxiliary adjustment device as described in any embodiment of the first aspect.

[0066] The telecentric mechanism adjustment method provided in this application first obtains the target parameters of the telecentric mechanism when correcting and adjusting it, then determines the adjustment parameters of the telecentric mechanism based on the target parameters, and then adjusts the telecentric mechanism based on the adjustment parameters and the auxiliary adjustment device. In this way, not only can the operator quickly correct the telecentric mechanism, but also, compared with related technologies, there is no need to use optical sensors, thus having the advantage of low correction and adjustment cost.

[0067] In one embodiment, the target parameter is the rotation error angle. Please refer to... Figure 5 As shown, S100: The steps for obtaining the target parameters of the telecentric mechanism include:

[0068] S110: Obtain the actual displacement deviation of the telecentric mechanism.

[0069] S120: Determine the rotation error angle based on the actual displacement deviation and the basic parameters of the telecentric mechanism.

[0070] Specifically, the equivalent configuration of the parallelogram mechanism of the telecentric mechanism is as follows: Figure 6 As shown, the parallelogram mechanism without deviation (i.e., the correct configuration) is OABC. After rotating by a certain angle (∠AOA1), the parallelogram mechanism becomes OA1B1C1. The parallelogram mechanism with deviation (i.e., the incorrect configuration) is OABD. After rotating by a certain angle (∠AOA1), the parallelogram mechanism becomes OA1B1D1. Here, the actual displacement deviation is the difference in longitudinal or lateral displacement between points D and D1. Further, the difference in longitudinal displacement between points D and D1 is the difference between the ordinate of point D1 and the ordinate of point D, and the difference in lateral displacement between points D and D1 is the difference between the abscissa of point D and the abscissa of point D1.

[0071] Specifically, the rotation error angle is ∠CBD. This can be determined based on the actual displacement deviation and the fundamental parameters of the telecentric mechanism, and through... Figure 6 The rotational error angle is obtained from the equivalent configuration.

[0072] In one embodiment, the actual displacement deviation includes a first displacement deviation and / or a second displacement deviation. The first displacement deviation is the displacement deviation of the telecentric mechanism along a first direction, and the second displacement deviation is the displacement deviation of the telecentric mechanism along a second direction. The first and second directions are perpendicular to each other, and both the first and second directions coincide with the motion plane of the telecentric mechanism. That is, the first displacement deviation is the longitudinal displacement difference between points D and D1, and the second displacement deviation is the lateral displacement difference between points D and D1.

[0073] In one embodiment, reference Figure 7 As shown, S110: The steps for obtaining the actual displacement deviation of the telecentric mechanism include:

[0074] S111: Drives the telecentric mechanism to rotate by a preset angle. It can be understood that the preset angle can be any angle within the rotational range of the telecentric mechanism. (Refer to...) Figure 6 As shown in the embodiment of this application, the preset angle of the telecentric mechanism is ∠AOA1.

[0075] S112: Obtain the actual displacement deviation after the telecentric mechanism rotates by a preset angle. (Refer to...) Figure 6 As shown in the embodiment of this application, the telecentric mechanism rotates by a preset angle with two displacement deviations, namely the first displacement deviation and the second displacement deviation. Either one can be obtained, that is: the difference between the ordinate of point D1 and the ordinate of point D, or the difference between the abscissa of point D and the abscissa of point D1.

[0076] In one embodiment, the basic parameters of the telecentric mechanism include the initial angle of the telecentric mechanism and the side length of the parallelogram mechanism of the telecentric mechanism. Specifically, please refer to... Figure 6 As shown, the initial angle of the telecentric mechanism is ∠AOC, and the side lengths of the parallelogram mechanism of the telecentric mechanism are the lengths of OA, AB, BC, and OC, respectively.

[0077] In one embodiment, the adjustment parameter is an adjustment displacement, which includes a first adjustment displacement and / or a second adjustment displacement. The first adjustment displacement is the adjustment displacement of the telecentric mechanism along a first direction, and the second adjustment displacement is the adjustment displacement of the telecentric mechanism along a second direction. Specifically, please refer to... Figure 6 As shown, the first adjustment displacement is the difference in longitudinal displacement between points C and D or the difference in lateral displacement between points C and D. Further, the difference in longitudinal displacement between points C and D is the difference between the ordinate of point D and the ordinate of point C, and the difference in lateral displacement between points C and D is the difference between the abscissa of point C and the abscissa of point D.

[0078] In one example, please refer to Figure 6 As shown, the correct configuration of the parallelogram mechanism is shown in Figure OABC, where point C is the centroidal fixed point. During transmission, the links of the parallelogram mechanism maintain an equal-angle transmission relationship, so the coordinates of point C remain unchanged during the mechanism's motion. When the mechanism's configuration is disrupted and it is no longer an ideal parallelogram, an incorrect configuration is obtained as shown in Figure OABD. In the incorrect configuration, the links of the parallelogram mechanism satisfy the following equation (1):

[0079]

[0080] Where T1 is the rotation matrix, as shown in equation (2):

[0081]

[0082] Specifically, in the initial state, the initial angle of the mechanism is ∠AOC. After rotating by a certain angle (∠A0A1), taking side BC as an example, the incorrect configuration has a rotation error angle ∠CBD on the basis of the correct configuration. In triangle CBD, each side satisfies the following equation (3):

[0083]

[0084] Specifically, in a coordinate system with OC as the abscissa, after the parallelogram mechanism moves ∠AOA1, the second displacement deviation (lateral displacement deviation) D1D of the centroid D before and after moving in the plane satisfies the following equation (4):

[0085] D1D=OD-OD1 Equation (4)

[0086] It should be noted that here, OD represents the value of point D on the horizontal axis, and OD1 represents the value of point D1 on the horizontal axis.

[0087] Furthermore, OD satisfies the following equation (5):

[0088] OD = OA + AB - BD (Equation 5)

[0089] OD1 satisfies the following equation (6):

[0090] OD1=OA1+A1B1-B1D1 Formula (6)

[0091] Where OA represents the value of point A on the horizontal coordinate, AB represents the length of AB, BD represents the length of the projection of side BD on the horizontal coordinate, OA1 represents the value of point A1 on the horizontal coordinate, A1B1 represents the length of A1B1, and B1D1 represents the length of the projection of side B1D1 on the horizontal coordinate. Combining equations (4), (5), and (6) with trigonometric functions, we can obtain equation (7):

[0092] OA·[cos(∠AOC-∠AOA1)+cos(∠AOC-∠CBD)-cos(∠AOC)-cos(∠AOC-∠AOA1-∠CBD)]=D1D Formula (7)

[0093] Among them, OA, D1D, ∠AOC, and ∠AOA1 are all known quantities, and the rotation error angle ∠CBD can be calculated according to equation (7).

[0094] Furthermore, the first adjustment displacement (the longitudinal displacement difference between points C and D) or the second adjustment displacement (the lateral displacement difference between points C and D) can be calculated based on the rotation error angle ∠CBD and trigonometric functions.

[0095] In one embodiment, S300: the step of adjusting the telecentric mechanism according to the adjustment parameters and the auxiliary adjustment device as described in any embodiment of the first aspect includes:

[0096] S310: A target ball is mounted at the telecentric point of the telecentric mechanism. It is understood that mounting a target ball facilitates the detection of the correction adjustment amount of the telecentric mechanism.

[0097] S320: The target ball is brought into contact with the probe of the length measuring instrument, and the length measuring instrument is compressed to a preset value. It should be noted that by compressing the length measuring instrument to the preset value, it is ensured that the length measuring instrument can always detect the correction adjustment amount of the telecentric mechanism during the adjustment process. It is understood that the preset value is not limited in this embodiment, and can be selected according to actual conditions.

[0098] S330: Adjust the telecentric mechanism until the change in the length measuring gauge equals the value of the adjusted displacement.

[0099] Please refer to Figure 9 and Figure 10 As shown, where, Figure 9 This is a schematic diagram of the centroidal point runout distribution of the telecentric mechanism before adjustment, where the runout radius of the telecentric point is 1.5 mm. After correction and adjustment according to the adjustment method provided in the embodiments of this application, Figure 10 This is a schematic diagram of the centroidal point runout distribution after adjustment, where the runout radius of the centroidal point is 1 mm. Through testing and analysis, it is evident that the adjustment method provided in this embodiment can adjust the parallelogram structure more precisely.

[0100] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0101] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An auxiliary adjustment device for assisting in the adjustment of the telecentric mechanism (200) of a surgical robot, characterized in that, The auxiliary adjustment device (100) includes: Stent (110); At least two length measuring gauges (120) are spaced apart on the bracket (110); the probes of the at least two length measuring gauges (120) are perpendicular to each other and are both located on a first plane; the first plane is parallel to the motion plane of the telecentric mechanism (200); The step of adjusting the telecentric mechanism by the auxiliary adjustment device includes: A target ball is assembled at the distal point of the telecentric mechanism; The target ball is brought into contact with the probe of the length measuring instrument, and the length measuring instrument is compressed to a preset value. Adjust the telecentric mechanism until the change in value on the length measuring gauge equals the value of the adjusted displacement.

2. The auxiliary adjustment device according to claim 1, characterized in that, The auxiliary adjustment device (100) further includes: Base (130); the bracket (110) is disposed on the base (130); A hanger (140) is disposed on the base (130); the hanger (140) is used to suspend the telecentric mechanism (200).

3. The auxiliary adjustment device according to claim 1, characterized in that, The length measuring instrument (120) is a dial indicator or a micrometer.

4. A method for adjusting a telecentric mechanism, characterized in that, include: Obtain the target parameters of the telecentric mechanism; The adjustment parameters of the telecentric mechanism are determined based on the target parameters; The telecentric mechanism is adjusted according to the adjustment parameters and the auxiliary adjustment device as described in any one of claims 1-3; The target parameter is the rotation error angle; The step of obtaining the target parameters of the telecentric mechanism includes: Obtain the actual displacement deviation of the telecentric mechanism; The rotation error angle is determined based on the actual displacement deviation and the basic parameters of the telecentric mechanism; The step of obtaining the actual displacement deviation of the telecentric mechanism includes: Drive the telecentric mechanism to rotate by a preset angle; The actual displacement deviation after the telecentric mechanism rotates by a preset angle is obtained.

5. The method for adjusting the telecentric mechanism according to claim 4, characterized in that, The actual displacement deviation includes a first displacement deviation and / or a second displacement deviation; the first displacement deviation is the displacement deviation of the telecentric mechanism along a first direction, and the second displacement deviation is the displacement deviation of the telecentric mechanism along a second direction. The first direction and the second direction are perpendicular to each other, and both the first direction and the second direction coincide with the motion plane of the telecentric mechanism.

6. The method for adjusting the telecentric mechanism according to claim 1, characterized in that, The basic parameters of the telecentric mechanism include the initial angle of the telecentric mechanism and the side length of the parallelogram mechanism of the telecentric mechanism.

7. The method for adjusting the telecentric mechanism according to claim 5, characterized in that, The adjustment parameter is the adjustment displacement, which includes a first adjustment displacement and / or a second adjustment displacement; the first adjustment displacement is the adjustment displacement of the telecentric mechanism along the first direction, and the second adjustment displacement is the adjustment displacement of the telecentric mechanism along the second direction.

Images