A driving part for a neurosurgery robot

Abstract

The present invention relates to the technical field of medical robots, and discloses a driving component for a neurosurgery robot, including a robot arm 1 and a mounting seat, one end of the robot arm 1 is fixedly connected to a connecting seat, and one end of the connecting seat is movably mounted with a robot arm 2, both ends of the connecting seat are fixedly mounted with sealing end covers, and a driving shaft is movably mounted between the two sets of sealing end covers, a spiral groove is provided on the outside of the driving shaft, and a transmission ring is provided on the outside of the driving shaft through the spiral groove. The driving component for the neurosurgery robot is provided with a driving shaft and a transmission ring at the connection between the two arms of the surgical robot, and a hydraulically driven driving sleeve and a driving rod are provided on both sides of the transmission ring. The transmission ring is driven to move left and right by an external power component, and then the driving shaft can be driven to rotate, so as to adjust the deflection direction of the robot arm 2, provide power for the robot to work, and adopt hydraulic transmission, with high precision and rapid response.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, in particular to a driving component for a neurosurgery robot. Background Art

[0002] Surgical robots are integrated operating systems that combine clinical medicine, mechanics, biomechanics, computer science and other disciplines. Thanks to the development of mechanical control, visual imaging, optoelectronic technology, artificial intelligence and other technologies, the application of surgical robots in the medical field has promoted the development of surgery towards intelligence, precision and minimally invasiveness.

[0003] Surgical robots are usually used in conjunction with other medical equipment when working. For example, deep brain electrode implantation surgery implants electrodes into specific nuclei deep in the brain for chronic electrical stimulation. There are problems such as preoperative and intraoperative imaging differences, complicated surgical steps, and insufficient precision of manually adjusting implanted electrodes. The MRI-compatible deep brain electrode implantation robot works under the real-time guidance of magnetic resonance imaging (MRI); in the MRI-compatible deep brain electrode implantation robot system, the driving mode and driving structure of the surgical robot are the key, which determine whether the brain pacemaker electrode can be accurately implanted to the predetermined position. However, due to the influence of the strong magnetic field during the imaging process of the magnetic resonance scanner, the conventional driving mode and structure cannot meet the conditions; for example, the existing motor-driven manipulator structure, the ferromagnetic material of the motor will affect the quality of magnetic resonance imaging; the air pressure-driven sleeve structure is difficult to control the accuracy. Due to the compressibility of gas, it cannot meet the requirements of the magnetic resonance robot and cannot perform high-precision surgery; the long flexible cable mechanism driven by the external motor occupies most of the space of the magnetic resonance scanner, and the overly long flexible cable cannot meet the requirements of the magnetic resonance robot in terms of accuracy, so it is impossible to perform high-precision surgery. For this reason, we propose a driving component for neurosurgical surgical robots to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide a driving component for a neurosurgery robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a driving member for a neurosurgery robot, comprising a robot arm 1 and a mounting seat, one end of the robot arm 1 is fixedly connected to the connecting seat, and one end of the connecting seat is movably mounted with a robot arm 2, both ends of the connecting seat are fixedly mounted with sealing end covers, and a driving shaft is movably mounted between the two sets of sealing end covers, a spiral groove is provided on the outside of the driving shaft, and a transmission ring is provided on the outside of the driving shaft through the spiral groove, and the transmission ring can move along the axial direction of the driving shaft when the driving shaft rotates;

[0006] A plurality of drive sleeves are fixedly connected to both sides of the transmission ring, and the inner walls of the two sets of sealing end covers are provided with drive rods matched with the drive sleeves. A plurality of seals are provided outside the drive rods, and the seals include a rubber sealing ring, a plurality of sealing parts arranged on the circumferential side of the rubber sealing ring, and an annular positioning spring inside the rubber sealing ring;

[0007] A power assembly is arranged on the top of the mounting seat, and the power assembly includes a mounting tube fixedly mounted on the top of the mounting seat, a dual-axis servo motor arranged inside the mounting tube, and two groups of adjusting screw rods, transmission solenoids, and pistons. Two groups of oil storage chambers are formed between the inside of the mounting tube and the two groups of pistons, and the two groups of oil storage chambers are fixedly connected with high-pressure oil pipes, and the two groups of high-pressure oil pipes are fixedly connected with the driving rods on both sides of the transmission ring respectively.

[0008] Preferably, the inner sides of the two sets of sealing end covers are provided with bearing seats that cooperate with the drive shaft. The end of the drive shaft close to the robot arm two extends to the outside of the connecting seat and is fixedly connected to a transmission plate. The transmission plate is fixedly connected to the robot arm two. The transmission plate serves as a connecting piece to realize the fixed connection between the robot arm two and the drive shaft, ensuring that the drive shaft can provide power for the robot arm two under hydraulic drive.

[0009] Preferably, the number of driving sleeves and driving rods on a single side of the transmission ring is 3-6 groups, and the driving sleeves and driving rods are evenly distributed on the transmission ring. At the same time, the positions of the driving sleeves and driving rods correspond one to one. By setting multiple groups of driving sleeves and driving rods, power can be provided for the movement of the transmission ring at multiple locations to ensure the stability of the transmission ring when the position moves.

[0010] Preferably, an oil passage cooperating with the drive sleeve is opened inside the drive rod, and a plurality of sealing grooves cooperating with the seal are opened outside the drive rod. The seal is restricted by the sealing groove to ensure the stability of the seal after installation outside the drive rod, thereby ensuring the sealing effect between the drive rod and the drive sleeve.

[0011] Preferably, the sealing member is sleeved on the sealing groove, the rubber sealing ring is made of rubber material, the cross-sectional shape of the sealing portion is one of semicircular, trapezoidal, and rectangular, and a plurality of sealing portions are provided to increase the sealing surface of the circumferential side of the rubber sealing ring, thereby improving the sealing performance between the driving sleeve and the driving rod.

[0012] Preferably, the annular positioning spring is wrapped inside the rubber sealing ring by injection molding, and the axial cross-section of the annular positioning spring is wavy, which restricts the shape of the annular positioning spring so that the annular positioning spring can elastically deform like the inside and outside. The annular positioning spring deforms and expands outward, which makes it easier to fit the seal on the sealing groove. The annular positioning spring is deformed inward by the extrusion force, and can exert a reaction force on the rubber sealing ring.

[0013] Preferably, both ends inside the connecting seat are provided with oil supply mechanisms, and the oil supply mechanisms include an oil supply main pipe fixed on the connecting seat and a plurality of oil supply manifolds fixedly connected to the oil supply main pipe, one end of the oil supply main pipe extends to the outside of the connecting seat, and the oil supply main pipe is fixedly connected to the high-pressure oil pipe, the number of oil supply manifolds in a group of oil supply mechanisms is the same as the number of driving rods on one side of the transmission ring, the positions of the oil supply manifolds and the driving rods correspond one to one, and one end of the oil supply manifold away from the oil supply main pipe is fixedly connected to the driving rod, and the two groups of high-pressure oil pipes can be connected to a plurality of driving rods on the corresponding sides through the oil supply main pipe and the oil supply manifold, thereby ensuring that the power assembly can supply oil to the driving rods on both sides of the transmission ring.

[0014] Preferably, the dual-axis servo motor is fixedly installed in the middle of the inner side of the mounting tube, the two groups of adjusting screws are respectively fixedly connected to the two output shafts of the dual-axis servo motor, the transmission screw is threadedly connected to the outside of the adjusting screw, the two groups of pistons are movably installed inside the mounting tube, and the two groups of pistons are located on both sides of the dual-axis servo motor. The adjusting screws on the two output shafts are driven to rotate by the dual-axis servo motor, and the transmission screw is used to drive the two groups of pistons to move in the same direction, so that one group of oil storage chambers discharges oil and the other group of oil storage chambers returns oil.

[0015] Preferably, the piston on the same side of the dual-axis servo motor is fixedly connected to the transmission screw, and a positioning telescopic rod is fixedly connected to the side of the piston close to the dual-axis servo motor, and the end of the positioning telescopic rod away from the piston is fixedly connected to the dual-axis servo motor. The piston can be restricted by the positioning telescopic rod to limit the rotation of the piston, thereby ensuring that the piston can be driven to move by the transmission screw when the adjusting screw rotates.

[0016] Preferably, an electromagnetic isolation cover is fixedly installed on the top of the mounting seat, and the size of the electromagnetic isolation cover is adapted to the power assembly on the top of the mounting seat. On the basis of the power assembly being set away from the robot, an electromagnetic isolation cover is set outside the power assembly to prevent the driving component from affecting the quality of magnetic resonance molding.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The driving part of the neurosurgical robot is provided with a driving shaft and a transmission ring at the connection between the two arms of the surgical robot, and a hydraulically driven driving sleeve and a driving rod are provided on both sides of the transmission ring. The transmission ring is driven to move left and right by an external power component, which can then drive the driving shaft to rotate, thereby adjusting the deflection direction of the two robot arms and providing power for the robot to work. It adopts hydraulic transmission with high precision and rapid response. At the same time, the power component is set away from the robot to prevent the driving part from affecting the quality of magnetic resonance imaging.

[0019] 2. The driving part of the neurosurgical robot is configured with driving sleeves and driving rods that cooperate with each other on both sides of the transmission ring. The content of hydraulic oil in the driving sleeves on both sides of the transmission ring is adjusted by the power component, thereby adjusting the left and right position of the transmission ring, thereby driving the driving shaft to rotate to provide power for the second deflection of the robot arm. The driving structure has good sealing performance, which can avoid hydraulic oil leakage and improve the accuracy of the robot's movement.

[0020] 3. The driving part of the neurosurgical robot ensures the sealing of the driving sleeve and the driving rod at all stages during operation by arranging multiple sets of sealing parts on the outside of the driving rod. At the same time, evenly distributed sealing parts are arranged on the circumferential side of the rubber sealing ring to increase the sealing surface on the circumferential side of the rubber sealing ring, thereby further improving the sealing between the driving sleeve and the driving rod. In addition, a wavy annular positioning spring is arranged in the rubber sealing ring to limit the axial movement of the sealing part and prevent the sealing part from falling off along the sealing groove. At the same time, when the driving sleeve and the driving rod are assembled, the annular positioning spring is compressed to exert a reaction force on the inner and outer sides of the rubber sealing ring, so that the rubber sealing ring can be in close contact with the driving sleeve and the driving rod, thereby further improving the sealing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure after the overall combination of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the cross section of the connecting seat in the present invention;

[0023] Figure 3 It is a schematic diagram of the structure of both sides of the transmission ring in the present invention;

[0024] Figure 4 It is a structural schematic diagram of the cross section of the driving rod in the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of the sealing member in the present invention;

[0026] Figure 6 It is a schematic diagram of the structure of the annular positioning skeleton in the present invention;

[0027] Figure 7 It is a schematic diagram of the structure of the connection between the driving shaft and the transmission ring in the present invention;

[0028] Figure 8 It is a schematic diagram of the structure of the connection between the drive shaft and the sealing end cover in the present invention;

[0029] Fig. 9 It is a structural schematic diagram of the top of the mounting seat in the present invention;

[0030] Fig.10 It is a schematic diagram of the structure of the power assembly in the present invention.

[0031] In the figure: 1. Robot arm one; 2. Connecting seat; 3. Robot arm two; 4. Sealing end cover; 5. Drive shaft; 6. Spiral groove; 7. Transmission ring; 8. Drive sleeve; 9. Drive rod; 10. Sealing groove; 11. Seal; 111. Rubber sealing ring; 112. Sealing part; 113. Annular positioning spring; 12. Oil supply mechanism; 121. Oil supply main pipe; 122. Oil supply manifold; 13. Transmission plate; 14. High-pressure oil pipe; 15. Mounting seat; 16. Electromagnetic isolation cover; 17. Power assembly; 171. Mounting pipe; 172. Dual-axis servo motor; 173. Adjusting screw; 174. Transmission solenoid; 175. Piston; 176. Positioning telescopic rod. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] See also Figures 1 to 10 In an embodiment of the present invention, a driving member for a neurosurgery robot includes a robot arm 1 and a mounting seat 15, one end of the robot arm 1 is fixedly connected to a connecting seat 2, and one end of the connecting seat 2 is movably mounted with a robot arm 2 3, both ends of the connecting seat 2 are fixedly mounted with sealing end covers 4, and a driving shaft 5 is movably mounted between the two sets of sealing end covers 4, a spiral groove 6 is provided on the outside of the driving shaft 5, and a transmission ring 7 is provided on the outside of the driving shaft 5 through the spiral groove 6, when the driving shaft 5 rotates, the transmission ring 7 can move axially along the driving shaft 5, and the transmission ring 7 is pushed left and right by hydraulic pressure, and then the transmission ring 7 can drive the driving shaft 5 to rotate, providing power for the deflection adjustment of the robot arm 2 3;

[0034] A plurality of drive sleeves 8 are fixedly connected to both sides of the transmission ring 7. The inner walls of the two sets of sealing end covers 4 are provided with drive rods 9 that cooperate with the drive sleeves 8. Drive sleeves 8 and drive rods 9 that cooperate with each other are provided on both sides of the transmission ring 7. The content of hydraulic oil in the drive sleeves 8 on both sides of the transmission ring 7 is adjusted by the power assembly 17, so as to adjust the left and right positions of the transmission ring 7, thereby driving the drive shaft 5 to rotate and provide power for the deflection of the robot arm 2 3. The driving structure has good sealing performance and can avoid the leakage of hydraulic oil. A plurality of seals 11 are provided on the outside of the drive rod 9, and the seal is The seal 11 comprises a rubber sealing ring 111, a plurality of sealing parts 112 arranged on the circumference of the rubber sealing ring 111 and an annular positioning spring 113 arranged on the inner side of the rubber sealing ring 111; a wavy annular positioning spring 113 is arranged in the rubber sealing ring 111 to limit the axial movement of the sealing member 11 and prevent the sealing member 11 from falling off along the sealing groove 10; at the same time, when the driving sleeve 8 and the driving rod 9 are assembled, the annular positioning spring 113 is compressed to exert a reaction force on the inner and outer sides of the rubber sealing ring 111, so that the rubber sealing ring 111 can be in close contact with the driving sleeve 8 and the driving rod 9;

[0035] A power assembly 17 is provided on the top of the mounting seat 15, and the power assembly 17 includes a mounting tube 171 fixedly mounted on the top of the mounting seat 15, a dual-axis servo motor 172 arranged inside the mounting tube 171, and two groups of adjusting screw rods 173, a transmission solenoid 174, and a piston 175. Two groups of oil storage chambers are formed between the inside of the mounting tube 171 and the two groups of pistons 175, and the two groups of oil storage chambers are fixedly connected with high-pressure oil pipes 14. The two groups of high-pressure oil pipes 14 are respectively fixedly connected to the driving rods 9 on both sides of the transmission ring 7. A driving shaft 5 and a transmission ring 7 are arranged at the connection between the two arms of the surgical robot, and a hydraulically driven driving sleeve 8 and a driving rod 9 are arranged on both sides of the transmission ring 7. The transmission ring 7 is driven to move left and right by the external power assembly 17, and then the driving shaft 5 can be driven to rotate, so as to adjust the deflection direction of the robot arm 23. The power assembly 17 is arranged away from the robot, which can prevent the driving component from affecting the quality of magnetic resonance imaging.

[0036] As a further implementation scheme of the above invention: bearing seats cooperating with the drive shaft 5 are provided on the inner sides of the two groups of sealing end covers 4, and the drive shaft 5 can be stably restricted by the bearing seats to ensure that the drive shaft 5 can be driven by the transmission disk 13 to rotate stably, thereby improving the adjustment accuracy of the robot. The end of the drive shaft 5 close to the robot arm 2 3 extends to the outside of the connecting seat 2 and is fixedly connected with the transmission disk 13. The transmission disk 13 is fixedly connected to the robot arm 2 3. The transmission disk 13 serves as a connecting piece to realize the fixed connection between the robot arm 2 3 and the drive shaft 5, thereby ensuring that the drive shaft 5 can provide power for the robot arm 2 3 under hydraulic drive.

[0037] As a further implementation scheme of the above invention: the number of driving sleeves 8 and driving rods 9 on a single side of the transmission ring 7 is 3-6 groups, and the driving sleeves 8 and driving rods 9 are evenly distributed on the transmission ring 7. The driving sleeves 8 and driving rods 9 cooperate with each other to limit the rotation of the transmission ring 7, thereby ensuring that the driving sleeves 8 and driving rods 9 can drive the transmission ring 7 to move left and right when they are extended and retracted, thereby driving the driving shaft 5 to rotate. At the same time, the positions of the driving sleeves 8 and driving rods 9 correspond one to one. By setting multiple groups of driving sleeves 8 and driving rods 9, power can be provided for the movement of the transmission ring 7 at multiple locations to ensure the stability of the transmission ring 7 when its position moves.

[0038] As a further implementation scheme of the above invention: an oil passage cooperating with the driving sleeve 8 is opened inside the driving rod 9, and the hydraulic oil inside the two groups of oil storage chambers is pushed to move by the power assembly 17, so that the driving rod 9 on one side of the transmission ring 7 is filled with oil and the driving rod 9 on the other side is returned with oil, so as to adjust the position of the transmission ring 7, and a plurality of sealing grooves 10 cooperating with the sealing member 11 are opened outside the driving rod 9, and the sealing member 11 is restricted by the sealing grooves 10 to ensure the stability of the sealing member 11 after being installed outside the driving rod 9, thereby ensuring the sealing effect between the driving rod 9 and the driving sleeve 8.

[0039] As a further implementation scheme of the above invention: the sealing member 11 is sleeved on the sealing groove 10, the rubber sealing ring 111 is made of rubber material, the cross-sectional shape of the sealing portion 112 is one of a semicircular, a trapezoidal, and a rectangular shape, a plurality of sealing portions 112 are provided, the sealing surface of the rubber sealing ring 111 is increased, and the sealing performance between the driving sleeve 8 and the driving rod 9 is improved.

[0040] As a further implementation scheme of the above invention: the annular positioning spring 113 is wrapped inside the rubber sealing ring 111 by injection molding. In addition, a wavy annular positioning spring 113 is arranged in the rubber sealing ring 111, which can limit the axial movement of the seal 11 and prevent the seal 11 from falling off along the sealing groove 10. At the same time, when the drive sleeve 8 and the drive rod 9 are assembled, the annular positioning spring 113 is compressed and can exert a reaction force on the inside and outside of the rubber sealing ring 111, so that the rubber sealing ring 111 can be in close contact with the drive sleeve 8 and the drive rod 9. The axial cross-sectional shape of the annular positioning spring 113 is wavy, which limits the shape of the annular positioning spring 113 so that the annular positioning spring 113 can be elastically deformed like the inside and outside. The annular positioning spring 113 deforms and expands outward, which is convenient for fitting the seal 11 on the sealing groove 10. The annular positioning spring 113 is deformed inward by the extrusion force and can exert a reaction force on the rubber sealing ring 111.

[0041] As a further implementation scheme of the above invention: both ends of the connection seat 2 are provided with an oil supply mechanism 12, and the oil supply mechanism 12 includes an oil supply main pipe 121 fixed on the connection seat 2 and a plurality of oil supply manifolds 122 fixedly connected to the oil supply main pipe 121. The oil supply main pipe 121 and the oil supply manifold 122 cooperate as a hydraulic oil flow pipeline to ensure that the power assembly 17 can supply oil to or return oil to the drive rod 9. One end of the oil supply main pipe 121 extends to the outside of the connection seat 2, and the oil supply main pipe 121 is connected to the high-pressure oil pipe 1 The number of the oil supply manifolds 122 in one set of the oil supply mechanism 12 is the same as the number of the driving rods 9 on one side of the transmission ring 7. The positions of the oil supply manifolds 122 and the driving rods 9 correspond to each other one by one, and one end of the oil supply manifold 122 away from the oil supply main pipe 121 is fixedly connected with the driving rods 9. Through the oil supply main pipe 121 and the oil supply manifold 122, the two sets of high-pressure oil pipes 14 can be connected with a plurality of driving rods 9 on the corresponding side, ensuring that the power assembly 17 can supply oil to the driving rods 9 on both sides of the transmission ring 7, thereby realizing the adjustment of the position of the transmission ring 7.

[0042] As a further implementation scheme of the above invention: the dual-axis servo motor 172 is fixedly installed in the middle of the inner side of the mounting tube 171, the two groups of adjusting screws 173 are respectively fixedly connected to the two output shafts of the dual-axis servo motor 172, the transmission screw 174 is threadedly connected to the outside of the adjusting screw 173, and the two groups of pistons 175 are movably installed inside the mounting tube 171, and the two groups of pistons 175 are located on both sides of the dual-axis servo motor 172. The dual-axis servo motor 172 drives the adjusting screws 173 on the two output shafts to rotate, and the transmission screw 174 is used to drive the two groups of pistons 175 to move in the same direction, so that one group of oil storage chambers discharges oil and the other group of oil storage chambers returns oil, thereby realizing the adjustment of the position of the transmission ring 7.

[0043] As a further implementation scheme of the above invention: the piston 175 on the same side of the dual-axis servo motor 172 is fixedly connected to the transmission screw 174, and the side of the piston 175 close to the dual-axis servo motor 172 is fixedly connected with a positioning telescopic rod 176, and the end of the positioning telescopic rod 176 away from the piston 175 is fixedly connected to the dual-axis servo motor 172. The piston 175 can be restricted by the positioning telescopic rod 176 to limit the rotation of the piston 175, thereby ensuring that the piston 175 can be driven to move through the transmission screw 174 when the adjusting screw 173 rotates.

[0044] As a further implementation scheme of the above invention: an electromagnetic isolation cover 16 is fixedly installed on the top of the mounting seat 15, and the size of the electromagnetic isolation cover 16 is adapted to the power component 17 on the top of the mounting seat 15. On the basis that the power component 17 is set away from the robot, the electromagnetic isolation cover 16 is arranged outside the power component 17 to further avoid the influence of the driving component on the quality of magnetic resonance molding.

[0045] During specific implementation: when the surgical robot arm needs to be driven and adjusted, the dual-axis servo motor 172 drives the adjusting screw rods 173 on the two output shafts to rotate under the control of the existing control system, thereby driving the two sets of transmission solenoids 174 and pistons 175 to move in the same direction. The pistons 175 are restricted by the positioning telescopic rods 176. When the adjusting screw rods 173 rotate, they can only drive the transmission solenoids 174 and pistons 175 to move axially; the two sets of pistons 175 move to adjust the volumes of the left and right oil storage chambers, thereby promoting the hydraulic oil to flow inside the high-pressure oil pipe 14, pushing the hydraulic oil to the bottom of the oil pipe 14. The driving sleeve 8 on one side of the transmission ring 7 is inserted, and the hydraulic oil in the driving sleeve 8 on the other side of the transmission ring 7 is pushed out, so that the driving sleeve 8 and the driving rod 9 on one side of the transmission ring 7 are expanded, and the driving sleeve 8 and the driving rod 9 on the other side are contracted. Since the transmission ring 7 is restricted by the driving sleeves 8 and the driving rod 9 on both sides and can only move axially, when the transmission ring 7 moves, the spiral groove 6 drives the driving shaft 5 and the transmission plate 13 to rotate, and the deflection direction of the robot arm 23 is adjusted; multiple sets of driving sleeves 8 and driving rods 9 are arranged on both sides of the transmission ring 7, and the multiple sets of driving sleeves 8 and the driving rods 9 are arranged on both sides of the transmission ring 7. The rod 9 is connected to the oil supply main pipe 121 through the oil supply manifold 122 and then to the high-pressure oil pipe 14, providing power for the movement of the transmission ring 7 at multiple locations, so that the transmission ring 7 moves smoothly; the outside of the driving rod 9 is equipped with multiple sets of sealing members 11 through the sealing groove 10 to improve the sealing between the driving sleeve 8 and the driving rod 9. At the same time, a plurality of sealing parts 112 are arranged on the peripheral side of the rubber sealing ring 111 to increase the number of sealing surfaces on the peripheral side of the rubber sealing ring 111, thereby further improving the sealing. The sealing member 11 is integrally clamped in the sealing groove 10 and is restricted by the annular positioning spring 113 to prevent the sealing member from being stuck. The sealing member 11 falls off due to axial force. At the same time, when the driving sleeve 8 and the driving rod 9 are assembled, the annular positioning spring 113 exerts a reaction force on the inner and outer sides of the rubber sealing ring 111 under the extrusion force, so that the rubber sealing ring 111 can be in close contact with the driving sleeve 8 and the driving rod 9, thereby further improving the sealing effect. The joints of the surgical robot are driven by the driving member, which has high precision and rapid response, and the power component 17 in the driving member is set away from the surgical robot to avoid affecting the imaging quality of the magnetic resonance equipment when the surgical robot is used in conjunction with the magnetic resonance equipment.

[0046] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A driving member for a neurosurgery robot, comprising a robot arm 1 (1) and a mounting seat (15), wherein one end of the robot arm 1 (1) is fixedly connected to a connecting seat (2), and one end of the connecting seat (2) is movably mounted with a robot arm 2 (3), characterized in that: Both ends of the connection seat (2) are fixedly mounted with sealing end covers (4), and a drive shaft (5) is movably mounted between the two sets of sealing end covers (4), a spiral groove (6) is provided on the outside of the drive shaft (5), and a transmission ring (7) is provided on the outside of the drive shaft (5) through the spiral groove (6), and when the drive shaft (5) rotates, the transmission ring (7) can move axially along the drive shaft (5); A plurality of drive sleeves (8) are fixedly connected to both sides of the transmission ring (7); the inner walls of the two sets of sealing end covers (4) are provided with drive rods (9) that cooperate with the drive sleeves (8); a plurality of seals (11) are provided outside the drive rods (9); and the seals (11) include a rubber sealing ring (111), a plurality of sealing portions (112) provided on the circumference of the rubber sealing ring (111), and an annular positioning spring (113) inside the rubber sealing ring (111); A power assembly (17) is arranged on the top of the mounting seat (15), and the power assembly (17) comprises a mounting tube (171) fixedly mounted on the top of the mounting seat (15), a dual-axis servo motor (172) arranged inside the mounting tube (171), and two groups of adjusting screw rods (173), a transmission solenoid (174), and a piston (175), two groups of oil storage chambers are formed between the inside of the mounting tube (171) and the two groups of pistons (175), and the two groups of oil storage chambers are fixedly connected to high-pressure oil pipes (14), and the two groups of high-pressure oil pipes (14) are respectively fixedly connected to the driving rods (9) on both sides of the transmission ring (7); An oil passage cooperating with the driving sleeve (8) is provided inside the driving rod (9), and a plurality of sealing grooves (10) cooperating with the sealing member (11) are provided outside the driving rod (9); The sealing member (11) is sleeved on the sealing groove (10), the rubber sealing ring (111) is made of rubber material, and the cross-sectional shape of the sealing portion (112) is one of a semicircular shape, a trapezoidal shape, and a rectangular shape; The annular positioning spring (113) is wrapped inside the rubber sealing ring (111) by injection molding, and the axial cross-sectional shape of the annular positioning spring (113) is wavy.

2. The driving component for a neurosurgery robot according to claim 1, characterized in that: The inner sides of the two sets of sealing end covers (4) are both provided with bearing seats that cooperate with the drive shaft (5); one end of the drive shaft (5) close to the second robot arm (3) extends to the outside of the connecting seat (2) and is fixedly connected to a transmission disc (13); the transmission disc (13) is fixedly connected to the second robot arm (3).

3. The driving component for a neurosurgery robot according to claim 1, characterized in that: The number of the driving sleeves (8) and driving rods (9) on a single side of the transmission ring (7) is 3-6 groups, and the driving sleeves (8) and driving rods (9) are evenly distributed on the transmission ring (7), and the positions of the driving sleeves (8) and driving rods (9) correspond one to one.

4. The driving component for a neurosurgery robot according to claim 1, characterized in that: Both ends of the connection seat (2) are provided with an oil supply mechanism (12), and the oil supply mechanism (12) comprises an oil supply main pipe (121) fixed on the connection seat (2) and a plurality of oil supply manifolds (122) fixedly connected to the oil supply main pipe (121), one end of the oil supply main pipe (121) extends to the outside of the connection seat (2), and the oil supply main pipe (121) is fixedly connected to the high-pressure oil pipe (14), the number of oil supply manifolds (122) in a group of oil supply mechanisms (12) is the same as the number of drive rods (9) on one side of the transmission ring (7), the positions of the oil supply manifolds (122) and the drive rods (9) correspond one to one, and one end of the oil supply manifold (122) away from the oil supply main pipe (121) is fixedly connected to the drive rod (9).

5. The driving component for a neurosurgery robot according to claim 1, characterized in that: The dual-axis servo motor (172) is fixedly mounted in the middle of the inner side of the mounting tube (171); the two sets of adjusting screw rods (173) are respectively fixedly connected to the two output shafts of the dual-axis servo motor (172); the transmission solenoid (174) is threadedly connected to the outside of the adjusting screw rod (173); the two sets of pistons (175) are movably mounted inside the mounting tube (171), and the two sets of pistons (175) are located on both sides of the dual-axis servo motor (172).

6. The driving component for a neurosurgery robot according to claim 1, characterized in that: The piston (175) on the same side of the dual-axis servo motor (172) is fixedly connected to the transmission solenoid (174); a side of the piston (175) close to the dual-axis servo motor (172) is fixedly connected to a positioning telescopic rod (176); and an end of the positioning telescopic rod (176) away from the piston (175) is fixedly connected to the dual-axis servo motor (172).

7. The driving component for a neurosurgery robot according to claim 1, characterized in that: An electromagnetic isolation cover (16) is fixedly mounted on the top of the mounting seat (15), and the size of the electromagnetic isolation cover (16) is compatible with the power assembly (17) on the top of the mounting seat (15).

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