Telecentric mechanisms and surgical robots

Abstract

This application relates to a telecentric mechanism and a surgical robot. The telecentric mechanism includes: a first link and a second link; a first passive joint connecting the first link and the second link; wherein the first passive joint includes: a first fixed shaft detachably fixedly connected to one end of the first link; a first transmission assembly disposed on the first link; the output end of the first transmission assembly is rotatably sleeved on the first fixed shaft; one end of the second link is rotatably sleeved on the first fixed shaft and detachably fixedly connected to the output end of the first transmission assembly; a first preload member detachably assembled on the first fixed shaft; the first preload member is used to apply a preload force to the first transmission assembly to fix the first transmission assembly relative to the first fixed shaft along the axial direction of the first fixed shaft. This application can improve the transmission accuracy of the telecentric mechanism.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a telecentric mechanism and surgical robot. Background Technology

[0002] Currently, minimally invasive laparoscopic surgical robots are being used more and more widely in modern medical surgery. The actuator of a minimally invasive surgical robot is a telecentric mechanism, whose main function is to support the endoscope or surgical instruments to rotate and move linearly around a specific point, enabling real-time observation of the lesion and various surgical procedures. However, current telecentric mechanisms suffer from insufficient transmission stability, reducing their transmission accuracy. Summary of the Invention

[0003] Based on this, this application proposes a telecentric mechanism and surgical robot to address at least one of the above-mentioned problems.

[0004] In a first aspect, embodiments of this application provide a telecentric mechanism, comprising:

[0005] First link and second link;

[0006] The first passive joint connects the first link and the second link;

[0007] The first passive joint includes:

[0008] The first fixed shaft is detachably fixedly connected to one end of the first connecting rod;

[0009] A first transmission component is disposed on the first connecting rod; the output end of the first transmission component is rotatably sleeved on the first fixed shaft; one end of the second connecting rod is rotatably sleeved on the first fixed shaft and is detachably fixedly connected to the output end of the first transmission component.

[0010] A first preload member is detachably mounted on the first fixed shaft; the first preload member is used to apply a preload force to the first transmission assembly so that the first transmission assembly is fixed relative to the first fixed shaft along the axial direction of the first fixed shaft.

[0011] In one embodiment, the first transmission component includes:

[0012] The first bearing assembly is sleeved on the first fixed shaft;

[0013] The first main pulley is rotatably mounted on the first connecting rod;

[0014] The first driven pulley is mounted on the first bearing assembly; the second connecting rod is detachably and fixedly connected to the first driven pulley;

[0015] The first transmission belt is stretched on the first main pulley and the first driven pulley.

[0016] In one embodiment, the first preload abuts against the first bearing assembly to apply a preload force to the first bearing assembly.

[0017] In one embodiment, the first main pulley includes a first wheel body, a second wheel body, and a first adjusting member. The first wheel body and the second wheel body are coaxially arranged. The second wheel body is adjustablely arranged on one axial side of the first wheel body. The first adjusting member is arranged on the first wheel body and is used to adjust the rotation angle of the second wheel body relative to the first wheel body about its own axis.

[0018] The first transmission belt includes a first belt body and a second belt body that are offset from each other. One end of the first belt body is connected to the first pulley body and the other end is connected to the first driven pulley. One end of the second belt body is connected to the second pulley body and the other end is connected to the first driven pulley.

[0019] In one embodiment, the first preload member includes a preload ring, and a threaded pair is provided between the inner ring of the preload ring and the outer periphery of the first fixed shaft;

[0020] A pre-tightening groove is provided on the end face of the pre-tightening ring away from the first transmission component.

[0021] In one embodiment, the telecentric mechanism further includes a third link and a second passive joint, the second passive joint connecting the third link and the second link;

[0022] The second passive joint includes:

[0023] The second fixed shaft is detachably fixed to the end of the second connecting rod away from the first fixed shaft;

[0024] The second transmission component is disposed on the second connecting rod; the input end of the second transmission component is detachably fixedly connected to the first fixed shaft; the output end of the second transmission component is rotatably sleeved on the second fixed shaft; one end of the third connecting rod is rotatably sleeved on the second fixed shaft and is detachably fixedly connected to the output end of the second transmission component.

[0025] The second preload member is detachably mounted on the second fixed shaft; the second preload member is used to apply a preload force to the second transmission assembly so that the second transmission assembly is fixed relative to the second fixed shaft along the axial direction of the second fixed shaft.

[0026] In one embodiment, the first preload is assembled between the output end of the first transmission assembly and the input end of the second transmission assembly.

[0027] In one embodiment, the telecentric mechanism further includes an end effector assembly and a third passive joint, the third passive joint connecting the end effector assembly and the third link;

[0028] The third passive joint includes:

[0029] The third fixed shaft is detachably fixed to the end of the third link away from the second fixed shaft;

[0030] A third transmission component is disposed on the third connecting rod; the input end of the third transmission component is detachably fixedly connected to the third fixed shaft; the output end of the third transmission component is rotatably sleeved on the third fixed shaft; the end component is rotatably sleeved on the third fixed shaft and is detachably fixedly connected to the output end of the third transmission component.

[0031] The third preload member is detachably mounted on the third fixed shaft and abuts against the third transmission assembly; the third preload member is used to apply a preload force to the third transmission assembly so that the third transmission assembly is fixed relative to the third fixed shaft along the axial direction of the third fixed shaft.

[0032] In one embodiment, the telecentric mechanism further includes a first driving member, the driving end of which is connected to the first link via a transmission. The first driving member is used to drive the first link to rotate around a first virtual straight line, the first virtual straight line passing through the stationary reference point of the telecentric mechanism.

[0033] In one embodiment, the telecentric mechanism further includes a base on which the first drive member is disposed;

[0034] The base is connected to one side of the first connecting rod along a first direction; the first direction intersects the axis of the first connecting rod; and the axis of the first connecting rod intersects the first virtual straight line.

[0035] Secondly, embodiments of this application provide a surgical robot including the telecentric mechanism described in any of the embodiments of the first aspect.

[0036] The telecentric mechanism and surgical robot provided in this application embodiment utilize a detachable first pre-tensioning member mounted on a first fixed shaft. This first pre-tensioning member applies a pre-tensioning force to pre-tension the first transmission assembly. Compared to the pre-tensioning method using a key transmission structure in the prior art, the direct pre-tensioning of the first transmission assembly by the first pre-tensioning member in this application embodiment can reduce or even eliminate backlash in the passive structure, thereby improving the transmission accuracy of the telecentric mechanism. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of a telecentric mechanism provided in an embodiment of this application.

[0039] Figure 2 for Figure 1 Top view of the telecentric mechanism shown.

[0040] Figure 3 for Figure 1 A schematic diagram of some components of the telecentric mechanism shown.

[0041] Figure 4 for Figure 1 A partial structural schematic diagram of the telecentric mechanism shown.

[0042] Figure 5 for Figure 4 Enlarged view of Part I.

[0043] Figure 6 for Figure 4 Enlarged view of Part II.

[0044] Figure 7 for Figure 3 The diagram shows the assembly of the first main pulley and the first transmission belt.

[0045] Figure 8 for Figure 1 The diagram shows the assembly of the third link, end assembly, and third passive joint.

[0046] Figure 9 for Figure 5 The diagram shows the structure of the first fixed shaft.

[0047] Figure 10 for Figure 7The diagram shows the structure of the first wheel body of the first main pulley.

[0048] Figure 11 for Figure 7 The diagram shows the structure of the second wheel body of the first main pulley.

[0049] Figure 12 for Figure 5 The diagram shows the structure of the first pulley.

[0050] Figure 13 This is a schematic diagram of the structure of the first preload component shown in Figure 5.

[0051] Explanation of reference numerals in the attached figures:

[0052] 10. Telecentric mechanism; 11. First connecting rod; 11a. Reinforcing member; 12. Second connecting rod; 13. First passive joint; 131. First fixed shaft; 1311. Flange; 132. First transmission assembly; 1321. First bearing assembly; 1322. First main pulley; 13221. First wheel body; 132211. Adjustment part; 13222. Second wheel body; 132221. First mounting hole; 132222. Adjustment surface; 13223. First adjusting member; 13224. Third fastener; 13225. Fourth fastener; 1323. First driven pulley; 13231. Third mounting hole; 1324. First transmission belt; 13241. First belt body; 13242. Second belt body; 133. First preload component; 1331, preload groove; 14, second drive component; 141, output shaft; 151, first fastener; 152, second fastener; 153, fifth fastener; 154, deep groove ball bearing; 155, sixth fastener; 156, seventh fastener; 16, third connecting rod; 17, second passive joint; 171, second fixed shaft; 172, second transmission assembly; 1721, second main pulley; 1722, second driven pulley; 1723, second transmission belt; 18, end assembly; 19, third passive joint; 191, third fixed shaft; 192, third transmission assembly; 193, third preload component; 110, end assembly; 111, base; 112, first drive component; 113, enable button. Detailed Implementation

[0053] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0054] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0056] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0057] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0058] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0059] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, in this specification, the term “and / or” includes any and all combinations of the associated listed items.

[0060] In related telecentric mechanism technologies, the assembly bearings of the passive joint are preloaded using a key drive structure. However, the key drive structure has the following drawbacks: firstly, the interference fit required by the key drive structure is difficult to assemble; secondly, after assembly, the key drive structure cannot be fully preloaded, resulting in backlash in the passive joint. This small backlash in the passive joint will be amplified at the telecentric point, making it difficult to guarantee the positional accuracy of the telecentric point and causing the connecting rod arm to wobble. This results in insufficient transmission stability in the telecentric mechanism.

[0061] In view of the above problems, embodiments of this application provide a telecentric mechanism and a surgical robot. A detachable first preload member is provided on a first fixed shaft. The first preload member is used to apply a preload force to preload the first transmission component. Compared to the preload method using a key transmission structure in the prior art, the direct preload method of the first transmission component using the first preload member in this application can reduce or even eliminate backlash in the passive structure, thereby improving the transmission accuracy of the telecentric mechanism.

[0062] Firstly, referring to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown in the figure, this application embodiment provides a telecentric mechanism 10, which includes a first link 11, a second link 12, and a first passive joint 13. The first passive joint 13 connects the first link 11 and the second link 12.

[0063] Specifically, the first passive joint 13 includes a first fixed shaft 131, a first transmission assembly 132, and a first preload member 133. The first fixed shaft 131 is detachably fixedly connected to one end of the first connecting rod 11. The first transmission assembly 132 is disposed on the first connecting rod 11. The output end of the first transmission assembly 132 is rotatably sleeved on the first fixed shaft 131. One end of the second connecting rod 12 is rotatably sleeved on the first fixed shaft 131 and is detachably fixedly connected to the output end of the first transmission assembly 132. The first preload member 133 is detachably assembled on the first fixed shaft 131. The first preload member 133 is used to apply a preload force to the first transmission assembly 132 so that the first transmission assembly 132 is fixed relative to the first fixed shaft 131 along the axial direction of the first fixed shaft 131.

[0064] In one example, refer to Figure 5 and Figure 9 As shown, a flange portion 1311 is provided on the first fixed shaft 131, and a fastening hole (not shown) is provided on the flange portion 1311. The first connecting rod 11 is connected to the first fixed shaft 131 through a first fastener 151, wherein the first fastener 151 is assembled in the fastening hole.

[0065] In this embodiment, the first preload member 133 abuts against the first transmission assembly 132 to apply a preload force to the first transmission assembly 132. It should be noted that the input end of the first transmission assembly 132 serves as the power input end of the first passive joint 13, and the power source of the first transmission assembly 132 can be a drive motor. The working principle of the first passive joint 13 is as follows: the driving force is input from the input end of the first transmission assembly 132 and then transmitted to the output end of the first transmission assembly 132. The output end of the first transmission assembly 132 rotates, driving the second connecting rod 12 to rotate. Because the first transmission assembly 132 is preloaded, it is fixed relative to the first fixed shaft 131 axially, thus preventing the first transmission assembly 132 from axially shifting along the first fixed shaft 131 during transmission. Furthermore, because the second connecting rod 12 is fixedly connected to the output end of the first transmission assembly 132, the second connecting rod 12 will not wobble during rotation.

[0066] The telecentric mechanism 10 provided in this application embodiment, by directly pre-tightening the first transmission component 132 with the first pre-tightening member 133, can reduce or even eliminate the backlash of the first transmission component 132 in the axial direction of the first fixed shaft 131 and the backlash of the second connecting rod 12 in the axial direction of the first fixed shaft 131, thereby improving the transmission accuracy of the telecentric mechanism 10.

[0067] In one embodiment, reference Figure 3 and Figure 5 As shown, the telecentric mechanism 10 also includes a third link 16 and a second passive joint 17, the second passive joint 17 connecting the third link 16 and the second link 12.

[0068] Specifically, the second passive joint 17 includes a second fixed shaft 171, a second transmission assembly 172, and a second preload member (not shown). The second fixed shaft 171 is detachably fixedly connected to the end of the second connecting rod 12 away from the first fixed shaft 131. The second transmission assembly 172 is disposed on the second connecting rod 12. The input end of the second transmission assembly 172 is detachably fixedly connected to the first fixed shaft 131. The output end of the second transmission assembly 172 is rotatably sleeved on the second fixed shaft 171. One end of the third connecting rod 16 is rotatably sleeved on the second fixed shaft 171 and detachably fixedly connected to the output end of the second transmission assembly 172. The second preload member is detachably assembled on the second fixed shaft 171. The second preload member is used to apply a preload force to the second transmission assembly 172 so that the second transmission assembly 172 is fixed relative to the second fixed shaft 171 along the axial direction of the second fixed shaft 171.

[0069] For example, the input end of the second transmission assembly 172 and the first fixed shaft 131 can be fixedly connected by fasteners.

[0070] In this embodiment, since the second transmission component 172 is preloaded, it is fixed relative to the second fixed shaft 171 in the axial direction. This prevents the second transmission component 172 from moving along the axial direction of the second fixed shaft 171 during transmission. Furthermore, since the third link 16 is fixedly connected to the output end of the second transmission component 172, the third link 16 will not wobble during rotation, thereby improving the transmission accuracy of the telecentric mechanism 10.

[0071] In one embodiment, the first preload 133 is assembled between the output end of the first transmission assembly 132 and the input end of the second transmission assembly 172.

[0072] It should be noted that since the output end of the first transmission assembly 132, the input end of the second transmission assembly 172, and the first preload member 133 are all mounted on the first fixed shaft 131, by placing the first preload member 133 between the output end of the first transmission assembly 132 and the input end of the second transmission assembly 172, it is convenient for the first preload member 133 to directly abut against the output end of the first transmission assembly 132, thereby applying preload force to the output end of the first transmission assembly 132, thus improving preload reliability. Furthermore, during assembly, the first preload member 133 is assembled first, followed by the input end of the second transmission assembly 172.

[0073] In one embodiment, reference Figure 3, Figure 5 and Figure 6 As shown, the first transmission assembly 132 includes a first bearing group 1321, a first main pulley 1322, a first driven pulley 1323, and a first transmission belt 1324.

[0074] The first bearing assembly 1321 is sleeved on the first fixed shaft 131. A first preload member 133 abuts against the first bearing assembly 1321 to apply preload force to the first bearing assembly 1321. The first main pulley 1322 is rotatably mounted on the first connecting rod 11. The first driven pulley 1323 is mounted on the first bearing assembly 1321 and can rotate around the first fixed shaft 131. The second connecting rod 12 is detachably fixedly connected to the first driven pulley 1323. Specifically, refer to... Figure 12 As shown, a third mounting hole 13231 is provided on the first driven pulley 1323. When assembling the second connecting rod 12 and the first driven pulley 1323, the second fastener 152 can be screwed into the third mounting hole 13231 to connect the second connecting rod 12 and the first driven pulley 1323. The first transmission belt 1324 is stretched on the first main pulley 1322 and the first driven pulley 1323.

[0075] In this embodiment, the first main pulley 1322 and the first bearing assembly 1321 are collectively referred to as the input end of the first transmission assembly 132. Further, the first main pulley 1322 drives the first driven pulley 1323 mounted on the first bearing assembly 1321 to rotate via the first transmission belt 1324, thereby driving the second connecting rod 12 to rotate.

[0076] In this embodiment of the application, by abutting the first preload 133 against the first bearing assembly 1321, the first bearing assembly 1321 can be securely mounted on the first fixed shaft 131, thereby making the first pulley 1323 securely mounted, and thus making the second connecting rod 12 securely mounted, preventing the second connecting rod 12 from shaking during rotation.

[0077] It is understood that the first bearing group 1321 may include multiple bearings, which may be arranged at axial intervals along the first fixed shaft 131.

[0078] In one embodiment, reference Figure 5 , Figure 6 and Figure 7 As shown, the first main pulley 1322 includes a first pulley body 13221, a second pulley body 13222, and a first adjusting member 13223. The first pulley body 13221 and the second pulley body 13222 are coaxially arranged. The second pulley body 13222 is adjustablely arranged on one side of the axial direction of the first pulley body 13221. The first adjusting member 13223 is arranged on the first pulley body 13221 and is used to adjust the rotation angle of the second pulley body 13222 relative to the first pulley body 13221 about its own axis.

[0079] The first transmission belt 1324 includes a first belt body 13241 and a second belt body 13242 that are offset from each other. It should be noted that "offset from each other" means that the assembly positions of the first belt body 13241 and the second belt body 13242 on the first master pulley 1322 are different, and the assembly positions of the first belt body 13241 and the second belt body 13242 on the first driven pulley 1323 are also different. Specifically, one end of the first belt body 13241 is connected to the first pulley body 13221, and the other end is connected to the first driven pulley 1323. One end of the second belt body 13242 is connected to the second pulley body 13222, and the other end is connected to the first driven pulley 1323.

[0080] The tension of the first drive belt 1324 can be adjusted by changing the rotation angle of the second pulley 13222 relative to the first pulley 13221. It is understood that the structure of the first driven pulley 1323 can be the same as that of the first main pulley 1322; that is, the first driven pulley 1323 also includes two pulley bodies, and the relative rotation angle of these two pulley bodies is adjustable. Thus, the tension of the first drive belt 1324 can also be adjusted via the first driven pulley 1323.

[0081] In one embodiment, the first drive belt 1324 can be a steel belt. To make the steel belt drive more efficient, increase the friction of the steel belt on the pulley, and reduce the influence of the steel belt tension on the connection strength between the steel belt and the pulley, the wrap angle of the steel belt on the pulley should be increased. Furthermore, the lengths of the first belt body 13241 and the second belt body 13242 can be made equal, which can reduce the types of steel belts and lower production and processing costs.

[0082] Furthermore, in actual operation, the wrap angle of the steel belt on the first main pulley 1322 should be reduced or increased, and the wrap angle on the first driven pulley 1323 should also be increased or decreased. However, it should be ensured that the wrap angle on the first main pulley 1322 and the wrap angle on the first driven pulley 1323 remain constant. This helps to ensure the connection stability and transmission stability between the steel belt and the pulley.

[0083] In one embodiment, reference Figure 6 As shown, the telecentric mechanism 10 also includes a second driving member 14, which is disposed on the first connecting rod 11. The driving end of the second driving member 14 is connected to the first main pulley 1322 for transmission. The second driving member 14 drives the first main pulley 1322 to rotate, and the first main pulley 1322 drives the first driven pulley 1323 to rotate through the first transmission belt 1324.

[0084] In one example, the output shaft 141 of the second drive member 14 is the output end of the second drive member 14, and the first main pulley 1322 is sleeved on the output shaft 141 of the second drive member 14.

[0085] Furthermore, a flange is provided on the output shaft 141 of the second drive member 14, and the flange and the output shaft 141 are integral components. The flange is constructed as the first wheel body 13221 of the first main pulley 1322 and is assembled with the second wheel body 13222. In this way, on the one hand, the assembly process can be reduced and the assembly difficulty can be lowered; on the other hand, one component is reduced, which is conducive to a more compact structure and smaller size of the telecentric mechanism 10.

[0086] In this embodiment, the second drive member 14 is assembled with the first connecting rod 11 via a fifth fastener 153. A deep groove ball bearing 154 is provided on the first connecting rod 11, and the output shaft 141 of the second drive member 14 is assembled on the deep groove ball bearing 154. In this way, the deep groove ball bearing 154 can bear part of the load on the flange, reducing the load borne by the output shaft 141 of the second drive member 14 and improving the service life of the second drive member 14.

[0087] In one embodiment, reference Figure 7 , Figure 10 and Figure 11 As shown, the first wheel body 13221 is provided with a first adjusting part 132211, and the first adjusting part 132211 is provided with an adjusting hole (not shown in the figure). The second wheel body 13222 is provided with an adjusting surface 132222. A first adjusting member 13223 passes through the adjusting hole, and the end of the first adjusting member 13223 abuts against the adjusting surface 132222. By adjusting the position of the first adjusting member 13223 in the adjusting hole, the end of the first adjusting member 13223 applies a force to the adjusting surface 132222, pushing the second wheel body 13222 to rotate. Further, the second wheel body 13222 is provided with a first mounting hole 132221, and the first wheel body 13221 is provided with a second mounting hole (not shown in the figure). A third fastener 13224 passes through the first mounting hole 132221 and the second mounting hole. Specifically, after the first adjusting member 13223 is adjusted, the third fastener 13224 can be installed in the first mounting hole 132221 and the second mounting hole to keep the first wheel body 13221 and the second wheel body 13222 fixed. Further, after the first wheel body 13221 and the second wheel body 13222 are assembled, the first main pulley 1322 can be installed on the corresponding fixed shaft using the fourth fastener 13225.

[0088] Reference Figure 3 and Figure 5As shown, the second transmission assembly 172 includes a second bearing group (not shown), a first main pulley 1322, a first driven pulley 1323, and a first transmission belt 1324.

[0089] The second bearing assembly is sleeved on the second fixed shaft 171. A second preload member abuts against the second bearing assembly to apply preload force. The second main pulley 1721 is fixedly mounted on the first fixed shaft 131; specifically, the second main pulley 1721 can be mounted on the first fixed shaft 131 using fasteners. The second driven pulley 1722 is mounted on the second bearing assembly and can rotate around the second fixed shaft 171. The third connecting rod 16 is detachably fixedly connected to the second driven pulley 1722; specifically, the third connecting rod 16 and the second driven pulley 1722 can be connected using fasteners. The second transmission belt 1723 is stretched between the second main pulley 1721 and the second driven pulley 1722.

[0090] In this embodiment, the first driven pulley 1323 of the first transmission assembly 132 drives the second connecting rod 12 to rotate. While the second connecting rod 12 rotates, the second main pulley 1721 remains stationary. Under the influence of the second connecting rod 12, the second driven pulley 1722 moves relative to the second main pulley 1721. Furthermore, the wrap angle between the second transmission belt 1723 and the second main pulley 1721 changes, causing the second transmission belt 1723 to drive the second driven pulley 1722 to rotate, which in turn drives the third connecting rod 16 to rotate. In this embodiment, the second main pulley 1721 is referred to as the input end of the second transmission assembly 172.

[0091] It should be noted that the structure of the second transmission component 172 can be the same as that of the first transmission component 132. The specific structure of the second transmission component 172 will not be described in detail in this embodiment.

[0092] In one embodiment, reference Figure 8 As shown, the telecentric mechanism 10 also includes an end effector 110 and a third passive joint 19, the third passive joint 19 connecting the end effector 110 and the third link 16.

[0093] Specifically, the third passive joint 19 includes a third fixed shaft 191, a third transmission assembly 192, and a third preload member 193. The third fixed shaft 191 is detachably fixedly connected to the end of the third link 16 away from the second fixed shaft 171. The third transmission assembly 192 is disposed on the third link 16. The input end of the third transmission assembly 192 is detachably fixedly connected to the third fixed shaft 191. The output end of the third transmission assembly 192 is rotatably sleeved on the third fixed shaft 191. The end assembly 110 is rotatably sleeved on the third fixed shaft 191 and detachably fixedly connected to the output end of the third transmission assembly 192. The third preload member 193 is detachably assembled on the third fixed shaft 191 and abuts against the third transmission assembly 192. The third preload member 193 is used to apply a preload force to the third transmission assembly 192 so that the third transmission assembly 192 is fixed relative to the third fixed shaft 191 along the axial direction of the third fixed shaft 191. For example, the third fixed shaft 191 and the third connecting rod 16 can be connected by the sixth fastener 155, and the end assembly 110 and the third transmission assembly 192 can be connected by the seventh fastener 156.

[0094] In this embodiment, since the third transmission component 192 is preloaded, the third transmission component 192 is fixed relative to the third fixed shaft 191 in the axial direction. This prevents the third transmission component 192 from moving along the axial direction of the third fixed shaft 191 during transmission. Furthermore, since the end component 110 is fixedly connected to the output end of the third transmission component 192, the end component 110 will not wobble during rotation, thereby improving the transmission accuracy of the telecentric mechanism 10.

[0095] It should be noted that the structure of the third transmission component 192 can be the same as that of the first transmission component 132. The specific structure of the third transmission component 192 will not be described in detail in this embodiment.

[0096] In one embodiment, reference Figure 13 As shown, the first preload member 133 includes a preload ring, and a threaded pair is provided between the inner ring of the preload ring and the outer periphery of the first fixed shaft 131. A preload groove 1331 is provided on the end face of the preload ring away from the first transmission assembly 132. Thus, when assembling the first preload member 133, a tool can be inserted into the preload groove 1331 to rotate the first preload member 133, making it easier to tighten the first preload member 133 and facilitating assembly.

[0097] In one embodiment, reference Figure 1 , Figure 2 and Figure 3As shown, the telecentric mechanism 10 also includes a first driving member 112. The driving end of the first driving member 112 is connected to the first connecting rod 11. The first driving member 112 is used to drive the first connecting rod 11 to rotate around a first virtual straight line a. The first virtual straight line a passes through the stationary reference point RC of the telecentric mechanism 10. Further, the first driving member 112 is used to drive the first connecting rod 11, the second connecting rod 12, the third connecting rod 16, and the end assembly 110 to rotate as a whole around the first virtual straight line a.

[0098] In one embodiment, the telecentric mechanism 10 further includes a base 111 on which a first drive member 112 is disposed. A first link 11 is also mounted on the base 111. The base 111 is connected to the first link 11 along one side of a first direction X. The first direction X intersects the axis b of the first link 11, and the axis b of the first link 11 intersects a first virtual straight line a. In one example, the first direction X is perpendicular to the axis b of the first link 11.

[0099] The above arrangement is equivalent to connecting the side of the first link 11 to the base 111, that is, offsetting the base 111 and the first drive member 112. This layout can shorten the distance between the stationary reference point RC and the base 111 without affecting the range of motion of the telecentric mechanism 10 and the stroke of each link, making the configuration of the telecentric mechanism 10 more compact, and at the same time helping to improve the rigidity of the telecentric mechanism 10.

[0100] In one embodiment, an enable button 113 is also provided on the base 111. Combined with the current monitoring and control system of the first drive member 112, after pressing the enable button 113, the position of the stationary reference point and the attitude of the telecentric mechanism 10 can be manually dragged.

[0101] In one embodiment, reference Figure 5 As shown, a reinforcing member 11a is also provided on the first link 11, which can enhance the strength and rigidity of the first link 11 and improve the stability of the telecentric mechanism.

[0102] Secondly, embodiments of this application provide a surgical robot, including the telecentric mechanism 10 of any embodiment in the first aspect.

[0103] The telecentric mechanism 10 and surgical robot provided in this application embodiment utilize a detachable first pre-tensioning member 133 mounted on a first fixed shaft 131. The first pre-tensioning member 133 applies a pre-tensioning force to pre-tension the first transmission assembly 132. Compared to the pre-tensioning method using a key transmission structure in the prior art, this application embodiment directly pre-tensions the first transmission assembly 132 using the first pre-tensioning member 133, which can reduce or even eliminate backlash in the passive structure, thereby improving the transmission accuracy of the telecentric mechanism 10.

[0104] In the description of this specification, references to terms such as "some embodiments," "other embodiments," "ideal embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A telecentric mechanism, characterized in that, include: First link (11) and second link (12); The first passive joint (13) connects the first link (11) and the second link (12); The first passive joint (13) includes: The first fixed shaft (131) is detachably fixed to one end of the first connecting rod (11); A first transmission component (132) is disposed on the first connecting rod (11); the output end of the first transmission component (132) is rotatably sleeved on the first fixed shaft (131); one end of the second connecting rod (12) is rotatably sleeved on the first fixed shaft (131) and is detachably fixedly connected to the output end of the first transmission component (132); The first preload member (133) is detachably mounted on the first fixed shaft (131); the first preload member (133) is used to apply a preload force to the first transmission assembly (132) so that the first transmission assembly (132) is fixed relative to the first fixed shaft (131) along the axial direction of the first fixed shaft (131); The telecentric mechanism (10) further includes a first driving member (112), the driving end of the first driving member (112) is connected to the first connecting rod (11) in a transmission manner, and the first driving member (112) is used to drive the first connecting rod (11) to rotate around a first virtual straight line, the first virtual straight line passing through the stationary reference point of the telecentric mechanism (10); The telecentric mechanism (10) further includes a base (111), on which the first drive member (112) is disposed; the base (111) is connected to one side of the first link (11) along a first direction; the first direction intersects the axis of the first link (11) to offset the base (111) and the first drive member (112); the axis of the first link (11) intersects the first virtual straight line.

2. The telecentric mechanism according to claim 1, characterized in that, The first transmission assembly (132) includes: The first bearing assembly (1321) is sleeved on the first fixed shaft (131); the first preload member (133) abuts against the first bearing assembly (1321) to apply a preload force to the first bearing assembly (1321); The first main pulley (1322) is rotatably mounted on the first connecting rod (11); The first driven pulley (1323) is mounted on the first bearing assembly (1321); the second connecting rod (12) is detachably fixedly connected to the first driven pulley (1323); The first transmission belt (1324) is stretched on the first main pulley (1322) and the first driven pulley (1323).

3. The telecentric mechanism according to claim 2, characterized in that, The first main pulley (1322) includes a first pulley body (13221), a second pulley body (13222), and a first adjusting member (13223). The first pulley body (13221) and the second pulley body (13222) are coaxially arranged. The second pulley body (13222) is adjustablely arranged on one axial side of the first pulley body (13221). The first adjusting member (13223) is arranged on the first pulley body (13221) and is used to adjust the rotation angle of the second pulley body (13222) relative to the first pulley body (13221) about its own axis. The first transmission belt (1324) includes a first belt body (13241) and a second belt body (13242) that are offset from each other. One end of the first belt body (13241) is connected to the first pulley body (13221) and the other end is connected to the first driven pulley (1323). One end of the second belt body (13242) is connected to the second pulley body (13222) and the other end is connected to the first driven pulley (1323).

4. The telecentric mechanism according to claim 1, characterized in that, The first pre-tightening member (133) includes a pre-tightening ring, and a threaded pair is provided between the inner ring of the pre-tightening ring and the outer periphery of the first fixed shaft (131); A pre-tightening groove (1331) is provided on the end face of the pre-tightening ring away from the first transmission assembly (132).

5. The telecentric mechanism according to claim 1, characterized in that, The telecentric mechanism (10) further includes a third link (16) and a second passive joint (17), wherein the second passive joint (17) connects the third link (16) and the second link (12); The second passive joint (17) includes: The second fixed shaft (171) is detachably fixed to one end of the second connecting rod (12) away from the first fixed shaft (131); The second transmission assembly (172) is disposed on the second connecting rod (12); the input end of the second transmission assembly (172) is detachably fixedly connected to the first fixed shaft (131); the output end of the second transmission assembly (172) is rotatably sleeved on the second fixed shaft (171); one end of the third connecting rod (16) is rotatably sleeved on the second fixed shaft (171) and is detachably fixedly connected to the output end of the second transmission assembly (172); The second preload (173) is detachably mounted on the second fixed shaft (171); the second preload (173) is used to apply preload force to the second transmission assembly (172) so that the second transmission assembly (172) is fixed relative to the second fixed shaft (171) along the axial direction of the second fixed shaft (171).

6. The telecentric mechanism according to claim 5, characterized in that, The first preload (133) is assembled between the output end of the first transmission assembly (132) and the input end of the second transmission assembly (172).

7. The telecentric mechanism (10) according to claim 5, characterized in that, The telecentric mechanism (10) further includes an end assembly (110) and a third passive joint (19), the third passive joint (19) connecting the end assembly (110) and the third link (16); The third passive joint (19) includes: The third fixed shaft (191) is detachably fixed to one end of the third link (16) away from the second fixed shaft (171); A third transmission assembly (192) is disposed on the third connecting rod (16); the input end of the third transmission assembly (192) is detachably fixedly connected to the third fixed shaft (191); the output end of the third transmission assembly (192) is rotatably sleeved on the third fixed shaft (191); the end assembly (110) is rotatably sleeved on the third fixed shaft (191) and detachably fixedly connected to the output end of the third transmission assembly (192); The third preload member (193) is detachably mounted on the third fixed shaft (191) and abuts against the third transmission assembly (192); the third preload member (193) is used to apply a preload force to the third transmission assembly (192) so that the third transmission assembly (192) is fixed relative to the third fixed shaft (191) along the axial direction of the third fixed shaft (191).

8. A surgical robot, characterized in that, Includes the telecentric mechanism (10) as described in any one of claims 1-7.

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