Posture positioning module and surgical robot

Abstract

The invention relates to a posture positioning module and a surgical robot. The module comprises a support, a first positioning assembly and a second positioning assembly, the first positioning assembly is connected to the support, and the second positioning assembly is in transmission connection with the first positioning assembly and the operation piece; the first positioning assembly is used for driving the second positioning assembly to drive the operating part to rotate around a telecentric point on a first plane, the second positioning assembly is used for driving the operating part to rotate around the telecentric point on a second plane, the telecentric point is located on an intersection point of an intersection line of the first plane and the second plane and the operating part, and the first plane is perpendicular to the second plane. The first positioning assembly drives the operating part to rotate around the telecentric point on the first plane, the second positioning assembly drives the operating part to rotate around the telecentric point on the second plane, the operating part can take the telecentric point as the sphere center, the normal posture of any approximate sphere can be adjusted to serve as the initial posture of surgical operation, and the operating part can be accurately positioned; and the positioning precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a posture positioning module and a surgical robot. Background Art

[0002] Neurosurgical robots require a flexible workspace to completely cover the surgical operation space. They also require high-precision positioning and operation so that the operating instruments can pass through the cranial window. However, in order to ensure that the neurosurgical robot has a larger workspace, the positioning accuracy of the operating instruments will be affected, reducing the efficiency of the surgical operation. Summary of the invention

[0003] Based on this, it is necessary to provide a posture positioning module to address the technical problem that in order to ensure that the neurosurgery robot has a larger working space, the positioning accuracy of the operating instruments will be affected, thereby reducing the efficiency of the surgical operation.

[0004] A posture positioning module, used for neurosurgery, comprising: a bracket, a first positioning component and a second positioning component, wherein the first positioning component is connected to the bracket, the second positioning component is connected to the first positioning component by transmission, and the second positioning component is used for transmission connection to an operating member;

[0005] The first positioning component is used to drive the second positioning component to drive the operating member to rotate around the telecentric point on the first plane, and the second positioning component is used to drive the operating member to rotate around the telecentric point on the second plane to adjust the posture of the operating member, wherein the telecentric point is located at the intersection of the intersection line of the first plane and the second plane and the operating member, and the first plane is perpendicular to the second plane.

[0006] In one embodiment, the first positioning assembly includes a first connecting arm, a second connecting arm and a third connecting arm, one end of the second connecting arm is rotatably connected to the first connecting arm, and the other end is rotatably connected to the third connecting arm, the third connecting arm is connected to the second positioning assembly, and one end of the first connecting arm away from the second connecting arm is rotatably connected to the bracket;

[0007] On the first plane, the first rotation axis of the first connecting arm and the bracket, the first connecting line between the second rotation axis of the first connecting arm and the second connecting arm, and the second connecting line between the third rotation axis of the third connecting arm and the second connecting arm and the distal point are parallel and equal;

[0008] When the first connecting arm rotates about a first target angle relative to the bracket around a first direction, the second connecting arm rotates about the first target angle in the opposite direction relative to the first connecting arm, and the third connecting arm rotates about the first direction relative to the second connecting arm by the first target angle, so that the second positioning assembly drives the operating member to rotate about the distal point on the first plane, wherein the first direction is perpendicular to the first plane.

[0009] In one embodiment, the first connecting arm includes a first connecting rod, a first rotating wheel and a first driving wheel, one end of the first connecting rod is rotatably connected to the bracket, and the other end is rotatably connected to the second connecting arm, the first rotating wheel is rotatably connected to the first connecting rod around the first rotating axis, the first driving wheel is rotatably connected to the first connecting rod around the second rotating axis, the first driving wheel is transmission-connected to the first rotating wheel, and is connected to the second connecting arm;

[0010] When the first connecting rod rotates relative to the bracket around the first direction by the first target angle, the first rotating wheel drives the first driving wheel to drive the second connecting arm to rotate in the opposite direction around the first direction by the first target angle.

[0011] In one embodiment, the second connecting arm comprises a second connecting rod, a second rotating wheel and a second driving wheel, one end of the second connecting rod is connected to the first connecting arm, and the other end is connected to the third connecting arm, the second rotating wheel is rotatably connected to the second connecting rod around the second rotating axis, the second driving wheel is rotatably connected to the second connecting rod around the third rotating axis, the second driving wheel is transmission-connected to the second rotating wheel, and is connected to the third connecting arm;

[0012] When the second connecting rod rotates in the opposite direction to the first connecting rod about the first direction by the first target angle, the second rotating wheel drives the second driving wheel to drive the third connecting arm to rotate about the first direction by the first target angle.

[0013] In one embodiment, the second positioning assembly includes a first support arm, a second support arm and a third support arm, one end of the second support arm is rotatably connected to the first support arm, and the other end is rotatably connected to the third support arm, one end of the first support arm away from the second support arm is rotatably connected to the first positioning assembly, and one end of the third support arm away from the second support arm is connected to the operating member;

[0014] On the second plane, a third line between the fourth rotation axis of the first positioning assembly and the first support arm and the distal point, and a fourth line between the fifth rotation axis of the second support arm and the first support arm and the sixth rotation axis of the second support arm and the third support arm are parallel and equal;

[0015] When the first support arm rotates about the second direction to a second target angle relative to the first positioning assembly, the second support arm rotates in the opposite direction to the first support arm about the second target angle, and the third support arm rotates about the second direction to the second target angle relative to the second support arm, so that the operating member rotates about the distal point on the second plane, wherein the second direction is perpendicular to the second plane.

[0016] In one embodiment, the first support arm comprises a first support rod, a third rotating wheel and a third driving wheel, one end of the first support rod is rotatably connected to the first positioning assembly, and the other end is rotatably connected to the second support arm, the third rotating wheel is rotatably connected to the first support rod around the fourth rotating axis, the third driving wheel is rotatably connected to the first support rod around the fifth rotating axis, the third driving wheel is transmission-connected to the third rotating wheel, and is connected to the second support arm;

[0017] When the first support rod rotates around the second direction to the second target angle relative to the first positioning assembly, the third rotating wheel drives the third driving wheel to drive the second support arm to rotate in the opposite direction around the second direction to the second target angle.

[0018] In one embodiment, the second support arm comprises a second support rod, a fourth rotating wheel and a fourth driving wheel, one end of the second support rod is rotatably connected to the first support arm, and the other end is rotatably connected to the third support arm, the fourth rotating wheel is rotatably connected to the second support rod around the fifth rotating axis, the fourth driving wheel is rotatably connected to the second support rod around the sixth rotating axis, the fourth driving wheel is transmission-connected to the fourth rotating wheel, and is connected to the third support arm;

[0019] When the second support rod rotates in the opposite direction relative to the first support arm about the second direction by the second target angle, the fourth rotating wheel drives the fourth driving wheel to drive the third support arm to rotate about the second direction by the second target angle.

[0020] The present invention also provides a surgical robot capable of solving at least one of the above-mentioned technical problems.

[0021] A surgical robot comprises the above-mentioned posture positioning module, and also comprises a position positioning module and an operating instrument module, wherein the position positioning module is connected to the bracket, the first positioning component is connected to the output end of the position positioning module, the operating instrument module is constructed as the operating member, the position positioning module is used to drive the posture positioning module to drive the operating instrument module to move in a preset space, and the posture positioning module is used to drive the operating instrument module to rotate around the distal point in the preset space.

[0022] In one embodiment, the operating instrument module includes an instrument replacement assembly, and the instrument replacement assembly includes:

[0023] instrument;

[0024] a base connected to the second positioning assembly;

[0025] A rotary drive member connected to the base, the rotary drive member is used for transmission connection of at least two instruments, and the rotary drive member is used for driving each of the instruments to rotate so as to move the target instrument to a first preset position;

[0026] A conveying member connected to the base, the conveying member having a first state and a second state, in the first state, the conveying member is used to be connected to the target device in transmission and to drive the target device to move to a second preset position, in the second state, the conveying member and the target device are disconnected in transmission;

[0027] The operating drive member is connected to the base. In the second state, the operating drive member is used to be transmission-connected to the target device to drive the target device to operate.

[0028] In one embodiment, the rotary drive member includes a first drive member and a support frame, the first drive member is connected to the base, the support frame is connected to the transmission end of the first drive member, the support frame is circumferentially provided with a plurality of mounting holes for mounting each of the instruments, and the first drive member is used to drive the support frame to rotate around its own center line to move the target instrument to the first preset position.

[0029] In one embodiment, the conveying member includes a second driving member and a first attracting magnet, wherein the first attracting magnet is installed at an output end of the second driving member, and in the first state, the first attracting magnet is used to attract a first matching magnet on the target device.

[0030] In one embodiment, the operating drive member includes a third drive member and a second attraction magnet, and the second attraction magnet is installed at the output end of the third drive member. In the second state, the second attraction magnet is used to attract the second matching magnet on the target device to drive the target device to operate.

[0031] In one embodiment, the operating instrument module also includes a third positioning assembly, and the third positioning assembly includes a first support platform and a first support member, the first support platform is connected to the instrument replacement assembly, one end of the first support member is rotatably connected to the second positioning assembly, and the other end is rotatably connected to the first support platform, and the first support member can be extended and retracted along its own extension direction, and the third positioning assembly is used to drive the instrument replacement assembly to drive the target instrument to move within a preset area.

[0032] In one embodiment, the operating instrument module also includes a fourth positioning assembly and an endoscope, the fourth positioning assembly includes a second support platform and a second support member, the second support platform is connected to the endoscope, one end of the second support member is rotatably connected to the second positioning assembly, and the other end is rotatably connected to the second support platform, and the second support member can be extended and retracted along its own extension direction, and the fourth positioning assembly is used to drive the endoscope to move within a preset space.

[0033] In one embodiment, the position positioning module includes a third support platform and a third support member, the third support platform is rotatably connected to the first positioning component, one end of the third support member is rotatably connected to the bracket, and the other end is rotatably connected to the third support platform, and the third support member can be extended and retracted along its own extension direction.

[0034] Beneficial effects:

[0035] The posture positioning module provided by the embodiment of the present invention includes a bracket, a first positioning component and a second positioning component, wherein the first positioning component is connected to the bracket, the second positioning component is transmission-connected to the first positioning component, and the second positioning component is used for transmission connection to the operating member; the first positioning component is used for driving the second positioning component to drive the operating member to rotate around the distal point on the first plane, and the second positioning component is used for driving the operating member to rotate around the distal point on the second plane to adjust the posture of the operating member, wherein the distal point is located at the intersection of the intersection line of the first plane and the second plane and the operating member, and the first plane is perpendicular to the second plane. In the present application, the first positioning component drives the second positioning component to drive the operating member to rotate around the distal point on the first plane, and the second positioning component drives the operating member to rotate around the distal point on the second plane, and the distal point is located on the operating member, and the first plane is perpendicular to the second plane, so that the operating member can take the distal point as the center of the sphere, and can be adjusted to any normal posture of a sphere approximating the sphere as the initial posture of the surgical operation, so that the operating member can be accurately positioned at the lesion, thereby improving the positioning accuracy of the posture positioning module.

[0036] The present invention also provides a surgical robot, including the above-mentioned posture positioning module, and also including a position positioning module and an operating instrument module, wherein the position positioning module is connected to the bracket, the first positioning component is connected to the output end of the position positioning module, the operating instrument module is configured as an operating member, the position positioning module is used to drive the posture positioning module to drive the operating instrument module to move in a preset space, and the posture positioning module is used to drive the operating instrument module to rotate around the distal point in the preset space. The surgical robot can achieve at least one of the above-mentioned technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of a posture positioning module provided by an embodiment of the present invention.

[0038] Figure 2 A simplified diagram of the first positioning component in the posture positioning module provided in one embodiment of the present invention during movement.

[0039] Figure 3 This is a partial structural diagram of the first positioning component in the posture positioning module provided in one embodiment of the present invention.

[0040] Figure 4 This is a partial structural diagram of the second positioning component in the posture positioning module provided in one embodiment of the present invention.

[0041] Figure 5 A schematic diagram of a surgical robot provided according to an embodiment of the present invention.

[0042] Figure 6 A schematic diagram of an operating instrument module in a surgical robot provided by an embodiment of the present invention.

[0043] Figure 7 A schematic diagram of a fourth positioning assembly in a surgical robot provided in accordance with an embodiment of the present invention.

[0044] Figure 8 A first schematic diagram of an instrument replacement assembly in a surgical robot provided by an embodiment of the present invention.

[0045] Fig. 9 A second schematic diagram of an instrument replacement assembly in a surgical robot provided by an embodiment of the present invention.

[0046] Fig.10 A partial schematic diagram of a surgical robot provided by an embodiment of the present invention Figure 1 .

[0047] Fig.11 A partial schematic diagram of a surgical robot provided by an embodiment of the present invention Figure 2 . DETAILED DESCRIPTION

[0048] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0051] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0053] See also Figure 1 , Figure 1 A schematic diagram of a posture positioning module provided in one embodiment of the present invention. The posture positioning module provided in one embodiment of the present invention includes a bracket 410, a first positioning component 110 and a second positioning component 120, wherein the first positioning component 110 is connected to the bracket 410, the second positioning component 120 is transmission-connected to the first positioning component 110, and the second positioning component 120 is used for transmission connection to the operating member; the first positioning component 110 is used to drive the second positioning component 120 to drive the operating member to rotate around the distal point 130 on the first plane 131, and the second positioning component 120 is used to drive the operating member to rotate around the distal point 130 on the second plane 132 to adjust the posture of the operating member, wherein the distal point 130 is located at the intersection of the intersection line of the first plane 131 and the second plane 132 and the intersection of the operating member, and the first plane 131 is perpendicular to the second plane 132.

[0054] The posture positioning module in the present application is applied to a surgical robot. When the surgical robot is operating, a hole, namely a cranial window 160, is generally opened on the skull of the operated object, and an operating member is placed in the cranial window 160 for operation.

[0055] Specifically, in the present application, the first positioning component 110 drives the second positioning component 120 to drive the operating part to rotate around the distal point 130 on the first plane 131, and the second positioning component 120 drives the operating part to rotate around the distal point 130 on the second plane 132. The distal point 130 is located on the operating part, and the first plane 131 is perpendicular to the second plane 132, so that the operating part can take the distal point 130 as the center of the sphere, and can be adjusted to any normal posture that approximates a sphere as the initial posture of the surgical operation, so that the operating part can be accurately positioned at the lesion, thereby improving the positioning accuracy of the posture positioning module.

[0056] It should be noted that the position of the distal point 130 remains unchanged during the movement of the first positioning assembly 110 and the second positioning assembly 120. Preferably, the distal point 130 coincides with the center point of the cranial window 160, so that when the posture positioning module drives the operating member to rotate around the distal point, the operating member can be located in the cranial window 160 in any posture, and the interference with the skull can be reduced, thereby improving the positioning accuracy and adaptability.

[0057] See also Figure 1 , Figure 2 and Figure 3 , Figure 2 A simplified diagram of the first positioning component in the posture positioning module provided in one embodiment of the present invention during movement. Figure 3 A schematic diagram of the partial structure of the first positioning component in the attitude positioning module provided for one embodiment of the present invention. In one embodiment, the first positioning component 110 includes a first connecting arm 111, a second connecting arm 112 and a third connecting arm 119, one end of the second connecting arm 112 is rotatably connected to the first connecting arm 111, and the other end is rotatably connected to the third connecting arm 119, the third connecting arm 119 is connected to the second positioning component 120, and the end of the first connecting arm 111 away from the second connecting arm 112 is rotatably connected to the bracket 410; on the first plane 131, the first rotation axis 141 of the first connecting arm 111 and the bracket 410, the first connecting line 151 between the second rotation axis 142 of the first connecting arm 111 and the second connecting arm 112, and the second connecting line 152 between the third connecting arm 119 and the third rotation axis 143 of the second connecting arm 112 and the far center point 130 are parallel and equal.

[0058] Specifically, on the first plane 131, the first rotation axis 141 and the second rotation axis 142 are connected to obtain a first connecting line 151; the third rotation axis 143 and the distal point 130 are connected to obtain a second connecting line 152; the second rotation axis 142 and the third rotation axis 143 are connected to obtain a fifth connecting line 155; the first rotation axis 141 and the distal point 130 are connected to obtain a sixth connecting line 156. Since the first connecting line 151 and the second connecting line 152 are parallel and equal, the first connecting line 151, the second connecting line 152, the fifth connecting line 155 and the sixth connecting line 156 are arranged to form a parallelogram.

[0059] It should be noted that the first connecting arm 111, the second connecting arm 112 and the third connecting arm 119 have a certain thickness, and the first connecting arm 111, the second connecting arm 112 and the third connecting arm 119 may not be located on the same plane, and the first connecting line 151, the second connecting line 152, the fifth connecting line 155 and the sixth connecting line 156 are all located on the first plane 131, then the thickness of the first connecting arm 111, the second connecting arm 112 and the third connecting arm 119 has no effect on the first connecting line 151, the second connecting line 152, the fifth connecting line 155 and the sixth connecting line 156, so the thickness of the first connecting arm 111, the second connecting arm 112 and the third connecting arm 119 is not limited in this application.

[0060] See also Figure 1 , Figure 2 and Figure 3 In one embodiment, when the first connecting arm 111 rotates about a first target angle relative to the bracket 410 around a first direction, the second connecting arm 112 rotates about the first target angle in the opposite direction relative to the first connecting arm 111 around the first direction, and the third connecting arm 119 rotates about the first direction relative to the second connecting arm 112 around the first target angle, so that the second positioning assembly 120 drives the operating member to rotate around the distal point 130 on the first plane 131, wherein the first direction is perpendicular to the first plane 131.

[0061] Specifically, the instructions are attached Figure 2 For example, in the initial state (the solid line represents the figure), on the first plane 131, the angle between the first connecting line 151 and the sixth connecting line 156 is α, the angle between the fifth connecting line 155 and the first connecting line 151 is β, and the angle between the second connecting line 152 and the fifth connecting line 155 is Since the first connecting line 151, the second connecting line 152, the fifth connecting line 155 and the sixth connecting line 156 form a parallelogram, α+β=180°,

[0062] When the first connecting arm 111 rotates γ around the first direction, the second connecting arm 112 rotates γ in the opposite direction relative to the first connecting arm 111 around the first direction, and the third connecting arm 119 rotates γ around the first direction relative to the second connecting arm 112 to form a target state (the dotted line represents the graph). In the target state, the angle between the first connecting line 151 and the sixth connecting line 156 is (α-γ), the angle between the fifth connecting line 155 and the first connecting line 151 is (β+α), and the angle between the second connecting line 152 and the fifth connecting line 155 is And α+β=180°, It can be seen that in the target state, the quadrilateral formed by the first connecting line 151, the second connecting line 152, the fifth connecting line 155 and the sixth connecting line 156 is still a parallelogram. It can be seen that during the rotation of the first connecting arm 111 and the second connecting arm 112, the position of the distal point 130 does not change, so that during the movement of the first positioning component 110, the first positioning component 110 can drive the second positioning component 120 to rotate around the distal point 130 on the first plane 131, and then can adjust the posture of the operating member on the first plane 131, improve the positioning accuracy of the operating member, and improve the efficiency of surgical operation.

[0063] Among them, the instructions are attached Figure 1 For example, XX′ is a first direction perpendicular to the first plane 131 . In this embodiment, the first plane 131 is a horizontal plane. In other embodiments, the first plane 131 may also be other planes.

[0064] See also Figure 1 , Figure 2 and Figure 3 In one embodiment, the first connecting arm 111 includes a first connecting rod, a first rotating wheel 113 and a first driving wheel 114. One end of the first connecting rod is rotatably connected to the bracket 410, and the other end is rotatably connected to the second connecting arm 112. The first rotating wheel 113 is rotatably connected to the first connecting rod around a first rotating axis 141, and the first driving wheel 114 is rotatably connected to the first connecting rod around a second rotating axis 142. The first driving wheel 114 is transmission-connected to the first rotating wheel 113 and connected to the second connecting arm 112; when the first connecting rod rotates around a first target angle relative to the bracket 410 around a first direction, the first rotating wheel 113 drives the first driving wheel 114 to drive the second connecting arm 112 to rotate in the opposite direction around the first direction by the first target angle.

[0065] Specifically, the first rotating wheel 113 is connected to the bracket 410, and the axes of the first rotating wheel 113 and the first driving wheel 114 both extend along the first direction. When the first connecting rod rotates relative to the bracket 410 around the first direction by a first target angle, it is equivalent to the first rotating wheel 113 rotating relative to the first connecting rod in the opposite direction by the first target angle around the first direction. Since the first driving wheel 114 is in transmission connection with the first rotating wheel 113, the first rotating wheel 113 drives the first driving wheel 114 to rotate in the opposite direction by the first target angle around the first direction, and the first driving wheel 114 is connected to the second connecting arm 112, thereby driving the second connecting arm 112 to rotate relative to the first connecting rod in the opposite direction by the first target angle around the first direction.

[0066] See also Figure 1 and Figure 3 In one embodiment, the transmission ratios of the first driving wheel 114 and the first rotating wheel 113 are equal, and the first connecting arm 111 further includes a first transmission belt 117. The first rotating wheel 113 and the first driving wheel 114 tighten the first transmission belt 117 to achieve transmission connection between the first driving wheel 114 and the first rotating wheel 113. In other embodiments, the first rotating wheel 113 and the first driving wheel 114 can also be driven by other methods, as long as the first rotating wheel 113 and the first driving wheel 114 are driven, and the rotation directions and angles are equal.

[0067] See also Figure 1 , Figure 2 and Figure 3 In one embodiment, the second connecting arm 112 includes a second connecting rod, a second rotating wheel 115 and a second driving wheel 116. One end of the second connecting rod is connected to the first connecting arm 111, and the other end is connected to the third connecting arm 119. The second rotating wheel 115 is connected to the second connecting rod by rotation around the second rotating axis 142, and the second driving wheel 116 is connected to the second connecting rod by rotation around the third rotating axis 143. The second driving wheel 116 is connected to the second rotating wheel 115 by transmission and is connected to the third connecting arm 119. When the second connecting rod rotates in the opposite direction to the first connecting rod by a first target angle, the second rotating wheel 115 drives the second driving wheel 116 to drive the third connecting arm 119 to rotate by a first target angle around the first direction.

[0068] Specifically, the second rotating wheel 115 is connected to the first connecting rod, and the axes of the second rotating wheel 115 and the second driving wheel 116 both extend along the first direction, and the rotation axes of the second rotating wheel 115 and the first driving wheel 114 coincide with the second rotation axis 142. When the second connecting rod rotates in the opposite direction relative to the first connecting rod by a first target angle around the first direction, it is equivalent to the second rotating wheel 115 rotating relative to the second connecting rod by a first target angle around the first direction. Since the second driving wheel 116 is in transmission connection with the second rotating wheel 115, the second rotating wheel 115 drives the second driving wheel 116 to rotate around the first direction by the first target angle, and the second driving wheel 116 is connected to the third connecting arm 119, thereby driving the third connecting arm 119 to rotate relative to the second connecting rod by the first target angle around the first direction.

[0069] See also Figure 1 and Figure 3 In one embodiment, the transmission ratios of the second driving wheel 116 and the second rotating wheel 115 are equal, and the second connecting arm 112 further includes a second transmission belt 118. The second rotating wheel 115 and the second driving wheel 116 tighten the second transmission belt 118 to achieve transmission connection between the second driving wheel 116 and the second rotating wheel 115. In other embodiments, the second rotating wheel 115 and the second driving wheel 116 can also be driven by other methods, as long as the second rotating wheel 115 and the second driving wheel 116 are driven, and the rotation directions and angles are equal.

[0070] It should be noted that the first connecting arm 111, the second connecting arm 112 and the third connecting arm 119 are linked. When one of the first connecting arm 111, the second connecting arm 112 and the third connecting arm 119 rotates around the first direction, the other two will rotate accordingly. That is, the first positioning assembly 110 only needs to have one driving member, which can be a motor.

[0071] See also Figure 1 , Figure 3 and Figure 4 , Figure 4A schematic diagram of the partial structure of the second positioning component in the attitude positioning module provided for one embodiment of the present invention. In one embodiment, the second positioning component 120 includes a first support arm 121, a second support arm 122 and a third support arm 123, one end of the second support arm 122 is rotatably connected to the first support arm 121, and the other end is rotatably connected to the third support arm 123, the end of the first support arm 121 away from the second support arm 122 is rotatably connected to the first positioning component 110, and the end of the third support arm 123 away from the second support arm 122 is connected to the operating member; on the second plane 132, the third connecting line 153 between the fourth rotation axis 144 of the first positioning component 110 and the first support arm 121 and the far center point 130, and the fourth connecting line 154 between the fifth rotation axis 145 of the second support arm 122 and the first support arm 121 and the sixth rotation axis 146 of the second support arm 122 and the third support arm 123 are parallel and equal.

[0072] Specifically, the first support arm 121 is rotatably connected to the third connecting arm 119. On the second plane 132, the fourth rotation axis 144 and the distal point 130 are connected to obtain a third connecting line 153; the fifth rotation axis 145 and the sixth rotation axis 146 are connected to obtain a fourth connecting line 154; the fourth rotation axis 144 and the fifth rotation axis 145 are connected to obtain a seventh connecting line 157; the sixth rotation axis 146 and the distal point 130 are connected to obtain an eighth connecting line 158. Since the third connecting line 153 and the fourth connecting line 154 are parallel and equal, the third connecting line 153, the fourth connecting line 154, the seventh connecting line 157 and the eighth connecting line 158 are arranged to form a parallelogram.

[0073] It should be noted that the first support arm 121, the second support arm 122 and the third support arm 123 have a certain thickness, and the first support arm 121, the second support arm 122 and the third support arm 123 may not be located on the same plane, and the third line 153, the fourth line 154, the seventh line 157 and the eighth line 158 are all located on the second plane 132, then the thickness of the first support arm 121, the second support arm 122 and the third support arm 123 has no effect on the third line 153, the fourth line 154, the seventh line 157 and the eighth line 158, so the thickness of the first support arm 121, the second support arm 122 and the third support arm 123 is not limited in this application.

[0074] Among them, the second connecting line 152 and the third connecting line 153 at least partially overlap, so that the distal point 130 corresponding to the parallelogram surrounded by the first connecting line 151, the second connecting line 152, the fifth connecting line 155 and the sixth connecting line 156 and the distal point 130 corresponding to the parallelogram surrounded by the third connecting line 153, the fourth connecting line 154, the seventh connecting line 157 and the eighth connecting line 158 overlap, that is, the end of the overlapping line segment of the second connecting line 152 and the third connecting line 153 close to the operating member is the distal point 130. It should be noted that, since the third connecting arm 119 has a certain thickness, there is a certain error in the position of the second connecting line 152 and the third connecting line 153 in the figure, which can be ignored in this embodiment, as long as the position of the distal point 130 remains unchanged.

[0075] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 In one embodiment, when the first support arm 121 rotates about the second direction at a second target angle relative to the first positioning assembly 110, the second support arm 122 rotates in the opposite direction about the second direction at a second target angle relative to the first support arm 121, and the third support arm 123 rotates about the second direction at a second target angle relative to the second support arm 122, so that the operating member rotates about the distal point 130 on the second plane 132, wherein the second direction is perpendicular to the second plane 132.

[0076] Specifically, according to the instructions attached Figure 2 From the analysis taken as an example, it can be seen that the first connecting line 151, the second connecting line 152, the fifth connecting line 155 and the sixth connecting line 156 are always parallelograms during the rotation process, and the principle of the second positioning component 120 is the same as that of the first positioning component 110, so the third connecting line 153, the fourth connecting line 154, the seventh connecting line 157 and the eighth connecting line 158 are always parallelograms during the rotation process, so that the position of the distal point 130 does not change, and during the movement of the second positioning component 120, the second positioning component 120 can drive the operating part to rotate around the distal point 130 on the second plane 132, so as to adjust the posture of the operating part on the second plane 132, improve the positioning accuracy of the operating part, and improve the efficiency of the surgical operation.

[0077] Among them, the instructions are attached Figure 1 Taking an example for explanation, YY′ is a second direction perpendicular to the second plane 132 . In this embodiment, the second plane 132 is a vertical plane. In other embodiments, the second plane 132 may also be other planes.

[0078] See also Figure 1 , Figure 3 and Figure 4In one embodiment, the first support arm 121 includes a first support rod, a third rotating wheel 124 and a third driving wheel 125. One end of the first support rod is rotatably connected to the first positioning assembly 110, and the other end is rotatably connected to the second support arm 122. The third rotating wheel 124 is rotatably connected to the first support rod around a fourth rotating axis 144, and the third driving wheel 125 is rotatably connected to the first support rod around a fifth rotating axis 145. The third driving wheel 125 is transmission-connected to the third rotating wheel 124 and is connected to the second support arm 122. When the first support rod rotates around the second direction to a second target angle relative to the first positioning assembly 110, the third rotating wheel 124 drives the third driving wheel 125 to drive the second support arm 122 to rotate in the opposite direction around the second direction to a second target angle.

[0079] Specifically, the first support rod is rotatably connected to the third connecting arm 119, the third rotating wheel 124 is connected to the third connecting arm 119, the axes of the third rotating wheel 124 and the third driving wheel 125 extend along the second direction, and the third rotating wheel 124 is parallel to the rotation axis of the second driving wheel 116. When the first support rod rotates around the second direction by a second target angle relative to the third connecting arm 119, it is equivalent to the third rotating wheel 124 rotating in the opposite direction by a second target angle relative to the first support rod. Since the third driving wheel 125 is in transmission connection with the third moving wheel, the third rotating wheel 124 drives the third driving wheel 125 to rotate in the opposite direction by a second target angle around the second direction, and the third driving wheel 125 is connected to the second support arm 122, thereby driving the second support arm 122 to rotate in the opposite direction by a second target angle relative to the first support rod.

[0080] Furthermore, the fourth rotation axis 144 coincides with the third rotation axis 143, that is, the second line 152 coincides with the third line 153, so that the length of the third connecting arm 119 can be shortened, the interference with the object being acted on can be reduced, and the reliability of the attitude positioning module can be improved. Among them, since the second line 152 coincides with the third line 153, the first line 152 is parallel and equal to the second line 153, and the third line 153 is parallel and equal to the fourth line 154, then the first line 151 is parallel and equal to the fourth line 154.

[0081] In other embodiments, the fourth rotation axis 144 does not coincide with the third rotation axis 143, that is, the fourth rotation axis 144 and the third rotation axis 143 are at a certain distance on the first plane 131, and the fourth rotation axis 144 is located between the third rotation axis 143 and the distal point 130 to avoid the third connecting arm 119 being too long and causing interference with the head of the object being acted upon.

[0082] See also Figure 1 , Figure 3 and Figure 4In one embodiment, the transmission ratios of the third driving wheel 125 and the third rotating wheel 124 are equal, and the first support arm 121 further includes a third transmission belt 128. The third rotating wheel 124 and the third driving wheel 125 tighten the third transmission belt 128 to achieve transmission connection between the third driving wheel 125 and the third rotating wheel 124. In other embodiments, the third rotating wheel 124 and the third driving wheel 125 can also be driven by other means, as long as the third rotating wheel 124 and the third driving wheel 125 are driven, and the rotation directions and angles are equal.

[0083] See also Figure 1 , Figure 3 and Figure 4 In one embodiment, the second support arm 122 includes a second support rod, a fourth rotating wheel 126 and a fourth driving wheel 127, one end of the second support rod is rotatably connected to the first support arm 121, and the other end is rotatably connected to the third support arm 123, the fourth rotating wheel 126 is rotatably connected to the second support rod around a fifth rotating axis 145, the fourth driving wheel 127 is rotatably connected to the second support rod around a sixth rotating axis 146, the fourth driving wheel 127 is transmission-connected to the fourth rotating wheel 126, and is connected to the third support arm 123; when the second support rod rotates in the second direction relative to the first support arm 121 by a second target angle, the fourth rotating wheel 126 drives the fourth driving wheel 127 to drive the third support arm 123 to rotate around the second direction by a second target angle.

[0084] Specifically, the fourth rotating wheel 126 is connected to the first support rod, the axes of the fourth rotating wheel 126 and the fourth driving wheel 127 extend along the second direction, and the rotation axes of the third driving wheel 125 and the fourth rotating wheel 126 coincide with the fifth rotation axis 145. When the second support rod rotates in the opposite direction relative to the first support rod about the second target angle around the second direction, it is equivalent to the fourth rotating wheel 126 rotating relative to the second support rod about the second target angle around the second direction, and since the fourth driving wheel 127 is in transmission connection with the fourth rotating wheel 126, the fourth rotating wheel 126 drives the fourth driving wheel 127 to rotate about the second direction by the second target angle, and the fourth driving wheel 127 is connected to the third support arm 123, thereby driving the third support arm 123 to rotate about the second direction by the second target angle relative to the second support rod.

[0085] See also Figure 1 and Figure 4In one embodiment, the transmission ratios of the fourth driving wheel 127 and the fourth rotating wheel 126 are equal, and the second support arm 122 further includes a fourth transmission belt 129. The fourth rotating wheel 126 and the fourth driving wheel 127 tighten the fourth transmission belt 129 to achieve transmission connection between the fourth driving wheel 127 and the fourth rotating wheel 126. In other embodiments, the fourth rotating wheel 126 and the fourth driving wheel 127 can also be driven by other methods, as long as the fourth rotating wheel 126 and the fourth driving wheel 127 are driven, and the rotation directions and angles are equal.

[0086] It should be noted that the first support arm 121, the second support arm 122 and the third support arm 123 are linked. When one of the first support arm 121, the second support arm 122 and the third support arm 123 rotates around the second direction, the other two will rotate accordingly. That is, the second positioning assembly 120 only needs to have one driving member, which can be a motor.

[0087] See also Figure 1 and Figure 5 , Figure 5 A schematic diagram of a surgical robot provided by an embodiment of the present invention. The embodiment of the present invention also provides a surgical robot, comprising the above-mentioned posture positioning module 100, and also comprising a position positioning module 200 and an operating instrument module 300, wherein the position positioning module 200 is connected to a bracket 410, a first positioning assembly 110 is connected to an output end of the position positioning module 200, and the operating instrument 470 module 300 is configured as an operating member, the position positioning module 200 is used to drive the posture positioning module 100 to drive the operating instrument module 300 to move in a preset space, and the posture positioning module 100 is used to drive the operating instrument module 300 to rotate around a distal point 130 in a preset space.

[0088] Specifically, the first connecting arm 111 is connected to the output end of the position positioning module 200. The position positioning module 200 is used to drive the posture positioning module to drive the operating instrument module 300 to move toward the cranial window 160 to achieve coarse adjustment, so that the end of the operating instrument module 300 can extend into the cranial window 160 and make the distal point 130 located in the cranial window 160, so as to facilitate the posture positioning module 100 to drive the operating instrument module 300 to rotate around the distal point 130 in the cranial window 160 to perform posture adjustment and adjust the operating instrument module 300 to the target state, thereby improving the surgical efficiency and accuracy of the surgical robot.

[0089] Preferably, the distal point 130 is located at the midpoint of the cranial window 160 , so that when the operating instrument module 300 rotates around the distal point 130 , there is a larger movement space, thereby reducing interference with the head of the subject.

[0090] It should be noted that the preset space refers to the maximum space on one side of the cranial window 160 of the object under test in which the position positioning module 200 can drive the operating instrument module 300 to move.

[0091] See also Figure 1 and Figure 5 In one embodiment, the position positioning module 200 includes a third support platform 210 and a third support member 220, the third support platform 210 is rotatably connected to the first positioning assembly 110, one end of the third support rod is rotatably connected to the bracket 410, and the other end is rotatably connected to the third support platform 210, and the third support rod can be extended and retracted along its own extension direction.

[0092] Specifically, the third support platform 210 is rotatably connected to the first connecting arm 111, and the position positioning module 200 also includes a third connecting platform 230, which is connected to the bracket 410, that is, the first positioning assembly 110 is connected to the bracket 410 through the position positioning module 200. One end of the third support member 220 can be rotatably connected to the third support platform 210 around at least three mutually perpendicular directions, and the other end can also be rotatably connected to the third connecting platform 230 around at least three mutually perpendicular directions, and the length of the third support member 220 is adjustable, thereby improving the flexibility of the position positioning module 200, so that the third support platform 210 can move relative to the third connecting platform 230, so that the third support platform 210 drives the first positioning assembly 110 to move in the preset space, so as to drive the operating instrument module 300 to move into the cranial window 160.

[0093] It should be noted that since the third support platform 210 drives the operating instrument module 300 to move in a larger space within the preset space, the third support member 220 needs to have a larger movement stroke, which makes the positioning accuracy of the position positioning module 200 lower and needs to cooperate with the posture positioning module 100 to achieve positioning, thereby improving the versatility and accuracy of the surgical robot.

[0094] In other embodiments, one end of the third support member 220 is ball-jointed to the third support platform 210 , and the other end of the third support member 220 is ball-jointed to the third connecting platform 230 .

[0095] It should be noted that the specific structure of the third support member 220 is prior art, and the length of the third support member 220 can be adjusted in various forms, which can be achieved by linear motor drive or cylinder drive.

[0096] See also Figure 5 , Figure 6 , Figure 8 and Fig. 9 , Figure 6 A schematic diagram of an operating instrument module in a surgical robot provided by an embodiment of the present invention; Figure 8A first schematic diagram of an instrument replacement assembly in a surgical robot provided by an embodiment of the present invention; Fig. 9 A second schematic diagram of an instrument replacement assembly in a surgical robot provided in an embodiment of the present invention. In one embodiment, the operating instrument module 300 includes an instrument replacement assembly 310, and the instrument replacement assembly 310 includes an instrument 470, a base 311, a rotary drive member 320, a conveying member 330, and an operating drive member 340; the base 311 is connected to the second positioning assembly 120; the rotary drive member 320 is connected to the base 311, and the rotary drive member 320 is used to drive and connect at least two instruments 470, and the rotary drive member 320 is used to drive each instrument 470 to rotate, so as to move the target instrument 473 to the first Preset position; the conveying member 330 is connected to the base 311, and the conveying member 330 has a first state and a second state. In the first state, the conveying member 330 is used to be connected to the target device 473 for transmission, and is used to drive the target device 473 to move to the second preset position. In the second state, the transmission between the conveying member 330 and the target device 473 is interrupted; the operating drive member 340 is connected to the base 311. In the second state, the operating drive member 340 is used to be connected to the target device 473 for transmission to drive the target device 473 to operate.

[0097] Specifically, each instrument 470 is arranged at intervals around the circumference, and when the target instrument 473 is determined, the rotary drive member 320 can drive each instrument 470 to rotate around the center line of each instrument 470, so that each instrument 470 can rotate to the first preset position. The first preset position refers to a place corresponding to the lesion of the object being acted on, and in order to avoid interference of each instrument 470 with the lesion during the rotation process, the first preset position has a certain distance from the lesion.

[0098] When the target instrument 473 moves to the first preset position, the conveying member 330 in the first state is connected to the target instrument 473, thereby driving the target instrument 473 to move toward the lesion to the second preset position. The second preset position refers to the position in contact with the lesion, so as to facilitate the operation of the target instrument 473.

[0099] When the target device 473 moves to the second preset position, the conveying member 330 switches to the second state, thereby interrupting the transmission with the target device 473. In the process of the operating member driving the target device 473 to operate, the interference with the conveying member 330 can be reduced, thereby improving the reliability of the operating device module 300.

[0100] This embodiment can replace different instruments 470 by setting the instrument replacement component 310, and does not require secondary positioning, thereby improving the efficiency and adaptability of the operating instrument module 300, thereby improving the surgical efficiency of the surgical robot.

[0101] See also Figure 8 and Fig. 9 In one embodiment, the rotary drive member 320 includes a first drive member (not shown) and a support frame 321, the first drive member is connected to the base 311, the support frame 321 is connected to the transmission end of the first drive member, and the support frame 321 is circumferentially provided with a plurality of mounting holes for mounting each device 470, and the first drive member is used to drive the support frame 321 to rotate around its own center line to move the target device 473 to a first preset position.

[0102] Specifically, each device 470 is slidably mounted in the mounting hole. When the conveying member 330 is in the first state, the conveying member 330 can drive the target device 473 to slide relative to the hole wall of the mounting hole. The setting of the mounting hole plays a guiding role and improves the stability of the movement of the target device 473. Preferably, the first driving member is a motor.

[0103] See also Figure 8 and Fig. 9 In one embodiment, the conveying member 330 includes a second driving member 331 and a first attracting magnet 332. The first attracting magnet 332 is installed at the output end of the second driving member 331. In the first state, the first attracting magnet 332 is used to attract the first matching magnet 471 on the target device 473.

[0104] Specifically, each device 470 is equipped with a first matching magnet 471. When the target device 473 rotates to the first preset position, the first attracting magnet 332 attracts the first matching magnet 471, so that the target device 473 is stably connected to the second driving member 331, so that the second driving member 331 stably drives the target device 473 to move to the lesion, that is, the second preset position. Preferably, the second driving member 331 is a motor.

[0105] Furthermore, the first attraction magnet 332 is an electromagnet, and the first matching magnet 471 is a permanent magnet. When it is necessary to control the target device 473 to move to the second preset position, the first attraction magnet 332 is controlled to be energized, so that the first attraction magnet 332 and the first matching magnet 471 are attracted, that is, the conveying member 330 is in the first state. When the target device 473 moves to the second preset position, the first attraction magnet 332 is controlled to be de-energized, so that the first attraction magnet 332 and the first matching magnet 471 are disconnected, so that in the process of the operating member driving the target device 473 to act, the interference with the second driving member 331 can be reduced, and the reliability of the operating device module 300 is improved.

[0106] See also Figure 8 and Fig. 9In one embodiment, the operating drive member 340 includes a third driving member 341 and a second attracting magnet 342. The second attracting magnet 342 is installed at the output end of the third driving member 341. In the second state, the second attracting magnet 342 is used to attract the second matching magnet 472 on the target device 473 to drive the target device 473 to operate.

[0107] Specifically, each device 470 is equipped with a second matching magnet 472. When the target device 473 rotates to the second preset position and the conveying member 330 is in the second state, the second attracting magnet 342 is attracted to the second matching magnet 472, so that the target device 473 is stably connected to the third driving member 341, so that the third driving member 341 stably drives the target device 473 to operate. Preferably, the third driving member 341 is a motor.

[0108] Furthermore, the second attraction magnet 342 is an electromagnet, and the second matching magnet 472 is a permanent magnet. When it is necessary to control the operation of the target device 473, the second attraction magnet 342 is controlled to be energized so that the second attraction magnet 342 and the second matching magnet 472 are attracted. When the target device 473 completes the operation, the second attraction magnet 342 is controlled to be powered off so that the second attraction magnet 342 and the second matching magnet 472 are disconnected, and then the first attraction magnet 332 is energized so that the conveying member 330 is switched to the first state, so that when the second driving member 331 drives the target device 473 to retreat to the second preset position, the interference with the third driving member 341 can be reduced, thereby improving the reliability of the operating device module 300.

[0109] Furthermore, the operating drive member 340 further includes a connecting frame 343, the connecting frame 343 is connected to the power output end of the third driving member 341, and the second attracting magnet 342 is installed on the connecting frame 343. When the second attracting magnet 342 is attracted to the second matching magnet 472, the connecting frame 343 partially extends from the side of the target instrument 473 into the target instrument 473, so that the second attracting magnet 342 is attracted to the second matching magnet 472, wherein the second matching magnet 472 is connected to the operating end of the corresponding instrument 470, and the third driving member 341 acts on the operating end of the target instrument 473 to realize the operation of the target instrument 473.

[0110] See also Figure 5 and Figure 6In one embodiment, the operating instrument module 300 also includes a third positioning assembly 360, and the third positioning assembly 360 includes a first support platform 361 and a first support member 362. The first support platform 361 is connected to the instrument replacement assembly 310, and one end of the first support member 362 is rotatably connected to the second positioning assembly 120, and the other end is rotatably connected to the first support platform 361, and the first support member 362 can be extended and retracted along its own extension direction. The third positioning assembly 360 is used to drive the instrument replacement assembly 310 to drive the target instrument 473 to move within a preset area.

[0111] Specifically, the third positioning assembly 360 also includes a first connecting platform 363, which is connected to the third support arm 123, one end of the first support member 362 can be rotated around at least three mutually perpendicular directions to be connected to the first support platform 361, and the other end can also be rotated around at least three mutually perpendicular directions to be connected to the first connecting platform 363, and the length of the first support member 362 is adjustable, thereby improving the flexibility of the third positioning assembly 360, so that the first support platform 361 can move relative to the first connecting platform 363, so that the first support platform 361 drives the instrument 470 to be fine-tuned in the cranial window 160, so as to achieve the operation of the target instrument 473. Preferably, the two ends of the first support member 362 are respectively hinged to the first connecting platform 363 and the first support platform 361.

[0112] In other embodiments, one end of the first support member 362 is ball-jointed to the first support platform 361 , and the other end is ball-jointed to the first connecting platform 363 .

[0113] It should be noted that the specific structure of the first support member 362 is prior art, and the length of the first support member 362 can be adjusted in various forms, which can be achieved by a linear motor drive or a cylinder.

[0114] See also Figure 4 , Figure 5 and Figure 6 In one embodiment, there are at least two instrument replacement components 310, and each instrument replacement component 310 is arranged around the distal point 130.

[0115] Specifically, the operating instrument module 300 also includes a connecting plate 390, which is connected to one end of the third support arm 123 away from the second support arm 122. The connecting plate 390 is provided with a third positioning assembly 360 corresponding to the number of instrument replacement assemblies 310, and each instrument replacement assembly 310 is installed on the connecting plate 390 through a first support platform 361. The axis of each support frame 321 is arranged around the distal point 130, so as to reduce the mutual interference between each instrument 470, so that each instrument 470 can operate in any posture in the cranial window 160, thereby improving the reliability of the surgical robot. Preferably, there are two instrument replacement assemblies 310.

[0116] See also Figure 4 , Figure 5 , Figure 6 and Figure 7 , Figure 7 A schematic diagram of a fourth positioning assembly in a surgical robot provided in one embodiment of the present invention. In one embodiment, the operating instrument module 300 further includes a fourth positioning assembly 370 and an endoscope 380, the fourth positioning assembly 370 includes a second support platform 371 and a second support member 372, the second support platform 371 is connected to the endoscope 380, one end of the second support member 372 is rotatably connected to the second positioning assembly 120, and the other end is rotatably connected to the second support platform 371, and the second support member 372 can be extended and retracted along its own extension direction, and the fourth positioning assembly 370 is used to drive the endoscope 380 to move in a preset space.

[0117] Specifically, the fourth positioning assembly 370 also includes a second connecting platform 373, which is connected to the connecting plate 390 and is located between the two instrument replacement assemblies 310. One end of the second support member 372 can be rotatably connected to the second support platform 371 around at least three mutually perpendicular directions, and the other end can also be rotatably connected to the second connecting platform 373 around at least three mutually perpendicular directions, and the length of the second support member 372 is adjustable, thereby improving the flexibility of the fourth positioning assembly 370, so that the second support platform 371 can move relative to the second connecting platform 373, so that the second support platform 371 drives the endoscope 380 to fine-tune the cranial window 160, so as to achieve accurate observation of the lesion.

[0118] In other embodiments, one end of the second support member 372 is ball-jointed to the second support platform 371 , and the other end is ball-jointed to the second connecting platform 373 .

[0119] It should be noted that the specific structure of the second support member 372 is prior art, and the length of the second support member 372 can be adjusted in various forms, such as by a linear motor drive or by a cylinder. Preferably, the fourth positioning assembly 370 has the same structure and size as the third positioning assembly 360.

[0120] It should be noted that the telescopic adjustment range of the third support member 220 is much larger than that of the first support member 362 and the second support member 372 .

[0121] See also Figure 5 and Figure 6In one embodiment, the operating instrument module 300 also includes a depth feeding assembly 350, which includes a fourth driving member 351, a lead screw 352 and a slider. The lead screw 352 is connected to the power output end of the fourth driving member 351, the slider is threadedly connected to the lead screw 352, and the slider is connected to the instrument replacement assembly 310. The fourth driving member 351 is used to drive the lead screw 352 to rotate, so as to drive the slider to drive the instrument replacement assembly 310 to move along the extension direction of the lead screw 352.

[0122] Specifically, the number of the depth feeding assemblies 350 corresponds to the number of the instrument replacement assemblies 310. The depth feeding assembly 350 also includes a base plate 353, the base plate 353 is connected to the first support platform 361, the fourth driving member 351 is installed on the base plate 353, the base 311 is connected to the slider, and the fourth driving member 351 is used to drive the lead screw 352 to rotate, and through the thread transmission, the slider drives the instrument replacement assembly 310 to move, so as to realize the forward and backward movement of the target instrument 473 at the lesion, thereby improving the operation efficiency and accuracy of the operating instrument module 300. Preferably, the fourth driving member 351 is a motor.

[0123] See also Figure 5 In one embodiment, the surgical robot further includes an optical tracker 440, which is mounted on a bracket 410. The optical tracker 440 is used to track the position of the operating instrument module 300, so that the posture positioning module 100 and the position positioning module 200 can adjust the operating instrument module 470 300 to a preset position.

[0124] See also Figure 5 and Fig.10 , Fig.10 A partial schematic diagram of a surgical robot provided by an embodiment of the present invention Figure 1 In one embodiment, the surgical robot further includes a navigation guidance display 450 and an operation display 460. The bracket 410 is connected to a first link arm 451 and a second link arm 461. The navigation guidance display 450 is connected to the bracket 410 via the first link arm 451. The navigation guidance display 450 is used to display the position image information of the operating instrument module 300 outside the cranial window 160. The operation display 460 is connected to the bracket 410 via the second link arm 461. The operation display 460 is used to display the position image information of the operating instrument module 300 inside the cranial window 160. This embodiment can obtain the position information of the target instrument 473 more accurately and timely through the provision of the navigation guidance display 450 and the operation display 460, thereby facilitating the timely adjustment of the position of the target instrument 473, thereby improving the surgical efficiency and accuracy of the surgical robot.

[0125] See also Figure 5 and Fig.11, Fig.11 A partial schematic diagram of a surgical robot provided by an embodiment of the present invention Figure 2 In one embodiment, the first link arm 451 includes a first section 452 and a second section 453 that are rotatably connected, the first section 452 is rotatably connected to the bracket 410, and the navigation guidance display 450 is rotatably connected to the second section 453, so that the position of the navigation guidance display 450 relative to the bracket 410 is adjustable, thereby improving the adaptability of the surgical robot.

[0126] The second link arm 461 includes a third section 462 and a fourth section 463 which are rotatably connected. The third section 462 is rotatably connected to the bracket 410, and the operation display 460 is rotatably connected to the fourth section 463, so that the position of the operation display 460 relative to the bracket 410 is adjustable, thereby improving the adaptability of the surgical robot.

[0127] See also Figure 5 and Fig.10 In one embodiment, the surgical robot further includes a frame 420 and a lifting module 430 mounted on the frame 420. The lifting module 430 is used to drive the bracket 410 to rise and fall, further improving the adaptability of the surgical robot. The lifting module 430 can be a combination of a motor and a lead screw 352 assembly.

[0128] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0129] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A posture positioning module for neurosurgery, characterized in that: The posture positioning module comprises: a bracket (410), a first positioning component (110) and a second positioning component (120), wherein the first positioning component (110) is connected to the bracket (410), the second positioning component (120) is transmission-connected to the first positioning component (110), and the second positioning component (120) is used for transmission connection to the operating member; The first positioning component (110) is used to drive the second positioning component (120) to drive the operating member to rotate around the distal point (130) on the first plane (131), and the second positioning component (120) is used to drive the operating member to rotate around the distal point (130) on the second plane (132) to adjust the posture of the operating member, wherein the distal point (130) is located at the intersection of the intersection line of the first plane (131) and the second plane (132) and the operating member, and the first plane (131) is perpendicular to the second plane (132).

2. The posture positioning module according to claim 1, characterized in that: The first positioning assembly (110) comprises a first connecting arm (111), a second connecting arm (112) and a third connecting arm (119); one end of the second connecting arm (112) is rotatably connected to the first connecting arm (111), and the other end is rotatably connected to the third connecting arm (119); the third connecting arm (119) is connected to the second positioning assembly (120); and one end of the first connecting arm (111) away from the second connecting arm (112) is rotatably connected to the bracket (410); On the first plane (131), a first rotation axis (141) between the first connecting arm (111) and the bracket (410), a first connecting line (151) between the first connecting arm (111) and the second connecting arm (112), and a second connecting line (152) between the third connecting arm (119), the third rotation axis (143) of the second connecting arm (112) and the distal point (130) are parallel and equal; When the first connecting arm (111) rotates about a first target angle relative to the bracket (410) around a first direction, the second connecting arm (112) rotates about the first target angle in the opposite direction relative to the first connecting arm (111), and the third connecting arm (119) rotates about the first direction relative to the second connecting arm (112) around the first target angle, so that the second positioning assembly (120) drives the operating member to rotate about the distal point (130) on the first plane (131), wherein the first direction is perpendicular to the first plane (131).

3. The posture positioning module according to claim 2, characterized in that: The first connecting arm (111) comprises a first connecting rod, a first rotating wheel (113) and a first driving wheel (114); one end of the first connecting rod is rotatably connected to the bracket (410), and the other end is rotatably connected to the second connecting arm (112); the first rotating wheel (113) is rotatably connected to the first connecting rod around the first rotating axis (141); the first driving wheel (114) is rotatably connected to the first connecting rod around the second rotating axis (142); the first driving wheel (114) is transmission-connected to the first rotating wheel (113) and is connected to the second connecting arm (112); When the first connecting rod rotates relative to the bracket (410) around the first direction to the first target angle, the first rotating wheel (113) drives the first driving wheel (114) to drive the second connecting arm (112) to rotate in the opposite direction around the first direction to the first target angle.

4. The posture positioning module according to claim 2, characterized in that: The second connecting arm (112) comprises a second connecting rod, a second rotating wheel (115) and a second driving wheel (116); one end of the second connecting rod is connected to the first connecting arm (111), and the other end is connected to the third connecting arm (119); the second rotating wheel (115) is connected to the second connecting rod by rotation around the second rotating axis (142); the second driving wheel (116) is connected to the second connecting rod by rotation around the third rotating axis (143); the second driving wheel (116) is connected to the second rotating wheel (115) by transmission means, and is connected to the third connecting arm (119); When the second connecting rod rotates in the opposite direction relative to the first connecting rod about the first direction to the first target angle, the second rotating wheel (115) drives the second driving wheel (116) to drive the third connecting arm (119) to rotate about the first direction to the first target angle.

5. The posture positioning module according to claim 1, characterized in that: The second positioning assembly (120) comprises a first support arm (121), a second support arm (122) and a third support arm (123); one end of the second support arm (122) is rotatably connected to the first support arm (121), and the other end is rotatably connected to the third support arm (123); one end of the first support arm (121) away from the second support arm (122) is rotatably connected to the first positioning assembly (110), and one end of the third support arm (123) away from the second support arm (122) is connected to the operating member; On the second plane (132), a third line (153) between the fourth rotation axis (144) of the first positioning assembly (110) and the first support arm (121) and the distal point, and a fourth line (154) between the fifth rotation axis (145) of the second support arm (122) and the first support arm (121) and the sixth rotation axis (146) of the second support arm (122) and the third support arm (123) are parallel and equal; When the first support arm (121) rotates around the second direction to a second target angle relative to the first positioning assembly (110), the second support arm (122) rotates around the second direction to the second target angle in the opposite direction relative to the first support arm (121), and the third support arm (123) rotates around the second direction to the second target angle relative to the second support arm (122), so that the operating member rotates around the distal point (130) on the second plane (132), wherein the second direction is perpendicular to the second plane (132).

6. The posture positioning module according to claim 5, characterized in that: The first support arm (121) comprises a first support rod, a third rotating wheel (124) and a third driving wheel (125); one end of the first support rod is rotatably connected to the first positioning assembly (110), and the other end is rotatably connected to the second support arm (122); the third rotating wheel (124) is rotatably connected to the first support rod around the fourth rotating axis (144); the third driving wheel (125) is rotatably connected to the first support rod around the fifth rotating axis (145); the third driving wheel (125) is transmission-connected to the third rotating wheel (124) and is connected to the second support arm (122); When the first support rod rotates around the second direction to the second target angle relative to the first positioning assembly (110), the third rotating wheel (124) drives the third driving wheel (125) to drive the second support arm (122) to rotate in the opposite direction to the second target angle.

7. The posture positioning module according to claim 5, characterized in that: The second support arm (122) comprises a second support rod, a fourth rotating wheel (126) and a fourth driving wheel (127); one end of the second support rod is rotationally connected to the first support arm (121), and the other end is rotationally connected to the third support arm (123); the fourth rotating wheel (126) is rotationally connected to the second support rod around the fifth rotating axis (145); the fourth driving wheel (127) is rotationally connected to the second support rod around the sixth rotating axis (146); the fourth driving wheel (127) is transmission-connected to the fourth rotating wheel (126) and is connected to the third support arm (123); When the second support rod rotates in the opposite direction relative to the first support arm (121) about the second direction to the second target angle, the fourth rotating wheel (126) drives the fourth driving wheel (127) to drive the third support arm (123) to rotate about the second direction to the second target angle.

8. A surgical robot, characterized in that: The invention comprises the posture positioning module (100) as claimed in any one of claims 1 to 7, and further comprises a position positioning module (200) and an operating instrument module (300), wherein the position positioning module (200) is connected to the bracket (410), the first positioning component (110) is connected to the output end of the position positioning module (200), the operating instrument module (300) is configured as the operating member, the position positioning module (200) is used to drive the posture positioning module (100) to drive the operating instrument module (300) to move in a preset space, and the posture positioning module (100) is used to drive the operating instrument module (300) to rotate around the distal point in the preset space.

9. The surgical robot according to claim 8, characterized in that: The operating instrument module (300) comprises an instrument replacement assembly (310), wherein the instrument replacement assembly (310) comprises: Instruments (470); A base (311) connected to the second positioning assembly (120); a rotary drive member (320) connected to the base (311), the rotary drive member (320) being used for transmission connection of at least two instruments (470), the rotary drive member (320) being used for driving each of the instruments (470) to rotate so as to move the target instrument (473) to a first preset position; a conveying member (330) connected to the base (311), the conveying member (330) having a first state and a second state, in the first state, the conveying member (330) is used to be in transmission connection with the target device (473) and to drive the target device (473) to move to a second preset position, in the second state, the transmission between the conveying member (330) and the target device (473) is interrupted; An operating drive member (340) is connected to the base (311); in the second state, the operating drive member (340) is used to be transmission-connected to the target device (473) to drive the target device (473) to operate.

10. The surgical robot according to claim 9, characterized in that: The rotary drive member (320) includes a first drive member and a support frame (321), the first drive member is connected to the base (311), the support frame (321) is connected to the transmission end of the first drive member, the support frame (321) is circumferentially provided with a plurality of mounting holes for mounting each of the instruments (470), and the first drive member is used to drive the support frame (321) to rotate around its own center line to move the target instrument (473) to the first preset position.

11. The surgical robot according to claim 9, characterized in that: The conveying member (330) includes a second driving member (331) and a first attracting magnet (332), wherein the first attracting magnet (332) is installed at the output end of the second driving member (331), and in the first state, the first attracting magnet (332) is used to attract the first matching magnet (471) on the target device (473).

12. The surgical robot according to claim 9, characterized in that: The operating drive member (340) includes a third drive member (341) and a second attraction magnet (342), wherein the second attraction magnet (342) is installed at the output end of the third drive member (341). In the second state, the second attraction magnet (342) is used to attract the second matching magnet (472) on the target device (473) to drive the target device (473) to operate.

13. The surgical robot according to claim 9, characterized in that: The operating instrument module (300) also includes a third positioning assembly (360), and the third positioning assembly (360) includes a first support platform (361) and a first support member (362), wherein the first support platform (361) is connected to the instrument replacement assembly (310), one end of the first support member (362) is rotatably connected to the second positioning assembly (120), and the other end is rotatably connected to the first support platform (361), and the first support member (362) can be extended and retracted along its own extension direction, and the third positioning assembly (360) is used to drive the instrument replacement assembly (310) to drive the target instrument (473) to move within a preset area.

14. The surgical robot according to claim 9, characterized in that: The operating instrument module (300) also includes a fourth positioning component (370) and an endoscope (380), wherein the fourth positioning component (370) includes a second support platform (371) and a second support member (372), wherein the second support platform (371) is connected to the endoscope (380), one end of the second support member (372) is rotatably connected to the second positioning component (120), and the other end is rotatably connected to the second support platform (371), and the second support member (372) can be extended and retracted along its own extension direction, and the fourth positioning component (370) is used to drive the endoscope (380) to move within a preset space.

15. The surgical robot according to claim 8, characterized in that: The position positioning module (200) comprises a third support platform (210) and a third support member (220); the third support platform (210) is rotatably connected to the first positioning assembly (110); one end of the third support member (220) is rotatably connected to the bracket (410), and the other end is rotatably connected to the third support platform (210); and the third support member (220) can be extended and retracted along its own extension direction.

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