Remote center of motion device and robotic system for minimally invasive surgery

Abstract

The present invention provides a remote motion center device and a robot system for minimally invasive surgery. The remote motion center device for minimally invasive surgery includes: a support arm; a telecentric motion mechanism, which is hinged to the support arm; an end actuator, which includes a mounting seat, a mounting assembly and an operating instrument, the operating instrument is mounted on the mounting seat through the mounting assembly, and the mounting seat is connected to the telecentric motion mechanism; a rotary motion assembly, which is connected to an end of the support arm away from the end actuator; a pitch motion assembly, which includes: a pitch motor arranged on the support arm, a pitch lead screw arranged on the support arm, a driving slider sleeved on the pitch lead screw, a first guide rod and a second guide rod respectively arranged on both sides of the pitch lead screw and passing through the driving slider, and a front gravity compensation spring and a rear gravity compensation spring respectively arranged on both sides of the driving slider; and a feed motion assembly, which is arranged on the mounting seat.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a remote motion center device and a robot system for minimally invasive surgery. Background Art

[0002] With the development of medical technology, minimally invasive surgery has been widely used in neurosurgery, cardiac surgery, ophthalmology and other fields due to its advantages such as less postoperative pain, shorter postoperative recovery time and lower infection rate. During minimally invasive surgery, doctors need to insert surgical instruments from the wound point on the patient's body surface into the patient's body for surgical operation.

[0003] Since human hands will inevitably experience extremely slight tremors or shakes during surgical operations, for high-precision minimally invasive surgeries, a robotic system can be used as a substitute to improve the accuracy of surgical operations. For surgical operations that require entering the human body, such as laparoscopic surgery and ophthalmic surgery, a remote motion center device can be used to perform the surgical operation. However, during the movement of the remote motion center device, the positioning accuracy of its end actuator is easily affected by the gravity of the remote motion center device itself, which affects the accuracy of minimally invasive surgery. Summary of the invention

[0004] In view of this, the present invention provides a remote motion center device and a robot system for minimally invasive surgery.

[0005] According to one aspect of the present invention, there is provided a remote motion center for minimally invasive surgery, comprising: a support arm; a telecentric motion mechanism, which is hinged to the support arm; an end actuator, which comprises a mounting seat, a mounting assembly and an operating instrument for performing minimally invasive surgery, the operating instrument is mounted on the mounting seat through the mounting assembly, and the mounting seat is connected to the telecentric motion mechanism; wherein the support arm, the telecentric motion mechanism and the mounting seat together form a double parallelogram, the double parallelogram is used to define a distal fixed point so that the operating instrument can perform minimally invasive surgery based on the distal fixed point; a rotational motion assembly, which is connected to an end of the support arm away from the end actuator, and the rotational motion assembly is used to rotate the rotating part formed by the support arm, the telecentric motion mechanism and the end actuator around the support arm The arm performs axial rotational motion; a pitch motion component, the pitch motion component includes: a pitch motor arranged on the support arm, a pitch screw arranged on the support arm and connected to the output end of the pitch motor, a driving slider sleeved on the pitch screw, a first guide rod and a second guide rod respectively arranged on both sides of the pitch screw and passing through the driving slider, and a front gravity compensation spring and a rear gravity compensation spring respectively arranged on both sides of the driving slider; wherein the driving slider is hinged to the telecentric motion mechanism so that the pitch part composed of the telecentric motion mechanism and the end actuator can perform pitch motion, and the front gravity compensation spring and the rear gravity compensation spring are used to compensate for the gravity influence of the pitch part performing pitch motion; and a feed motion component, the feed motion component is arranged on the mounting seat, and the feed motion component is used to drive the operating device to perform feed motion along the mounting seat.

[0006] According to another aspect of the present invention, a robot system for minimally invasive surgery is provided, comprising: a robot body, the robot body comprising a shell and a control device arranged in the shell, the shell having a top plate and a bottom plate; at least four mobile support mechanisms, each of the mobile support mechanisms comprising: a fixed seat fixedly connected to the bottom plate, a mobile component connected to the fixed seat and a support component arranged in the fixed seat, the mobile component is used to move the robot system to a target location, and the support component is used to support the robot system at the target location; a positioning and posture device, the positioning and posture device comprising a positioning mechanism and a posture mechanism connected to the positioning mechanism, the positioning mechanism being arranged on the top plate; and a remote motion center device as described above, the remote motion center device being connected to the posture mechanism, the positioning mechanism being used to adjust the remote motion center device to a target position, and the posture mechanism being used to adjust the remote motion center device to a target posture.

[0007] According to an embodiment of the present invention, by respectively arranging a front gravity compensation spring and a rear gravity compensation spring on both sides of the driving slider, when the pitch angle of the pitch part is too large, the gravity influence of the pitch part can be compensated based on the backward elastic force generated by the compression of the front gravity compensation spring; or when the pitch angle of the pitch part is too small, the gravity influence of the pitch part can be compensated based on the forward elastic force generated by the compression of the rear gravity compensation spring. Therefore, the remote motion center device provided by the embodiment of the present invention can compensate for the gravity influence of the pitch part doing the pitch motion based on the front gravity compensation spring and the rear gravity compensation spring, so that the surgical operation can be performed more accurately and more stably, thereby improving the accuracy of the surgical operation, ensuring the accuracy and safety of minimally invasive surgery, and thus bringing better treatment effects to patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0009] Figure 1 A perspective view of a remote sports center device according to an embodiment of the present invention is shown;

[0010] Figure 2 shows a front view of a remote sports center device according to an embodiment of the present invention;

[0011] Figure 3 A pitch motion assembly according to an embodiment of the present invention is shown;

[0012] Figure 4 A feeding motion assembly and an end effector according to an embodiment of the present invention are shown;

[0013] Figure 5 shows an exploded view of a mounting assembly according to an embodiment of the present invention;

[0014] Fig. 6A shows a cross-sectional view of a connecting component in a mating state according to an embodiment of the present invention;

[0015] Figure 6B shows a cross-sectional view of a connecting component in a locked state according to an embodiment of the present invention;

[0016] Figure 7 Shows a mounting bracket and a camera according to an embodiment of the present invention;

[0017] Figure 8 A robot system according to an embodiment of the present invention is shown;

[0018] Fig. 9 A positioning and posture determination device according to an embodiment of the present invention is shown;

[0019] Fig.10 A mobile supporting mechanism according to an embodiment of the present invention is shown.

[0020] Description of reference numerals:

[0021] 100, remote motion center device; 10, support arm; 20, telecentric motion mechanism; 21, first rear vertical rod; 22, second rear vertical rod; 23, first main crossbar; 24, second main crossbar; 25, first front vertical rod; 26, second front vertical rod; 27, first slave crossbar; 28, second slave crossbar; 29, first adjustment vertical rod; 210, second adjustment vertical rod; J1, first hinge axis; J2, second hinge axis; J3, third hinge axis; J4, fourth hinge axis; J5, fifth hinge axis; J6, sixth hinge axis; 30, end actuator; 31, mounting seat; 32, mounting assembly; 321, mounting plate; 321a, mounting portion; 321b, assembly portion; Q1, mounting groove; S1, first assembly hole; S2, second assembly hole; S3, first Third assembly hole; S4, fourth assembly hole; 322, connecting member; 3221, first drive pin; 3221a, first drive pin body; 3221b, first cone; 3221c, first drive unit; 3222, first locking pin; 3222a, first locking pin body; 3222b, second cone; 3222c, first locking unit; 3223, first return spring; 3224, second locking pin; 3224a, second locking pin body; 3224b, third cone; 3224c, second locking unit; 3225, second return spring; 3226, second drive pin; 3226a, second drive pin body; 3226b, fourth cone; 3226c, second drive unit; 3227, third locking pin; 3227 a, third locking pin body; 3227b, fifth cone; 3227c, third locking part; 3228, third return spring; 3229, fourth locking pin; 3229a, fourth locking pin body; 3229b, sixth cone; 3229c, fourth locking part; 32210, fourth return spring; 33, operating instrument; 34, mounting bracket; 34a, guide groove; 34b, quick release knob; 35, camera; 40, rotating motion assembly; 41, rotating support; 42, rotating motor; 50, pitching motion assembly; 51, pitching motor; 52, pitching lead screw; 53, driving slider; 54, first guide rod; 55, second guide rod; 56, front gravity compensation spring; 561, first spring; 562, second spring; 5 7. Rear gravity compensation spring; 571. Third spring; 572. Fourth spring; 60. Feed motion assembly; 61. Feed motor; 62. Feed screw; 63. Feed slider; D1. First mounting through hole; D2. Second mounting through hole; D3. Third mounting through hole; D4. Fourth mounting through hole; 64. Third guide rod; 65. Fourth guide rod; 1000. Robot system; 200. Mobile support mechanism; 201. Fixed seat; 202. Mobile member; 202a. First wheel body; 202b. Second wheel body; 202c. Wheel axle; 203. Support member; 203a. Motor bracket; 203b. Support motor; 203c. Support screw; 203d. Support base; 300. Robot body; 301. Shell;301a, top plate; 301b, bottom plate; 400, positioning device; 401, positioning mechanism; 401a, X-axis stator; 401b, X-axis mover; 401c, Y-axis stator; 401d, Y-axis mover; 401e, Z-axis stator; 401f, Z-axis mover; 402, posture fixing mechanism; 402a, first joint motor; 402b, cantilever rod; 402c, second joint motor; 402d, cantilever head frame; 402e, third joint motor. ; DETAILED DESCRIPTION

[0022] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0023] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0024] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0025] When using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, and C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc. When using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, or C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.

[0026] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present invention. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present invention.

[0027] According to an embodiment of the present invention, in minimally invasive surgery, due to the limitation of the wound point, the surgical operating instrument can include three degrees of freedom, namely, rolling motion and pitching motion around the wound point, and feed motion along the axis of the operating instrument. The remote center of motion (RCM) device is a special type of device designed for the above requirements. The characteristic of the remote center of motion device is that the end actuator of the device can rotate around a fixed point in space (that is, the distal fixed point) and move along the axis passing through the fixed point, and there is no actual rotation pair at this fixed point.

[0028] According to an embodiment of the present invention, in minimally invasive surgery, the position and posture of the remote motion center device can be adjusted so that the distal fixed point coincides with the wound point, so as to avoid unnecessary trauma to the patient caused by the surgical operation. For example, in minimally invasive ophthalmic surgery, the wound point is the puncture cannula (ocular truocar point) provided in the eye.

[0029] According to an embodiment of the present invention, the remote motion center device has the advantages of a small motion range and high terminal positioning accuracy, and is suitable for high-precision minimally invasive surgical operations, such as subretinal injection and intravascular injection.

[0030] According to one aspect of the present invention, a remote center of motion device for minimally invasive surgery is provided.

[0031] Figure 1 A perspective view of a remote sports center apparatus according to an embodiment of the present invention is shown. Figure 2 A front view of a remote center of motion apparatus is shown according to an embodiment of the present invention.

[0032] According to an embodiment of the present invention, Figure 1-Figure 2 As shown, the remote motion center device 100 includes a support arm 10, a telecentric motion mechanism 20, an end effector 30, a rotation motion assembly 40, a pitch motion assembly 50, and a feed motion assembly 60. The telecentric motion mechanism 20 is hinged to the support arm 10, and the end effector 30 includes a mounting seat 31, a mounting assembly 32, and an operating instrument 33 for performing minimally invasive surgery. The operating instrument 33 is mounted on the mounting seat 31 through the mounting assembly 32, and the mounting seat 31 is connected to the telecentric motion mechanism 20.

[0033] According to an embodiment of the present invention, Figure 1-Figure 2 As shown, the support arm 10, the telecentric motion mechanism 20 and the mounting seat 31 together form a double parallelogram. The double parallelogram is used to define a distal fixed point so that the operating instrument can perform minimally invasive surgery based on the distal fixed point. The double parallelogram includes a main parallelogram and a secondary parallelogram. For example, Figure 1-Figure 2In the figure, the main parallelogram is the parallelogram at the bottom, and the secondary parallelogram is the parallelogram at the top.

[0034] According to an embodiment of the present invention, based on the double parallelogram structure, the remote motion center device can easily form a remote fixed point at the intersection of the extension line of the support arm and the extension line of the mounting base, and has a simple and compact structure, good transmission performance, and high terminal positioning accuracy.

[0035] According to an embodiment of the present invention, Figure 1-Figure 2 As shown, the rotary motion assembly 40 is connected to the end of the support arm 10 away from the end actuator 30, and the rotary motion assembly 40 is used to make the rotating part composed of the support arm 10, the telecentric motion mechanism 20 and the end actuator 30 rotate around the axial direction of the support arm 10. The feeding motion assembly 60 is arranged on the mounting seat 31, and the feeding motion assembly 60 is used to drive the operating device 33 to perform feeding motion along the mounting seat 31.

[0036] Figure 3 A pitch motion assembly according to an embodiment of the present invention is shown.

[0037] According to an embodiment of the present invention, the pitch motion assembly 50 includes a pitch motor 51 disposed on the support arm 10, a pitch lead screw 52 disposed on the support arm 10 and connected to the output end of the pitch motor 51, a driving slider 53 sleeved on the pitch lead screw 52, ​​a first guide rod 54 and a second guide rod 55 disposed on both sides of the pitch lead screw 52 and passing through the driving slider 53, and a front gravity compensation spring 56 and a rear gravity compensation spring 57 disposed on both sides of the driving slider 53. The driving slider 53 is hinged to the telecentric motion mechanism 20 so that the pitch part composed of the telecentric motion mechanism 20 and the end actuator 30 can perform pitch motion. The front gravity compensation spring 56 and the rear gravity compensation spring 57 are used to compensate for the gravity effect of the pitch part performing the pitch motion.

[0038] According to an embodiment of the present invention, Figure 1-Figure 3 As shown, the pitch motor 51 can drive the pitch screw 52 to rotate, thereby driving the driving slider 53 to slide back and forth on the first guide rod 54 and the second guide rod 55, and further driving the pitch part composed of the telecentric motion mechanism 20 and the end actuator 30 to perform pitch motion.

[0039] As an example, the driving slider is hinged to the telecentric motion mechanism, and the driving slider moves forward, thereby driving the pitch part to perform a tilt-up movement. Exemplarily, the front gravity compensation spring can be arranged at the front side of the driving slider, and when the pitch angle of the pitch part is too large, the driving slider will generate a forward thrust under the influence of the gravity of the pitch part, thereby compressing the front gravity compensation spring and generating a backward elastic force to compensate for the gravity influence of the pitch part.

[0040] As another example, the driving slider is hinged to the telecentric motion mechanism, and the driving slider moves backward, thereby driving the pitch part to do a head-down movement. Exemplarily, the rear gravity compensation spring can be arranged on the front side of the driving slider, and when the pitch angle of the pitch part is too small, the driving slider will generate a backward thrust under the influence of the gravity of the pitch part, thereby compressing the rear gravity compensation spring and generating a forward elastic force to compensate for the gravity influence of the pitch part.

[0041] According to an embodiment of the present invention, by respectively arranging a front gravity compensation spring and a rear gravity compensation spring on both sides of the driving slider, when the pitch angle of the pitch part is too large, the gravity influence of the pitch part can be compensated based on the backward elastic force generated by the compression of the front gravity compensation spring; or when the pitch angle of the pitch part is too small, the gravity influence of the pitch part can be compensated based on the forward elastic force generated by the compression of the rear gravity compensation spring. Therefore, the remote motion center device provided by the embodiment of the present invention can perform surgical operations more accurately and stably based on the front gravity compensation spring and the rear gravity compensation spring, improve the accuracy of surgical operations, ensure the accuracy and safety of minimally invasive surgery, and thus can bring better treatment effects to patients.

[0042] According to an embodiment of the present invention, Figure 3 As shown, the front gravity compensation spring 56 includes a first spring 561 sleeved on the first guide rod 54 and a second spring 562 sleeved on the second guide rod 55, and the first spring 561 and the second spring 562 are used to compensate the gravity effect of the pitch part when the pitch part makes a head-up movement. The rear gravity compensation spring 57 includes a third spring 571 sleeved on the first guide rod 54 and a fourth spring 572 sleeved on the second guide rod 55, and the third spring 571 and the fourth spring 572 are used to compensate the gravity effect of the pitch part when the pitch part makes a head-down movement.

[0043] As an example, when the pitch portion makes a head-up motion, the driving slider moves forward, and the first spring and the second spring are compressed and generate a backward elastic force, thereby compensating for the gravity effect of the pitch portion.

[0044] As another example, when the pitch portion makes a head-down motion, the driving slider moves backward, and the third spring and the fourth spring are compressed and generate a forward elastic force, thereby compensating for the gravity effect of the pitch portion.

[0045] According to the embodiment of the present invention, the first spring and the third spring are both sleeved on the first guide rod, and the second spring and the fourth spring are both sleeved on the second guide rod, which has the advantages of simple structure and easy layout.

[0046] According to an embodiment of the present invention, Figure 1As shown, the telecentric motion mechanism 20 includes a first rear vertical rod 21, a second rear vertical rod 22, a first main cross bar 23, a second main cross bar 24, a first front vertical rod 25, a second front vertical rod 26, a first slave cross bar 27, a second slave cross bar 28, a first adjustment vertical rod 29 and a second adjustment vertical rod 210.

[0047] like Figure 1 As shown, the first rear vertical rod 21 and the second rear vertical rod 22 are arranged in parallel on both sides of the support arm 10, the middle part of the first rear vertical rod 21, the middle part of the second rear vertical rod 22 and the support arm 10 are connected through the first hinge shaft J1, and the lower end of the first rear vertical rod 21, the lower end of the second rear vertical rod 22 and the driving slider 53 are connected through the second hinge shaft J2.

[0048] like Figure 1 As shown, the first main cross bar 23 and the second main cross bar 24 are parallel to the support arm 10, the rear end of the first main cross bar 23 is connected to the upper end of the first rear vertical bar 21 through the third hinge shaft J3, and the rear end of the second main cross bar 24 is connected to the upper end of the second rear vertical bar 22 through the third hinge shaft J3; the front end of the first main cross bar 23 and the front end of the second main cross bar 24 are fixedly connected to the two sides of the mounting seat 31 respectively.

[0049] like Figure 1 As shown, the first front vertical rod 25 and the second front vertical rod 26 are arranged in parallel on both sides of the support arm 10, the lower end of the first front vertical rod 25, the lower end of the second front vertical rod 26 and the support arm 10 are connected via the fourth hinge shaft J4, the middle part of the first front vertical rod 25 is connected to the middle part of the first main cross bar 23 via the fifth hinge shaft J5, and the middle part of the second front vertical rod 25 is connected to the middle part of the second main cross bar 24 via the fifth hinge shaft J5.

[0050] like Figure 1 As shown, the first secondary cross bar 27 and the second secondary cross bar 28 are parallel to the support arm 10, the rear end of the first secondary cross bar 27 is connected to the upper end of the first front vertical bar 25 through the sixth hinge shaft J6, and the rear end of the second secondary cross bar 28 is connected to the upper end of the second front vertical bar 26 through the sixth hinge shaft J6; the front end of the first secondary cross bar 27 and the front end of the second secondary cross bar 28 are fixedly connected to the two sides of the mounting seat 31 respectively.

[0051] As an example, Figure 1-Figure 2 As shown, when the driving slider 53 slides forward, the driving slider 53 drives the first rear vertical rod 21 and the second rear vertical rod 22 to move around the first hinge axis J1 in the clockwise direction, thereby driving the first main cross bar 23 and the second main cross bar 24 to move around the fifth hinge axis J5 in the clockwise direction, thereby driving the first front vertical rod 25 and the second front vertical rod 26 to move around the fourth hinge axis J4 in the clockwise direction, thereby driving the first slave cross bar 27 and the second slave cross bar 28 to move around the sixth hinge axis J6 in the clockwise direction, and then can drive the mounting seat 31 to make a head-up movement, thereby realizing the head-up movement of the pitch part.

[0052] As another example, Figure 1-Figure 2 As shown, when the driving slider 53 slides backward, the driving slider 53 drives the first rear vertical rod 21 and the second rear vertical rod 22 to move in the counterclockwise direction around the first hinge axis J1, thereby driving the first main cross bar 23 and the second main cross bar 24 to move in the counterclockwise direction around the fifth hinge axis J5, thereby driving the first front vertical rod 25 and the second front vertical rod 26 to move in the counterclockwise direction around the fourth hinge axis J4, thereby driving the first slave cross bar 27 and the second slave cross bar 28 to move in the counterclockwise direction around the sixth hinge axis J6, and further driving the mounting seat 31 to make a head-down movement, thereby realizing the head-down movement of the pitch part.

[0053] According to one embodiment of the present invention, Figure 1-Figure 2 As shown, the first front vertical rod 21 and the second front vertical rod 22 can be set to a boomerang shape. The upper part and the lower part of the first front vertical rod 21 are not located on the same straight line, and the upper part and the lower part of the second front vertical rod 22 are not located on the same straight line, so that the elevation angle range of the pitch movement can be determined based on the angle of the upper part of the first front vertical rod 21 and the upper part of the second front vertical rod 22. Optionally, the elevation angle range of the pitch movement can be adjusted by changing the angle of the upper part of the first front vertical rod and the upper part of the second front vertical rod, so as to facilitate surgical operations.

[0054] like Figure 1 As shown, the two ends of the first adjustment vertical rod 29 are respectively connected to the front middle portion of the first main cross bar 23 and the middle portion of the first slave cross bar 27, and the first adjustment vertical rod 29 is used to adjust the length of the first slave cross bar 27 and the front half of the first main cross bar 23. The two ends of the second adjustment vertical rod 210 are respectively connected to the front middle portion of the second main cross bar 24 and the middle portion of the second slave cross bar 28, and the second adjustment vertical rod 210 is used to adjust the length of the second slave cross bar 28 and the front half of the second slave cross bar 24.

[0055] According to an embodiment of the present invention, Figure 1-Figure 2 As shown, the extension length of the parallelogram in the double parallelogram can be adjusted by the first adjustment vertical rod 29 and the second adjustment vertical rod 210, so as to adapt to different surgical operation requirements. For example, in ophthalmic surgery, the extension length of the parallelogram in the double parallelogram can be adjusted by the first adjustment vertical rod and the second adjustment vertical rod to adapt to different patient facial configurations.

[0056] According to one embodiment of the present invention, Figure 1-Figure 2As shown, the front half of the first main crossbar 23 is provided with a plurality of positioning holes, and the lower end of the first adjustment vertical rod 29 is provided with a limit pin buckle that can match the positioning holes of the first main crossbar 23. The first slave crossbar 27 is provided with a plurality of positioning holes, and the upper end of the first adjustment vertical rod 29 is provided with a limit pin buckle that can match the positioning holes of the first slave crossbar 27. The front half of the second main crossbar 24 is provided with a plurality of positioning holes, and the lower end of the second adjustment vertical rod 210 is provided with a limit pin buckle that can match the positioning holes of the second main crossbar 24. The second slave crossbar 28 is provided with a plurality of positioning holes, and the upper end of the second adjustment vertical rod 210 is provided with a limit pin buckle that can match the positioning holes of the second slave crossbar 28. Thus, the positions of the first adjustment vertical rod 29 and the second adjustment vertical rod 210 can be adjusted by the limit pin buckle, so that the extension length of the slave parallelogram in the double parallelogram can be adjusted to meet different surgical operation requirements.

[0057] According to an embodiment of the present invention, Figure 1-Figure 2 As shown, the rotary motion assembly 40 includes a rotary support 41 and a rotary motor 42, one end of the rotary support 41 is connected to the end of the support arm 10 away from the end actuator, and the other end of the rotary support 41 is connected to the rotary motor 42. The rotary motor 42 can drive the rotary part composed of the support arm 10, the telecentric motion mechanism 20 and the end actuator 30 to perform rotary motion around the axial direction of the support arm.

[0058] Figure 4 A feeding motion assembly and an end effector according to an embodiment of the present invention are shown. Figure 5 An exploded view of a mounting assembly according to an embodiment of the present invention is shown. Fig. 6A A cross-sectional view of a connecting component in a mating state according to an embodiment of the present invention is shown. Figure 6B A cross-sectional view of a connecting component in a locked state according to an embodiment of the present invention is shown.

[0059] According to an embodiment of the present invention, Figure 1 , Figure 4 and Figure 5 As shown, the feed motion assembly 60 includes: a feed motor 61 arranged on the mounting seat 31, a feed screw 62 arranged on the mounting seat 31 and connected to the output end of the feed motor 61, a feed slider 63 sleeved on the feed screw 62, and a third guide rod 64 and a fourth guide rod 65 respectively arranged on both sides of the feed screw 62 and passing through the feed slider 63.

[0060] According to an embodiment of the present invention, Figure 4 and Figure 5 As shown, the mounting assembly 32 includes a mounting plate 321 and a connecting component 322 . The mounting plate 321 is used to mount the operating device 33 . The mounting plate 321 is detachably connected to the feed slider 63 via the connecting component 322 .

[0061] According to the embodiment of the present invention, the feed motor 61 can drive the feed screw 62 to rotate, thereby driving the feed slider 63 to slide up and down on the third guide rod 64 and the fourth guide rod 65, and then driving the mounting plate 321 and the operating device 33 to perform feeding movement along the mounting seat 31. The mounting plate 321 is detachably connected to the feed slider 63 through the connecting component 322, which has the advantages of easy assembly and disassembly, high flexibility, etc.

[0062] Exemplarily, the connection method between the mounting plate and the feed slider may include bolt connection, snap connection, etc. Those skilled in the art may make reasonable settings based on actual needs or application scenarios, etc., and no limitation is made here.

[0063] According to an embodiment of the present invention, Figure 4 and Figure 5 As shown, the mounting plate 321 includes a mounting portion 321a and an assembly portion 321b connected to the mounting portion 321a. The mounting portion 321a has a mounting groove Q1 for fixing the operating device 33, and the assembly portion 321b has a first assembly hole S1, a second assembly hole S2, a third assembly hole S3 and a fourth assembly hole S4 for matching with the feed slider 63.

[0064] According to an embodiment of the present invention, Figure 5 , Fig. 6A and Figure 6B As shown, a first mounting through hole D1 along the feeding direction and a second mounting through hole D2 perpendicular to the feeding direction are provided on one side of the feed slider 63, and the first mounting through hole D1 is connected to the second mounting through hole D2. A third mounting through hole D3 along the feeding direction and a fourth mounting through hole D4 perpendicular to the feeding direction are provided on the other side of the feed slider 63, and the third mounting through hole D3 is connected to the fourth mounting through hole D4. The connecting component 322 includes: a first driving pin 3221, a first locking pin 3222, a first return spring 3223, a second locking pin 3224, a second return spring 3225, a second driving pin 3226, a third locking pin 3227, a third return spring 3228, a fourth locking pin 3229 and a fourth return spring 32210.

[0065] According to an embodiment of the present invention, Figure 5 , Fig. 6A and Figure 6B As shown, the first driving pin 3221 includes: a first driving pin body 3221a, a first cone 3221b connected to one end of the first driving pin body 3221a, and a first driving portion 3221c connected to the other end of the first driving pin body 3221a. The first driving pin body 3221a and the first cone 3221b are arranged inside the second mounting through hole D2, the first driving portion 3221c is arranged outside the second mounting through hole D2, and the first driving pin body 3221a is threadedly connected to the second mounting through hole D2.

[0066] According to an embodiment of the present invention, Figure 5 , Fig. 6A and Figure 6B As shown, the first locking pin 3222 is arranged at the upper part of the first mounting through hole D1, and the first locking pin 3222 includes: a first locking pin body 3222a, a second cone 3222b connected to one end of the first locking pin body 3222a, and a first locking portion 3222c connected to the other end of the first locking pin body 3222a. The second cone 3222b abuts against the first side of the first cone 3221b, and the first locking portion 3222c is used to lock the mounting plate 321 on the feed slider 63. The first return spring 3223 is sleeved on the first locking pin body 3222.

[0067] According to an embodiment of the present invention, Figure 5 , Fig. 6A and Figure 6B As shown, the second locking pin 3224 is arranged at the lower part of the first mounting through hole D1, and the second locking pin 3224 includes: a second locking pin body 3224a, a third cone 3224b connected to one end of the second locking pin body 3224a, and a second locking portion 3224c connected to the other end of the second locking pin body 3224a. The third cone 3224b abuts against the second side of the first cone 3221b, and the second locking portion 3224c is used to lock the mounting plate 321 on the feed slider 63. The second return spring 3225 is sleeved on the second locking pin body 3224.

[0068] According to an embodiment of the present invention, Figure 5 , Fig. 6A and Figure 6B As shown, the second driving pin 3226 includes: a second driving pin body 3226a, a fourth cone portion 3226b connected to one end of the second driving pin body 3226a, and a second driving portion 3226c connected to the other end of the second driving pin body 3226a. The second driving pin body 3226a and the fourth cone portion 3226b are arranged inside the fourth mounting through hole D4, the second driving portion 3226c is arranged outside the fourth mounting through hole D4, and the second driving pin body 3226c is threadedly connected to the fourth mounting through hole D4.

[0069] According to an embodiment of the present invention, Figure 5 , Fig. 6A and Figure 6BAs shown, the third locking pin 3227 is arranged at the upper part of the third mounting through hole D3, and the third locking pin 3227 includes: a third locking pin body 3227a, a fifth cone 3227b connected to one end of the third locking pin body 3227a, and a third locking portion 3227c connected to the other end of the third locking pin body 3227a. The fifth cone 3227b abuts against the first side of the fourth cone 3226b, and the third locking portion 3227c is used to lock the mounting plate 321 on the feed slider 63. The third reset spring 3228 is sleeved on the third locking pin body 3227.

[0070] According to an embodiment of the present invention, Figure 5 , Fig. 6A and Figure 6B As shown, the fourth locking pin 3229 is arranged at the lower part of the third mounting through hole D3, and the fourth locking pin 3229 includes: a fourth locking pin body 3229a, a sixth cone 3229b connected to one end of the fourth locking pin body 3229a, and a fourth locking portion 3229c connected to the other end of the fourth locking pin body 3229a. The sixth cone 3229b abuts against the second side of the fourth cone 3226b, and the fourth locking portion 3229c is used to lock the mounting plate 321 on the feed slider 63. The fourth reset spring sleeve 32210 is sleeved on the fourth locking pin body 3229.

[0071] According to an embodiment of the present invention, Fig. 6A As shown, the connecting member 322 is constructed such that when the first driving pin 3221 is rotated out of the second mounting through hole D2, the first locking pin 3222 and the second locking pin 324 are close to each other, so that the first locking portion 3222c and the second locking portion 3224c can both completely fall into the first mounting through hole D1, so as to allow the mounting plate 321 to be assembled to the feed slider 63, wherein the first assembly hole S1 and the second assembly hole S2 of the mounting plate 321 are aligned with the first mounting through hole D1. The connecting member 322 is also constructed such that when the second driving pin 3226 is rotated out of the fourth mounting through hole D4, the third locking pin 3227 and the fourth locking pin 3229 are close to each other, so that the third locking portion 3227c and the fourth locking portion 3229c can both completely fall into the third mounting through hole D3, so as to allow the mounting plate 321 to be assembled to the feed slider 63, wherein the third assembly hole S3 and the fourth assembly hole S4 of the mounting plate 321 are aligned with the third mounting through hole D3.

[0072] According to an embodiment of the present invention, Figure 6BAs shown, the connecting member 322 is constructed such that when the first driving pin 3221 is screwed into the second mounting through hole D2, the first locking pin 3222 and the second locking pin 3224 move away from each other, so that the first locking portion 3222c can fully extend out of the first mounting through hole D1 and extend into the first assembly hole S1 on the mounting plate 321, and the second locking portion 3224c can fully extend out of the first mounting through hole D1 and extend into the second assembly hole S2 on the mounting plate 321. The connecting member 322 is also constructed such that when the second driving pin 3226 is screwed into the fourth mounting through hole D4, the third locking pin 3227 and the fourth locking pin 3229 move away from each other, so that the third locking portion 3227c can fully extend out of the third mounting through hole D3 and extend into the third assembly hole S3 on the mounting plate 321, and the fourth locking portion 3229c can fully extend out of the third mounting through hole D3 and extend into the fourth assembly hole S4 on the mounting plate 321.

[0073] According to an embodiment of the present invention, a quick and detachable connection between the mounting plate and the feed slider can be achieved through a connecting component, and the connecting component has the advantages of simple structure, reliable connection, easy assembly and disassembly, and high flexibility.

[0074] As an example, the assembly process is: unscrew the first drive pin 3221 out of the second mounting hole D2 until the first locking portion 3222c and the second locking portion 3224c completely fall into the first mounting hole D1. Unscrew the second drive pin 3226 out of the fourth mounting hole D4 until the third locking portion 3227c and the fourth locking portion 3229c completely fall into the third mounting hole D3. Assemble the mounting plate 321 to the feed slider 63, so that the first assembly hole S1 and the second assembly hole S2 of the mounting plate 321 are aligned with the first mounting hole D1 of the feed slider 63, and the third assembly hole S3 and the fourth assembly hole S4 of the mounting plate 321 are aligned with the third mounting hole D3 of the feed slider 63. In this way, the cooperation between the mounting plate 321 and the feed slider 63 is achieved, and the state at this time is as follows. Fig. 6A As shown. Afterwards, the first drive pin 3221 is screwed into the second mounting through hole D2, forcing the first locking portion 3222c to be able to fully extend out of the first mounting through hole and extend into the first assembly hole S1 on the mounting plate 321, and forcing the second locking portion 3224c to be able to fully extend out of the first mounting through hole D1 and extend into the second assembly hole S2 on the mounting plate 321. The second drive pin 3226 is screwed into the fourth mounting through hole D4, forcing the third locking portion 3227c to be able to fully extend out of the third mounting through hole D3 and extend into the third assembly hole S3 on the mounting plate 321, and forcing the fourth locking portion 3229c to be able to fully extend out of the third mounting through hole D3 and extend into the fourth assembly hole S4 on the mounting plate 321. Thereby, the locking between the mounting plate 321 and the feed slider 63 is achieved, and the state at this time is as shown. Figure 6B shown.

[0075] As another example, the disassembly process is as follows: unscrew the first drive pin 3221 out of the second mounting hole D2, so that the first locking portion 3222c completely falls into the first mounting hole D1 under the action of the first return spring 3223, and the second locking portion 3224c completely falls into the first mounting hole D1 under the action of the second return spring 3225. Unscrew the second drive pin 3226 out of the fourth mounting hole D4, so that the third locking portion 3227c completely falls into the third mounting hole D3 under the action of the third return spring 3228, and the fourth locking portion 3229c completely falls into the third mounting hole D3 under the action of the fourth return spring 32210. Thereby, the lock between the mounting plate 321 and the feed slider 63 is released, and the state at this time is as follows: Fig. 6A Afterwards, the mounting plate 321 is removed from the feed slide block 63 to complete the disassembly.

[0076] According to one embodiment of the present invention, Figure 5 , Fig. 6A and Figure 6B As shown, the first driving part 3221c and the second driving part 3226c can be set as a handle. Optionally, the first driving part and the second driving part can also be set as a knob, a hand wheel, etc. Those skilled in the art can make reasonable settings according to actual needs or application scenarios, etc., and are not limited here.

[0077] Figure 7 A mount and camera according to the invention are shown.

[0078] According to an embodiment of the present invention, Figure 1 , Figure 4 and Figure 7 As shown, the end effector 30 further includes a mounting bracket 34 and a camera 35 disposed at the front end of the mounting bracket.

[0079] According to an embodiment of the present invention, Figure 7 As shown, the rear end of the mounting bracket 34 is connected to the lower end of the mounting seat 31, and a guide groove 34a is provided at the front end of the mounting bracket 34. The front end of the mounting bracket 34 is inclined toward the end close to the operating device 33 so that the end of the operating device 33 can be fed through the guide groove 34a.

[0080] Preferably, the mounting bracket can be detachably connected to the lower end of the mounting seat, such as by bolt connection, snap connection, etc. For example, Figure 7 As shown, the mounting bracket 34 can be connected to the lower end of the mounting base 31 through a quick release knob 34b.

[0081] According to an embodiment of the present invention, Figure 7As shown, the camera 35 is adjacent to the guide slot 34a, and the camera 35 is used to provide a surgical field of view required for guiding the distal end of the operating instrument 33 to the incision point of minimally invasive surgery.

[0082] According to the embodiments of the present invention, the guide groove can provide certain support for the end of the operating instrument, and can provide guidance for the end of the operating instrument when performing feeding movement, thereby further improving the accuracy of the surgical operation and ensuring the stability, accuracy and safety of the operation. The camera can provide the surgical field of view required to guide the end of the operating instrument to the incision point of minimally invasive surgery, so that the end of the operating instrument can be guided by the camera to accurately enter the incision point of minimally invasive surgery, thereby further improving the accuracy of the surgical operation and ensuring the stability, accuracy and safety of the surgery.

[0083] According to another aspect of the present invention, a robotic system for minimally invasive surgery is provided.

[0084] Figure 8 A robot system according to an embodiment of the present invention is shown. Fig. 9 A positioning and posture determination device according to an embodiment of the present invention is shown. Fig.10 A mobile supporting mechanism according to an embodiment of the present invention is shown.

[0085] According to an embodiment of the present invention, Figure 8 As shown, the robot system 1000 includes: a robot body 300, at least four mobile support mechanisms 200, a positioning and posture determination device 400 and the remote motion center device 100 as described above.

[0086] According to an embodiment of the present invention, Figure 8 As shown, the robot body 300 includes a housing 301 and a control device (attached Figure 8 (not shown in the figure), the housing 301 has a top plate 301a and a bottom plate 301b.

[0087] It should be noted that, in terms of specific implementation methods, the control device can be implemented in various appropriate ways. For example, the control device can be implemented by a general-purpose processor ("CPU") or a dedicated processor (such as a graphics processing unit, "GPU"), or a combination of the two. In some scenarios, the control device can also be implemented by a programmable logic controller (Programmable Logic Controller, "PLC"), which is not specifically limited here.

[0088] According to an embodiment of the present invention, Figure 8 and Fig.10As shown, each mobile support mechanism 200 includes: a fixed seat 201 fixedly connected to the base plate, a mobile component 202 connected to the fixed seat 201, and a support component 203 disposed in the fixed seat. The mobile component 202 is used to move the robot system 1000 to the target location, and the support component 203 is used to support the robot system 1000 at the target location.

[0089] According to an embodiment of the present invention, Figure 8 As shown, the positioning and posture setting device 400 includes a positioning mechanism 401 and a posture setting mechanism 402 connected to the positioning mechanism 401, and the positioning mechanism 401 is arranged on the top plate 301a. The remote motion center device 100 is connected to the posture setting mechanism 402, the positioning mechanism 401 is used to adjust the remote motion center device 100 to the target position, and the posture setting mechanism 402 is used to adjust the remote motion center device 100 to the target posture.

[0090] According to one embodiment of the present invention, Figure 8 As shown, the robot system 1000 can be configured as a dual-arm system, and the robot system 1000 includes two remote motion center devices 100 .

[0091] According to an embodiment of the present invention, Figure 8 and Fig. 9 As shown, the positioning mechanism 401 includes: an X-axis stator 401a, an X-axis mover 401b, a Y-axis stator 401c, a Y-axis mover 401d, a Z-axis stator 401e and a Z-axis mover 401f.

[0092] According to an embodiment of the present invention, Figure 8 and Fig. 9 As shown, the X-axis stator 401a is fixedly arranged on the upper surface of the top plate 301a, and the X-axis mover 401b is movably arranged on the X-axis stator 401a, and the X-axis mover 401b is used for displacement in the horizontal direction. The Y-axis stator 401c is fixedly arranged on the X-axis mover 401b, and the Y-axis mover 401d is movably arranged on the Y-axis stator 401c, and the Y-axis mover 401d is used for displacement in the front-back direction. The Z-axis stator 401e is fixedly arranged on the Y-axis mover 401d, and the Z-axis mover 401f is movably arranged on the Z-axis stator 401e, and the Z-axis mover 401f is used for displacement in the vertical direction.

[0093] According to one embodiment of the present invention, Figure 8 and Fig. 9As shown, the robot system 1000 is a dual-arm system, and the positioning mechanism 401 includes two X-axis movers 401b, and the X-axis stator 401a can be set as a bottom stator rail, and the aforementioned two X-axis movers 401b can be set together on the bottom stator rail. The X-axis mover 401b can be driven by a linear motor, for example, to move in the horizontal direction on the bottom stator rail. Taking only one arm of the robot system as an example, the top of the X-axis mover 401b can be constructed as a top stator rail, and the top stator rail can be used as a Y-axis stator 401c, and the Y-axis mover 401d is set on the top stator rail. The Y-axis mover 401d can be driven by a linear motor, for example, to move in the front-rear direction on the top stator rail. The Z-axis stator 401e and the Z-axis mover 401f can be selected as a Z-axis servo motor and a Z-axis screw module. The Z-axis servo motor can drive the mover part of the Z-axis screw module so that the Z-axis mover 401f can move in the vertical direction.

[0094] According to an embodiment of the present invention, Figure 8 and Fig. 9 As shown, the posture fixing mechanism 402 includes: a first joint motor 402a, a cantilever rod 402b, a second joint motor 402c, a cantilever head frame 402d and a third joint motor 402e.

[0095] According to an embodiment of the present invention, Figure 8 and Fig. 9 As shown, the first joint motor 402a is fixedly arranged at the end of the Z-axis mover 401f, and one end of the cantilever rod 402b is rotatably connected to the first joint motor 402a, so that the first joint motor 402a can drive the cantilever rod 402b to rotate around the Z-axis direction. The second joint motor 402c is fixedly arranged at one end of the cantilever rod 402b away from the first joint motor 402a, and one end of the cantilever head frame 402d is rotatably connected to the second joint motor 402c, so that the second joint motor 402c can drive the cantilever head frame 402d to rotate around the axis direction of the cantilever rod 402b. The third joint motor 402e is fixedly arranged at one end of the cantilever head frame 402d away from the second joint motor 402c, and the third joint motor 402e is connected to the rotating support 41 (the rotating support is attached to the Figure 1 ) is rotationally connected so that the third joint motor 402e can drive the remote motion center device 100 to rotate, wherein the rotation direction of the third joint motor 402e is perpendicular to the rotation direction of the second joint motor 402c.

[0096] According to an embodiment of the present invention, the positioning mechanism can adjust the remote motion center device to the target position, and the posture determination mechanism can adjust the remote motion center device to the target posture. The positioning and posture determination device has the advantages of high degree of freedom, good flexibility, and high positioning accuracy. It can adjust the position and posture of the remote motion center more accurately to meet the needs of surgical operations. The positioning customization device helps to further improve the accuracy of surgical operations to ensure the accuracy and safety of minimally invasive surgery, thereby bringing better treatment effects to patients.

[0097] According to an embodiment of the present invention, Figure 8 and Fig.10 As shown, the fixed seat 201 is a hollow cylinder, and the fixed seat 201 is fixedly arranged on the outer surface of the bottom plate 301b. The moving member 202 includes a first wheel body 202a and a second wheel body 202b respectively arranged on both sides of the fixed seat 201, and the first wheel body 202a and the second wheel body 202b are connected to the lower side of the fixed seat 201 through a wheel shaft 202c. The supporting member 203 includes: a motor bracket 203a, a supporting motor 203b, a supporting screw 203c and a supporting base 203d.

[0098] According to an embodiment of the present invention, Fig.10 As shown, the motor bracket 203a is fixedly arranged on the inner surface of the base plate 301b, and the support motor 203b is fixedly connected to the motor bracket 203a. The support screw 203c is connected to the output end of the support motor 203b, and passes through the support motor 203b, the motor bracket 203a, the base plate 301b and the fixed seat 201 in sequence. The support base 203d is fixedly arranged at one end of the support screw 203c away from the support motor 203b, and the diameter of the support base 203d is smaller than the inner diameter of the fixed seat 201. Among them, the support member 203 is constructed as follows: the support motor 203b can drive the support screw 203c to lower the support base 203d, so that the support base 203d can lift and support the robot system 1000 after contacting the ground.

[0099] According to one embodiment of the present invention, the robot system can be moved to the target location using a moving component. After the movement is completed, the support motor can be controlled to drive the support screw to lower the support base until the support base contacts the ground, thereby lifting and stabilizing the support robot system.

[0100] According to an embodiment of the present invention, the supporting structure can lift and stably support the robot system after the robot system moves to the target location, thereby preventing the robot system from being displaced during the surgical operation, thereby ensuring the stability, safety and reliability of the operation and helping to ensure the accuracy of the surgical operation.

[0101] According to one embodiment of the present invention, the robotic system can be used for minimally invasive eye surgery, such as subretinal injection and intravascular injection. Figure 1-Figure 10 , the use of the robot system includes:

[0102] 1) Mobile robot system: First, drag the robot system 1000 to a suitable location near the patient (i.e., the target location).

[0103] 2) Fixing the robot system: After the movement is completed, the support motor 203b is controlled to drive the support screw 203c to lower the support base 203d, so that the support base 203d contacts the ground and supports the robot system 1000, ensuring stable support.

[0104] 3) Adjusting the robot system: By adjusting the first vertical adjustment rod 29 and the second vertical adjustment rod 210 , the extension length from the parallelogram is adjusted according to the patient's head configuration.

[0105] 4) Quick installation of operating equipment: match the mounting plate 321 with the corresponding position of the feed slider 63, and then use the connecting component 32 to realize the assembly and locking between the mounting plate 321 and the feed slider 63, so that the mounting plate 321 and the operating equipment 33 can be quickly and conveniently installed on the mounting seat 31.

[0106] 5) Zero point reset: Activate all motors of the robot system 1000 to perform zero point reset to ensure accurate start of operation.

[0107] 6) Positioning: The position (ie, target position) of the remote motion center device 100 is adjusted by the positioning mechanism 401 to control the distal fixed point to coincide with the eye truocar point.

[0108] 7) Posture determination: According to the field of view of the camera 35, the posture (ie, target posture) of the remote motion center device 100 is adjusted by the posture determination mechanism 402 to ensure that the needle tip posture is consistent with the truocar posture.

[0109] 8) RCM feeding: According to the field of view of camera 35, control the feeding movement of the needle tip to ensure that the needle tip passes through the truocar smoothly and enters the eye.

[0110] 9) RCM adjustment: The remote motion center device 100 is controlled to precisely position the end needle tip to the target point in the intraocular blood vessel.

[0111] 10) Puncture injection: The injection needle is fed and delivered for precise puncture. Subsequently, the drug is injected into the needle for injection.

[0112] In the above description of the present invention, unless otherwise clearly specified and limited, the terms "fixed", "installed", "connected" or "connected" should be understood in a broad sense. For example, with regard to the term "connection", it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements. Therefore, unless otherwise clearly defined in the present invention, those skilled in the art can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0113] According to the above description of the present invention, those skilled in the art may also understand that the terms used below, such as "up", "down", "front", "back", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", "center", "longitudinal", "lateral", "clockwise" or "counterclockwise", etc., which indicate the orientation or position relationship, are based on the orientation or position relationship shown in the drawings of the present invention, and are only for the purpose of facilitating the explanation of the scheme of the present invention and simplifying the description, rather than explicitly or implicitly indicating that the device or element involved must have the specific orientation, be constructed and operate in a specific orientation. Therefore, the above-mentioned orientation or position relationship terms cannot be understood or interpreted as limitations on the scheme of the present invention.

[0114] In addition, the terms "first" or "second" used in the present invention to refer to numbers or ordinals are only used for descriptive purposes and cannot be understood as explicitly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0115] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although each embodiment is described above, it does not mean that the measures in each embodiment cannot be used in combination. The scope of the present invention is defined by the attached claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A remote motion center device for minimally invasive surgery, characterized in that: include: Support arm; A telecentric motion mechanism, wherein the telecentric motion mechanism is hinged to the support arm; An end effector mechanism, the end effector mechanism comprising a mounting seat, a mounting assembly and an operating instrument for performing minimally invasive surgery, the operating instrument being mounted on the mounting seat via the mounting assembly, the mounting seat being connected to the telecentric motion mechanism; wherein the support arm, the telecentric motion mechanism and the mounting seat together form a double parallelogram, the double parallelogram being used to define a distal fixed point, so that the operating instrument can perform minimally invasive surgery based on the distal fixed point; A rotary motion assembly, the rotary motion assembly being connected to an end of the support arm away from the end actuator, the rotary motion assembly being used to make the rotary part composed of the support arm, the telecentric motion mechanism and the end actuator perform rotary motion around the axial direction of the support arm; A pitch motion assembly, the pitch motion assembly comprising: a pitch motor disposed on the support arm, a pitch lead screw disposed on the support arm and connected to an output end of the pitch motor, a driving slider sleeved on the pitch lead screw, a first guide rod and a second guide rod respectively disposed on both sides of the pitch lead screw and passing through the driving slider, and a front gravity compensation spring and a rear gravity compensation spring respectively disposed on both sides of the driving slider; wherein the driving slider is hinged to the telecentric motion mechanism so that the pitch part composed of the telecentric motion mechanism and the end actuator can perform a pitch motion, and the front gravity compensation spring and the rear gravity compensation spring are used to compensate for the gravity influence of the pitch part performing the pitch motion; and A feeding motion component is arranged on the mounting seat, and the feeding motion component is used to drive the operating device to perform feeding motion along the mounting seat.

2. The device according to claim 1, characterized in that The front gravity compensation spring comprises a first spring sleeved on the first guide rod and a second spring sleeved on the second guide rod, wherein the first spring and the second spring are used to compensate for the gravity influence of the pitch part when the pitch part performs a head-up motion; The rear gravity compensation spring includes a third spring sleeved on the first guide rod and a fourth spring sleeved on the second guide rod, and the third spring and the fourth spring are used to compensate for the gravity influence of the pitch part when the pitch part performs a head-down movement.

3. The device according to claim 1, characterized in that The telecentric motion mechanism comprises: A first rear vertical rod and a second rear vertical rod are arranged in parallel on both sides of the support arm, the middle part of the first rear vertical rod, the middle part of the second rear vertical rod and the support arm are connected through a first hinge shaft, and the lower end of the first rear vertical rod, the lower end of the second rear vertical rod and the driving slider are connected through a second hinge shaft; A first main cross bar and a second main cross bar are parallel to the support arm, the rear end of the first main cross bar is connected to the upper end of the first rear vertical bar through a third hinge shaft, and the rear end of the second main cross bar is connected to the upper end of the second rear vertical bar through the third hinge shaft; the front end of the first main cross bar and the front end of the second main cross bar are fixedly connected to the two sides of the mounting seat respectively; A first front vertical rod and a second front vertical rod are arranged in parallel on both sides of the support arm, the lower end of the first front vertical rod, the lower end of the second front vertical rod and the support arm are connected through a fourth hinge shaft, the middle part of the first front vertical rod is connected to the middle part of the first main cross bar through a fifth hinge shaft, and the middle part of the second front vertical rod is connected to the middle part of the second main cross bar through the fifth hinge shaft; A first secondary cross bar and a second secondary cross bar parallel to the support arm, the rear end of the first secondary cross bar is connected to the upper end of the first front vertical bar through a sixth hinge shaft, and the rear end of the second secondary cross bar is connected to the upper end of the second front vertical bar through the sixth hinge shaft; the front end of the first secondary cross bar and the front end of the second secondary cross bar are fixedly connected to both sides of the mounting seat respectively; and A first adjusting vertical rod and a second adjusting vertical rod, wherein two ends of the first adjusting vertical rod are respectively connected to the front middle part of the first main cross rod and the middle part of the first slave cross rod, and the first adjusting vertical rod is used to adjust the length of the first slave cross rod and the front half of the first main cross rod; two ends of the second adjusting vertical rod are respectively connected to the front middle part of the second main cross rod and the middle part of the second slave cross rod, and the second adjusting vertical rod is used to adjust the length of the second slave cross rod and the front half of the second slave cross rod.

4. The device according to any one of claims 1 to 3, characterized in that The rotary motion assembly comprises a rotary support and a rotary motor, one end of the rotary support is connected to an end of the support arm away from the end actuator, and the other end of the rotary support is connected to the rotary motor; The feeding motion assembly comprises: a feeding motor arranged on the mounting seat, a feeding screw arranged on the mounting seat and connected to the output end of the feeding motor, a feeding slider sleeved on the feeding screw, and a third guide rod and a fourth guide rod respectively arranged on both sides of the feeding screw and passing through the feeding slider; The mounting assembly includes a mounting plate and a connecting component. The mounting plate is used to mount the operating device. The mounting plate is detachably connected to the feed slider via the connecting component.

5. The device according to claim 4, characterized in that The mounting plate includes a mounting portion and an assembly portion connected to the mounting portion, the mounting portion having a mounting groove for fixing the operating device, and the assembly portion having a first assembly hole, a second assembly hole, a third assembly hole and a fourth assembly hole for matching with the feed slider; A first mounting through hole along the feeding direction and a second mounting through hole perpendicular to the feeding direction are formed on one side of the feeding slider, and the first mounting through hole is communicated with the second mounting through hole; a third mounting through hole along the feeding direction and a fourth mounting through hole perpendicular to the feeding direction are formed on the other side of the feeding slider, and the third mounting through hole is communicated with the fourth mounting through hole; The connecting component comprises: A first driving pin, the first driving pin comprising: a first driving pin body, a first cone connected to one end of the first driving pin body, and a first driving portion connected to the other end of the first driving pin body, the first driving pin body and the first cone being arranged inside the second mounting through hole, the first driving portion being arranged outside the second mounting through hole, and the first driving pin body being threadedly connected to the second mounting through hole; a first locking pin disposed at the upper portion of the first mounting through hole, the first locking pin comprising: a first locking pin body, a second tapered portion connected to one end of the first locking pin body, and a first locking portion connected to the other end of the first locking pin body, wherein the second tapered portion abuts against a first side of the first tapered portion, and the first locking portion is used to lock the mounting plate onto the feed slide; a first return spring, wherein the first return spring is sleeved on the first locking pin body; a second locking pin disposed at the lower portion of the first mounting through hole, the second locking pin comprising: a second locking pin body, a third cone connected to one end of the second locking pin body, and a second locking portion connected to the other end of the second locking pin body, wherein the third cone abuts against a second side of the first cone, and the second locking portion is used to lock the mounting plate onto the feed slide; a second return spring, wherein the second return spring is sleeved on the second locking pin body; A second driving pin, the second driving pin comprising: a second driving pin body, a fourth cone portion connected to one end of the second driving pin body, and a second driving portion connected to the other end of the second driving pin body, the second driving pin body and the fourth cone portion are arranged inside the fourth mounting through hole, the second driving portion is arranged outside the fourth mounting through hole, and the second driving pin body is threadedly connected to the fourth mounting through hole; a third locking pin disposed at the upper portion of the third mounting through hole, the third locking pin comprising: a third locking pin body, a fifth cone portion connected to one end of the third locking pin body, and a third locking portion connected to the other end of the third locking pin body, wherein the fifth cone portion abuts against a first side of the fourth cone portion, and the third locking portion is used to lock the mounting plate onto the feed slide; a third return spring, the third return spring being sleeved on the third locking pin body; a fourth locking pin disposed at the lower portion of the third mounting through hole, the fourth locking pin comprising: a fourth locking pin body, a sixth tapered portion connected to one end of the fourth locking pin body, and a fourth locking portion connected to the other end of the fourth locking pin body, wherein the sixth tapered portion abuts against a second side of the fourth tapered portion, and the fourth locking portion is used to lock the mounting plate onto the feed slide block; and a fourth return spring, wherein the fourth return spring is sleeved on the fourth locking pin body; Wherein, the connecting component is constructed as follows: when the first driving pin is screwed out of the second mounting through hole, the first locking pin and the second locking pin are close to each other, so that the first locking portion and the second locking portion can both completely fall into the first mounting through hole, so as to allow the mounting plate to be assembled to the feed slider, wherein the first assembly hole and the second assembly hole of the mounting plate are aligned with the first mounting through hole; when the first driving pin is screwed into the second mounting through hole, the first locking pin and the second locking pin are separated from each other, so that the first locking portion can completely extend out of the first mounting through hole and extend into the first assembly hole on the mounting plate, and the second locking portion can completely extend out of the first mounting through hole and extend into the second assembly hole on the mounting plate; In which, the connecting component is also constructed as follows: when the second driving pin is screwed out of the fourth mounting through hole, the third locking pin and the fourth locking pin approach each other, so that the third locking portion and the fourth locking portion can both completely fall into the third mounting through hole, so as to allow the mounting plate to be assembled to the feed slider, wherein the third assembly hole and the fourth assembly hole of the mounting plate are aligned with the third mounting through hole; when the second driving pin is screwed into the fourth mounting through hole, the third locking pin and the fourth locking pin move away from each other, so that the third locking portion can completely extend out of the third mounting through hole and extend into the third assembly hole on the mounting plate, and the fourth locking portion can completely extend out of the third mounting through hole and extend into the fourth assembly hole on the mounting plate.

6. The device according to claim 4, characterized in that The end effector also includes: A mounting bracket, wherein the rear end of the mounting bracket is connected to the lower end of the mounting seat, the front end of the mounting bracket is provided with a guide groove, and the front end of the mounting bracket is inclined toward an end close to the operating device so that the end of the operating device can be fed through the guide groove; and A camera is arranged at the front end of the mounting bracket, the camera is adjacent to the guide groove, and the camera is used to provide a surgical field of view required to guide the end of the operating instrument to the incision point of minimally invasive surgery.

7. A robotic system for minimally invasive surgery, characterized in that: The robot system comprises: A robot body, the robot body comprising a shell and a control device arranged in the shell, the shell having a top plate and a bottom plate; at least four mobile support mechanisms, each of which comprises: a fixed seat fixedly connected to the base plate, a mobile component connected to the fixed seat, and a support component disposed in the fixed seat, the mobile component is used to move the robot system to a target location, and the support component is used to support the robot system at the target location; A positioning and posture-fixing device, the positioning and posture-fixing device comprising a positioning mechanism and a posture-fixing mechanism connected to the positioning mechanism, the positioning mechanism being arranged on the top plate; and The remote motion center device as described in any one of claims 1-6, wherein the remote motion center device is connected to the posture-fixing mechanism, the positioning mechanism is used to adjust the remote motion center device to a target position, and the posture-fixing mechanism is used to adjust the remote motion center device to a target posture.

8. The robot system according to claim 7, characterized in that: The positioning mechanism comprises: An X-axis stator, the X-axis stator being fixedly disposed on the upper surface of the top plate; An X-axis mover, the X-axis mover is movably arranged on the X-axis stator, and the X-axis mover is used for displacement in the horizontal direction; A Y-axis stator, the Y-axis stator is fixedly arranged on the X-axis mover; A Y-axis mover, the Y-axis mover is movably arranged on the Y-axis stator, and the Y-axis mover is used for displacement in the front-rear direction; A Z-axis stator, the Z-axis stator being fixedly mounted on the Y-axis mover; and A Z-axis mover is movably arranged on the Z-axis stator, and is used for displacement in the vertical direction.

9. The robot system according to claim 8, characterized in that: The posture fixing mechanism comprises: A first joint motor, wherein the first joint motor is fixedly arranged at the end of the Z-axis mover; A cantilever rod, one end of which is rotatably connected to the first joint motor, so that the first joint motor can drive the cantilever rod to rotate around the Z-axis direction; A second joint motor, the second joint motor is fixedly arranged at one end of the cantilever rod away from the first joint motor; A cantilever head frame, one end of which is rotatably connected to the second joint motor, so that the second joint motor can drive the cantilever head frame to rotate around the axis direction of the cantilever rod; and The third joint motor is fixedly arranged at one end of the cantilever head frame away from the second joint motor, and the third joint motor is rotatably connected to the rotating support of the remote motion center device so that the third joint motor can drive the remote motion center device to rotate, wherein the rotation direction of the third joint motor is perpendicular to the rotation direction of the second joint motor.

10. The robot system according to any one of claims 7 to 9, characterized in that: The fixing seat is in a hollow cylindrical shape and is fixedly arranged on the outer surface of the bottom plate. The moving member comprises a first wheel body and a second wheel body respectively arranged on both sides of the fixing seat. The first wheel body and the second wheel body are connected to the lower side of the fixing seat through a wheel axle. The supporting member comprises: A motor bracket, the motor bracket is fixedly arranged on the inner surface of the bottom plate; A supporting motor, wherein the supporting motor is fixedly connected to the motor bracket; A supporting screw, the supporting screw being connected to an output end of the supporting motor and passing through the supporting motor, the motor bracket, the bottom plate and the fixing seat in sequence; and A support base, the support base is fixedly arranged at one end of the support screw away from the support motor, and the diameter of the support base is smaller than the inner diameter of the fixing seat; Wherein, the support member is constructed as follows: the support motor can drive the support screw to lower the support base, so that the support base can lift and support the robot system after contacting the ground.

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