Posture positioning module and surgical robot

Abstract

The present application relates to a kind of posture positioning module and surgical robot.Module includes support, first positioning component and second positioning component, first positioning component is connected to support, second positioning component is drivingly connected to first positioning component, and drivingly connected to operating element;First positioning component is used to drive second positioning component to drive operating element and rotate around telecentric point on first plane, second positioning component is used to drive operating element and rotate around telecentric point on second plane, wherein, telecentric point is located on the intersection of first plane and second plane and the intersection of operating element, first plane and second plane are perpendicular.By first positioning component driving operating element and rotating around telecentric point on first plane, second positioning component drives operating element and rotates around telecentric point on second plane, so that operating element can take telecentric point as the ball center, can adjust as the normal posture of any approximate sphere as surgical operation initial posture, so that operating element can be accurately positioned, improves the positioning precision.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to posture positioning modules and surgical robots. Background Technology

[0002] Neurosurgical robots require a flexible workspace to fully cover the surgical area, as well as high-precision positioning and manipulation to allow instruments to pass through the cranial window. However, in order to ensure that the neurosurgical robot has a large workspace, the positioning accuracy of the instruments will be affected, reducing the efficiency of the surgical procedure. Summary of the Invention

[0003] Therefore, it is necessary to provide a posture positioning module to address the technical problem that the positioning accuracy of the operating instruments is affected and the efficiency of the operation is reduced in order to ensure that the neurosurgical robot has a large working space.

[0004] An attitude positioning module for neurosurgery includes: a support, a first positioning component, and a second positioning component. The first positioning component is connected to the support, and the second positioning component is drivenly connected to the first positioning component and is drivenly connected to an operating element.

[0005] The first positioning component is used to drive the second positioning component to rotate the operating member 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. The telecentric point is located at the intersection of the line of intersection 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 component 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 component, and the 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 line connecting the first connecting arm and the first axis of rotation of the bracket, the second line connecting the first connecting arm and the second connecting arm, and the second line connecting the third connecting arm and the second connecting arm and the centroid point are parallel and equal.

[0008] When the first connecting arm rotates relative to the bracket around a first direction by a first target angle, the second connecting arm rotates relative to the first connecting arm around the first direction by the first target angle in the opposite direction, and the third connecting arm rotates relative to the second connecting arm around the first direction by the first target angle, so that the second positioning component drives the operating member to rotate around the telecentric 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 about the first rotation axis, and the first driving wheel is rotatably connected to the first connecting rod about the second rotation axis. The first driving wheel is drively connected to the first rotating wheel and 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 includes 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 about the second rotation axis, and the second driving wheel is rotatably connected to the second connecting rod about the third rotation axis. The second driving wheel is drively connected to the second rotating wheel and connected to the third connecting arm.

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

[0013] In one embodiment, the second positioning component 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. The end of the first support arm away from the second support arm is rotatably connected to the first positioning component, and the end of the third support arm away from the second support arm is connected to the operating member.

[0014] On the second plane, the third line connecting the fourth rotation axis of the first positioning component and the first support arm and the distal point is parallel and equal to the fourth line connecting the fifth rotation axis of the second support arm and the sixth rotation axis of the second support arm and the third support arm.

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

[0016] In one embodiment, the first support arm includes 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 component, and the other end is rotatably connected to the second support arm. The third rotating wheel is rotatably connected to the first support rod about the fourth rotation axis, and the third driving wheel is rotatably connected to the first support rod about the fifth rotation axis. The third driving wheel is drively connected to the third rotating wheel and connected to the second support arm.

[0017] When the first support rod rotates relative to the first positioning component around the second direction at the second target angle, 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 at the second target angle.

[0018] In one embodiment, the second support arm includes a second support rod, a fourth rotating wheel, and a fourth drive 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 about a fifth rotation axis, and the fourth drive wheel is rotatably connected to the second support rod about a sixth rotation axis. The fourth drive wheel is drively connected to the fourth rotating wheel and connected to the third support arm.

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

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

[0021] A surgical robot includes the aforementioned attitude positioning module, a position positioning module, and an operating instrument module. The position positioning module is connected to the support, and a first positioning component is connected to the output end of the position positioning module. The operating instrument module is configured as the operating element. The position positioning module is used to drive the attitude positioning module to move the operating instrument module within a preset space, and the attitude positioning module is used to drive the operating instrument module to rotate around a telecentric point within the preset space.

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

[0023] instrument;

[0024] The base is connected to the second positioning component;

[0025] A rotary drive unit is connected to the base. The rotary drive unit is used to drive at least two instruments to rotate, so as to move the target instrument to a first preset position.

[0026] A conveyor is connected to the base. The conveyor has a first state and a second state. In the first state, the conveyor is used to drive the target instrument to a second preset position. In the second state, the transmission between the conveyor and the target instrument is interrupted.

[0027] An operating drive unit, connected to the base, in the second state, is used to drive the target instrument through a transmission connection to drive the target instrument to operate.

[0028] In one embodiment, the rotary drive includes a first drive and a support frame. The first drive is connected to the base, and the support frame is connected to the transmission end of the first drive. The support frame is provided with a plurality of mounting holes for mounting each of the instruments in a circumferential direction. The first drive 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, the first attracting magnet being mounted on the output end of the second driving member. In the first state, the first attracting magnet is used to attract a first mating magnet on the target instrument.

[0030] In one embodiment, the operating actuator includes a third actuator and a second attracting magnet. The second attracting magnet is mounted on the output end of the third actuator. In the second state, the second attracting magnet is used to attract a second mating magnet on the target instrument to drive the target instrument to operate.

[0031] In one embodiment, the operating instrument module further includes a third positioning component, which includes a first support platform and a first support member. The first support platform is connected to the instrument changing component. One end of the first support member is rotatably connected to the second positioning component, and the other end is rotatably connected to the first support platform. The first support member is capable of extending and retracting along its own extension direction. The third positioning component is used to drive the instrument changing component to move the target instrument within a preset area.

[0032] In one embodiment, the operating instrument module further includes a fourth positioning component and an endoscope. The fourth positioning component 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 component, and the other end is rotatably connected to the second support platform. The second support member is capable of extending and retracting along its own extension direction. The fourth positioning component is used to drive the endoscope to move within a preset space.

[0033] In one embodiment, the 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. The third support member is capable of extending and retracting along its own extension direction.

[0034] Beneficial effects:

[0035] The attitude positioning module provided in this embodiment of the invention includes a support, a first positioning component, and a second positioning component. The first positioning component is connected to the support, and the second positioning component is driven to the first positioning component and is also driven to the operating member. The first positioning component drives the second positioning component to rotate the operating member around a telecentric point on a first plane, and the second positioning component drives the operating member to rotate around the telecentric point on a second plane, thereby adjusting the attitude of the operating member. The telecentric point is located at the intersection of the line between the first and second planes and the operating member, and the first and second planes are perpendicular. In this application, the first positioning component drives the second positioning component to rotate the operating member around the telecentric point on the first plane, and the second positioning component drives the operating member to rotate around the telecentric point on the second plane. The telecentric point is located on the operating member, and the first and second planes are perpendicular, allowing the operating member to be adjusted to a normal attitude of any approximate sphere with the telecentric point as the center, which serves as the initial attitude for surgical operation. This enables the operating member to be accurately positioned at the lesion, improving the positioning accuracy of the attitude positioning module.

[0036] This invention also provides a surgical robot, including the aforementioned attitude positioning module, a position positioning module, and an instrumentation module. The position positioning module is connected to a support, and a first positioning component is connected to the output end of the position positioning module. The instrumentation module is configured as an operating element. The position positioning module drives the attitude positioning module to move the instrumentation module within a preset space, and the attitude positioning module drives the instrumentation module to rotate around a telecentric point within the preset space. This surgical robot can achieve at least one of the above-mentioned technical effects. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of an attitude positioning module provided in an embodiment of the present invention.

[0038] Figure 2 This is a simplified diagram of the first positioning component in the attitude positioning module provided in an embodiment of the present invention during the motion process.

[0039] Figure 3 This is a simplified structural diagram of the first positioning component in an attitude positioning module provided in an embodiment of the present invention.

[0040] Figure 4 This is a simplified structural diagram of the second positioning component in an attitude positioning module provided in an embodiment of the present invention.

[0041] Figure 5 This is a schematic diagram of a surgical robot provided in an embodiment of the present invention.

[0042] Figure 6 This is a schematic diagram of the operating instrument module in a surgical robot according to an embodiment of the present invention.

[0043] Figure 7 This is a schematic diagram of the fourth positioning component in a surgical robot provided in an embodiment of the present invention.

[0044] Figure 8 This is a first schematic diagram of an instrument replacement assembly in a surgical robot according to an embodiment of the present invention.

[0045] Figure 9 This is a second schematic diagram of an instrument replacement assembly in a surgical robot according to an embodiment of the present invention.

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

[0047] Figure 11 A partial schematic diagram of a surgical robot provided in an embodiment of the present invention. Figure 2 . Detailed Implementation

[0048] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be 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 the present invention. However, the present invention can be practiced 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 the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0049] In the description of this invention, 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," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention.

[0050] 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 invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," 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 explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] 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.

[0053] See Figure 1 , Figure 1 This is a schematic diagram of an attitude positioning module provided in an embodiment of the present invention. The attitude positioning module provided in an embodiment of the present invention includes a support 410, a first positioning component 110, and a second positioning component 120. The first positioning component 110 is connected to the support 410, and the second positioning component 120 is driveably connected to the first positioning component 110 and is driveably connected to an operating member. The first positioning component 110 drives the second positioning component 120 to rotate the operating member around a telecentric point 130 on a first plane 131, and the second positioning component 120 drives the operating member to rotate around a telecentric point 130 on a second plane 132 to adjust the attitude of the operating member. The telecentric point 130 is located at the intersection of the line of intersection of the first plane 131 and the second plane 132 and the operating member, and the first plane 131 and the second plane 132 are perpendicular.

[0054] The attitude positioning module in this application is used in surgical robots. During the operation of a surgical robot, a hole, namely a cranial window 160, is usually made in the head of the object being operated on, and the manipulator is placed inside the cranial window 160 to perform the operation.

[0055] Specifically, in this application, the first positioning component 110 drives the second positioning component 120 to rotate the operating component around the telecentric point 130 on the first plane 131, and the second positioning component 120 drives the operating component to rotate around the telecentric point 130 on the second plane 132. The telecentric point 130 is located on the operating component, and the first plane 131 and the second plane 132 are perpendicular to each other. This allows the operating component to be adjusted to any approximate spherical normal posture as the initial posture for surgical operation with the telecentric point 130 as the center. This enables the operating component to 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 telecentric point 130 remains unchanged during the movement of the first positioning component 110 and the second positioning component 120. Preferably, the telecentric point 130 coincides with the center point of the cranial window 160, so that during the rotation of the operating component around the telecentric point by the attitude positioning module, the operating component can be positioned in any posture within the cranial window 160, and interference with the head can be reduced, thereby improving positioning accuracy and adaptability.

[0057] See Figure 1 , Figure 2 and Figure 3 , Figure 2 This is a simplified diagram of the first positioning component in the attitude positioning module provided in an embodiment of the present invention during the motion process. Figure 3 This is a simplified structural diagram of the first positioning component in an attitude positioning module according to an 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. 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 line 151 connecting the first connecting arm 111 and the bracket 410, the second line 151 connecting the first connecting arm 111 and the second connecting arm 112, and the second line 152 connecting the third connecting arm 119 and the second connecting arm 112, and the centroid point 130, are parallel and equal.

[0058] Specifically, on the first plane 131, a first line 151 is obtained by connecting the first rotation axis 141 and the second rotation axis 142; a second line 152 is obtained by connecting the third rotation axis 143 and the centroid 130; a fifth line 155 is obtained by connecting the second rotation axis 142 and the third rotation axis 143; and a sixth line 156 is obtained by connecting the first rotation axis 141 and the centroid 130. Since the first line 151 and the second line 152 are parallel and equal, the first line 151, the second line 152, the fifth line 155, and the sixth line 156 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. Therefore, the first connecting arm 111, the second connecting arm 112, and the third connecting arm 119 may not be located on the same plane. However, 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. Therefore, the thickness of the first connecting arm 111, the second connecting arm 112, and the third connecting arm 119 does not affect the first connecting line 151, the second connecting line 152, the fifth connecting line 155, and the sixth connecting line 156. Therefore, this application does not limit the thickness of the first connecting arm 111, the second connecting arm 112, and the third connecting arm 119.

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

[0061] Specifically, as per the instruction manual Figure 2 Taking an example, in the initial state (the figure represented by the solid line), 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 line 151, the second line 152, the fifth line 155, and the sixth line 156 form a parallelogram, then α + β = 180°.

[0062] When the first connecting arm 111 rotates γ about the first direction, the second connecting arm 112 rotates γ in the opposite direction relative to the first connecting arm 111 about the first direction, and the third connecting arm 119 rotates γ about the first direction relative to the second connecting arm 112, to form the target state (shown in the dashed line diagram). 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°, Therefore, under 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 remains a parallelogram. Thus, 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. Therefore, 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, thereby adjusting the posture of the operating element on the first plane 131, improving the positioning accuracy of the operating element, and increasing the efficiency of the surgical operation.

[0063] Among them, the instruction manual is attached Figure 1 Taking this 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 can also be other planes.

[0064] See 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 about a first rotation axis 141, and the first driving wheel 114 is rotatably connected to the first connecting rod about a second rotation axis 142. The first driving wheel 114 is drively connected to the first rotating wheel 113 and connected to the second connecting arm 112. When the first connecting rod rotates relative to the bracket 410 about a first direction by a 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 about the first direction by a first target angle.

[0065] Specifically, the first rotating wheel 113 is connected to the bracket 410, and the axes of both the first rotating wheel 113 and the first drive wheel 114 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 a first target angle. Since the first drive wheel 114 is connected to the first rotating wheel 113, the first rotating wheel 113 drives the first drive wheel 114 to rotate in the opposite direction by a first target angle. The first drive 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 a first target angle.

[0066] See Figure 1 and Figure 3 In one embodiment, the transmission ratios of the first drive wheel 114 and the first rotating wheel 113 are equal. The first connecting arm 111 further includes a first transmission belt 117, which is tensioned by the first rotating wheel 113 and the first drive wheel 114 to achieve a transmission connection between the first drive wheel 114 and the first rotating wheel 113. In other embodiments, the first rotating wheel 113 and the first drive wheel 114 can also be driven by other means, as long as the first rotating wheel 113 and the first drive wheel 114 are driven in the same direction and at the same angle.

[0067] See 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 rotatably connected to the second connecting rod around the second rotation axis 142, and the second driving wheel 116 is rotatably connected to the second connecting rod around the third rotation axis 143. The second driving wheel 116 is drively connected to the second rotating wheel 115 and 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 around the first direction by the first target angle.

[0068] Specifically, the second rotating wheel 115 is connected to the first connecting rod. The axes of both the second rotating wheel 115 and the second driving wheel 116 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 to the first connecting rod by a first target angle, it is equivalent to the second rotating wheel 115 rotating in the same direction relative to the second connecting rod by the same target angle. Since the second driving wheel 116 is connected to the second rotating wheel 115, the second rotating wheel 115 drives the second driving wheel 116 to rotate in the same direction by the same target angle. The second driving wheel 116 is connected to the third connecting arm 119, thereby causing the third connecting arm 119 to rotate in the same direction relative to the second connecting rod by the same target angle.

[0069] See Figure 1 and Figure 3 In one embodiment, the transmission ratios of the second drive wheel 116 and the second rotating wheel 115 are equal. The second connecting arm 112 also includes a second transmission belt 118, which is tensioned by the second rotating wheel 115 and the second drive wheel 116, thus achieving a transmission connection between the second drive wheel 116 and the second rotating wheel 115. In other embodiments, the second rotating wheel 115 and the second drive wheel 116 can also be driven by other means, as long as the second rotating wheel 115 and the second drive wheel 116 are driven by each other and their 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 together. 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 component 110 only needs to have one driving component, which can be a motor.

[0071] See Figure 1 , Figure 3 and Figure 4 , Figure 4This is a simplified structural diagram of the second positioning component in an attitude positioning module according to an 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 an operating member. On the second plane 132, the third line 153 connecting the fourth rotation axis 144 of the first positioning component 110 and the first support arm 121 to the centroid 130 is parallel and equal to the fourth line 154 connecting 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.

[0072] Specifically, the first support arm 121 is rotatably connected to the third connecting arm 119. On the second plane 132, connecting the fourth rotation axis 144 and the centroid 130 yields the third connecting line 153; connecting the fifth rotation axis 145 and the sixth rotation axis 146 yields the fourth connecting line 154; connecting the fourth rotation axis 144 and the fifth rotation axis 145 yields the seventh connecting line 157; and connecting the sixth rotation axis 146 and the centroid 130 yields the 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 form a parallelogram.

[0073] It should be noted that since the first support arm 121, the second support arm 122, and the third support arm 123 have a certain thickness, they may not be located on the same plane. However, since the third connecting line 153, the fourth connecting line 154, the seventh connecting line 157, and the eighth connecting line 158 are all located on the second plane 132, the thickness of the first support arm 121, the second support arm 122, and the third support arm 123 does not affect the third connecting line 153, the fourth connecting line 154, the seventh connecting line 157, and the eighth connecting line 158. Therefore, this application does not impose any restrictions on the thickness of the first support arm 121, the second support arm 122, and the third support arm 123.

[0074] In this embodiment, the second connecting line 152 and the third connecting line 153 at least partially overlap, such that the centroid 130 corresponding to the parallelogram enclosed by the first connecting line 151, the second connecting line 152, the fifth connecting line 155, and the sixth connecting line 156 coincides with the centroid 130 corresponding to the parallelogram enclosed by the third connecting line 153, the fourth connecting line 154, the seventh connecting line 157, and the eighth connecting line 158. That is, the end of the overlapping line segment of the second connecting line 152 and the third connecting line 153 closest to the operating component is the centroid 130. It should be noted that, due to the thickness of the third connecting arm 119, there is a certain error in the positions of the second connecting line 152 and the third connecting line 153 in the illustration. This error is negligible in this embodiment, as long as the position of the centroid 130 remains unchanged.

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

[0076] Specifically, as per the appendix to the instruction manual. Figure 2 As illustrated in the analysis, the first connecting line 151, the second connecting line 152, the fifth connecting line 155, and the sixth connecting line 156 remain parallelograms during rotation. The principle of the second positioning component 120 is the same as that of the first positioning component 110. Therefore, the third connecting line 153, the fourth connecting line 154, the seventh connecting line 157, and the eighth connecting line 158 also remain parallelograms during rotation, thus ensuring that the position of the distal point 130 does not change. Furthermore, during the movement of the second positioning component 120, it can drive the operating member to rotate around the distal point 130 on the second plane 132, thereby adjusting the posture of the operating member on the second plane 132, improving the positioning accuracy of the operating member, and increasing the efficiency of the surgical operation.

[0077] Among them, the instruction manual is attached Figure 1 Taking this example, 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 can also be other planes.

[0078] See 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 rotation axis 144, and the third driving wheel 125 is rotatably connected to the first support rod around a fifth rotation axis 145. The third driving wheel 125 is drively connected to the third rotating wheel 124 and connected to the second support arm 122. When the first support rod rotates relative to the first positioning assembly 110 around a second direction by a second target angle, 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 by a second target angle.

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

[0080] Furthermore, the fourth rotation axis 144 coincides with the third rotation axis 143, that is, the second connecting line 152 coincides with the third connecting line 153. This shortens the length of the third connecting arm 119, reduces interference with the object being acted upon, and improves the reliability of the attitude positioning module. Since the second connecting line 152 coincides with the third connecting line 153, the first connecting line 152 is parallel to and equal to the second connecting line 153, and the third connecting line 153 is parallel to and equal to the fourth connecting line 154. Therefore, the first connecting line 151 is parallel to and equal to the fourth connecting 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. The fourth rotation axis 144 is located between the third rotation axis 143 and the centroid 130, so as to avoid the third connecting arm 119 being too long and interfering with the head of the object being acted upon.

[0082] See Figure 1 , Figure 3 and Figure 4In one embodiment, the transmission ratios of the third drive wheel 125 and the third rotating wheel 124 are equal. The first support arm 121 also includes a third transmission belt 128, which is tensioned by the third rotating wheel 124 and the third drive wheel 125, thus achieving a transmission connection between the third drive wheel 125 and the third rotating wheel 124. In other embodiments, the third rotating wheel 124 and the third drive wheel 125 can also be driven by other means, as long as the third rotating wheel 124 and the third drive wheel 125 are driven in the same direction and angle.

[0083] See 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 about a fifth rotation axis 145, and the fourth driving wheel 127 is rotatably connected to the second support rod about a sixth rotation axis 146. The fourth driving wheel 127 is drively connected to the fourth rotating wheel 126 and connected to the third support arm 123. When the second support rod rotates in the opposite direction to the first support arm 121 about a second direction 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 about a second direction by a second target angle.

[0084] Specifically, the fourth rotating wheel 126 is connected to the first support rod, and the axes of the fourth rotating wheel 126 and the fourth drive wheel 127 extend along the second direction. The rotation axes of the third drive 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 to the first support rod by a second target angle, it is equivalent to the fourth rotating wheel 126 rotating in the same direction relative to the second support rod by a second target angle. Since the fourth drive wheel 127 is connected to the fourth rotating wheel 126, the fourth rotating wheel 126 drives the fourth drive wheel 127 to rotate in the second direction by a second target angle. The fourth drive wheel 127 is connected to the third support arm 123, thereby causing the third support arm 123 to rotate in the same direction relative to the second support rod by a second target angle.

[0085] See Figure 1 and Figure 4In one embodiment, the transmission ratios of the fourth drive wheel 127 and the fourth rotating wheel 126 are equal. The second support arm 122 also includes a fourth transmission belt 129, which is tensioned by the fourth rotating wheel 126 and the fourth drive wheel 127, thus achieving a transmission connection between the fourth drive wheel 127 and the fourth rotating wheel 126. In other embodiments, the fourth rotating wheel 126 and the fourth drive wheel 127 can also be driven by other means, as long as the fourth rotating wheel 126 and the fourth drive wheel 127 are driven in the same direction and angle.

[0086] It should be noted that the first support arm 121, the second support arm 122, and the third support arm 123 are linked together. 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 component 120 only needs to have one driving component, which can be a motor.

[0087] See Figure 1 and Figure 5 , Figure 5 This is a schematic diagram of a surgical robot provided in an embodiment of the present invention. The present invention also provides a surgical robot, including the aforementioned attitude positioning module 100, a position positioning module 200, and an instrument module 300. The position positioning module 200 is connected to a support 410, and a first positioning component 110 is connected to the output end of the position positioning module 200. The instrument module 300 is configured as an operating element. The position positioning module 200 drives the attitude positioning module 100 to move the instrument module 300 within a preset space, and the attitude positioning module 100 drives the instrument module 300 to rotate around a telecentric point 130 within the 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 move the operating instrument module 300 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 the distal point 130 is located inside the cranial window 160. This makes it easier for the posture positioning module 100 to drive the operating instrument module 300 to rotate around the distal point 130 inside the cranial window 160 for posture adjustment, adjusting 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 the instrument module 300 can have a larger range of motion and reduce interference with the head of the subject during the rotation of the instrument module 300 around the distal point 130.

[0090] It should be noted that the preset space refers to the maximum space on one side of the cranial window 160 of the test subject, where the positioning module 200 can drive the movement of the operating instrument module 300.

[0091] See Figure 1 and Figure 5 In one embodiment, the 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 component 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. The third support rod is capable of extending and retracting along its own extension direction.

[0092] Specifically, the third support platform 210 is rotatably connected to the first connecting arm 111. The position positioning module 200 also includes a third connecting platform 230, which is connected to the support 410. That is, the first positioning component 110 is connected to the support 410 through the position positioning module 200. One end of the third support member 220 is rotatably connected to the third support platform 210 about at least three mutually perpendicular directions, and the other end is also rotatably connected to the third connecting platform 230 about at least three mutually perpendicular directions. The length of the third support member 220 is adjustable, thereby improving the flexibility of the position positioning module 200. This allows the third support platform 210 to move relative to the third connecting platform 230, so that the third support platform 210 can drive the first positioning component 110 to move within a preset space, thereby moving the operating instrument module 300 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 within a large space within the preset space, the third support component 220 needs to have a large stroke. This results in a lower positioning accuracy of the position positioning module 200, which needs to cooperate with the attitude 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 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 existing technology. The length of the third support member 220 can be adjusted in various ways, such as by driving a linear motor or by driving a cylinder.

[0096] See Figure 5 , Figure 6 , Figure 8 and Figure 9 , Figure 6 This is a schematic diagram of an operating instrument module in a surgical robot according to an embodiment of the present invention; Figure 8This is a first schematic diagram of an instrument replacement assembly in a surgical robot according to an embodiment of the present invention; Figure 9 This is a second schematic diagram of an instrument changing assembly in a surgical robot according to an embodiment of the present invention. In one embodiment, the operating instrument module 300 includes an instrument changing assembly 310, which includes an instrument 470, a base 311, a rotary drive 320, a conveyor 330, and an operating drive 340. The base 311 is connected to a second positioning assembly 120. The rotary drive 320 is connected to the base 311 and is used to drive at least two instruments 470 to rotate, thereby moving the target instrument 473 to the first position. The preset position; the conveyor 330 is connected to the base 311. The conveyor 330 has a first state and a second state. In the first state, the conveyor 330 is used to drive the target instrument 473 to move to the second preset position. In the second state, the transmission between the conveyor 330 and the target instrument 473 is interrupted. The operation drive 340 is connected to the base 311. In the second state, the operation drive 340 is used to drive the target instrument 473 to operate.

[0097] Specifically, the instruments 470 are spaced apart circumferentially. Once the target instrument 473 is determined, the rotary drive 320 can drive each instrument 470 to rotate around the center line enclosed by the instruments 470, thereby enabling each instrument 470 to rotate to a first preset position. The first preset position refers to the location corresponding to the lesion of the target object. To avoid interference with the lesion during rotation, the first preset position is at a certain distance from the lesion.

[0098] After the target instrument 473 moves to the first preset position, the conveyor 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, which facilitates the operation of the target instrument 473.

[0099] When the target device 473 moves to the second preset position, the conveyor 330 switches to the second state, thereby interrupting the transmission with the target device 473. In this way, during the operation of the target device 473 driven by the operating device, the interference to the conveyor 330 can be reduced, and the reliability of the operating device module 300 can be improved.

[0100] This embodiment, through the instrument replacement component 310, allows for the replacement of different instruments 470 without the need for secondary positioning, thereby improving the efficiency and adaptability of the instrument module 300 and ultimately enhancing the surgical efficiency of the surgical robot.

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

[0102] Specifically, each instrument 470 is slidably mounted in the mounting hole. When the conveyor 330 is in the first state, the conveyor 330 can drive the target instrument 473 to slide relative to the wall of the mounting hole. The mounting hole serves as a guide, improving the stability of the target instrument 473's movement. Preferably, the first driving component is a motor.

[0103] See Figure 8 and Figure 9 In one embodiment, the conveyor 330 includes a second drive 331 and a first attracting magnet 332. The first attracting magnet 332 is mounted on the output end of the second drive 331. In a first state, the first attracting magnet 332 is used to attract the first mating magnet 471 on the target instrument 473.

[0104] Specifically, each instrument 470 is equipped with a first mating magnet 471. When the target instrument 473 rotates to the first preset position, the first attracting magnet 332 engages with the first mating magnet 471, making the target instrument 473 stably connected to the second driving member 331. This allows the second driving member 331 to stably drive the target instrument 473 to move to the lesion, i.e., the second preset position. Preferably, the second driving member 331 is a motor.

[0105] Furthermore, the first attracting magnet 332 is an electromagnet, and the first mating 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 attracting magnet 332 is energized, causing it to engage with the first mating magnet 471, i.e., the conveyor 330 is in the first state. When the target device 473 moves to the second preset position, the first attracting magnet 332 is de-energized, causing it to disengage from the first mating magnet 471. This reduces interference with the second driving component 331 during the operation of the target device 473, improving the reliability of the operating device module 300.

[0106] See Figure 8 and Figure 9In one embodiment, the operating drive 340 includes a third drive 341 and a second attracting magnet 342. The second attracting magnet 342 is mounted on the output end of the third drive 341. In a second state, the second attracting magnet 342 is used to attract the second mating magnet 472 on the target instrument 473 to drive the target instrument 473 to operate.

[0107] Specifically, each instrument 470 is equipped with a second mating magnet 472. When the target instrument 473 rotates to the second preset position and the conveyor 330 is in the second state, the second attracting magnet 342 and the second mating magnet 472 are attracted, so that the target instrument 473 is stably connected to the third driving member 341, thereby enabling the third driving member 341 to stably drive the target instrument 473 to operate. Preferably, the third driving member 341 is a motor.

[0108] Furthermore, the second attracting magnet 342 is an electromagnet, and the second mating magnet 472 is a permanent magnet. When it is necessary to control the operation of the target instrument 473, the second attracting magnet 342 is energized, causing it to attract the second attracting magnet 342 and the second mating magnet 472. When the target instrument 473 completes its operation, the second attracting magnet 342 is de-energized, causing it to disconnect from the second mating magnet 472. Then, the first attracting magnet 332 is energized, causing the conveyor 330 to switch to the first state. This reduces interference with the third drive component 341 when the second drive component 331 moves the target instrument 473 back to the second preset position, thus improving the reliability of the operating instrument module 300.

[0109] Furthermore, the operating drive unit 340 also includes a connecting frame 343, which is connected to the power output end of the third drive unit 341. The second attracting magnet 342 is mounted on the connecting frame 343. When the second attracting magnet 342 and the second mating magnet 472 are attracted, part of the connecting frame 343 extends into the target instrument 473 from the side, so that the second attracting magnet 342 and the second mating magnet 472 are attracted. The second mating magnet 472 is connected to the operating end of the corresponding instrument 470. The third drive unit 341 acts on the operating end of the target instrument 473 to realize the operation of the target instrument 473.

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

[0111] Specifically, the third positioning component 360 further includes a first connecting platform 363, which is connected to the third support arm 123. One end of the first support member 362 is rotatably connected to the first support platform 361 about at least three mutually perpendicular directions, and the other end is also rotatably connected to the first connecting platform 363 about at least three mutually perpendicular directions. The length of the first support member 362 is adjustable, thereby improving the flexibility of the third positioning component 360. This allows the first support platform 361 to move relative to the first connecting platform 363, enabling the first support platform 361 to drive the instrument 470 to make fine adjustments within the cranial window 160, thus facilitating the operation of the target instrument 473. Preferably, both ends of the first support member 362 are hinged to the first connecting platform 363 and the first support platform 361, respectively.

[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 existing technology. The length of the first support member 362 can be adjusted in various ways, such as by driving a linear motor or by using a cylinder.

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

[0115] Specifically, the operating instrument module 300 also includes a connecting plate 390, which is connected to the end of the third support arm 123 away from the second support arm 122. The connecting plate 390 is provided with third positioning components 360 corresponding to the number of instrument replacement assemblies 310. Each instrument replacement assembly 310 is mounted on the connecting plate 390 via a first support platform 361. The axes of each support frame 321 are arranged around the distal point 130, thereby reducing interference between the instruments 470 and allowing each instrument 470 to operate in any posture within the cranial window 160, improving the reliability of the surgical robot. Preferably, there are two instrument replacement assemblies 310.

[0116] See Figure 4 , Figure 5 , Figure 6 and Figure 7 , Figure 7 This is a schematic diagram of a fourth positioning component in a surgical robot according to an embodiment of the present invention. In one embodiment, the operating instrument module 300 further includes a fourth positioning component 370 and an endoscope 380. The fourth positioning component 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 component 120, and the other end is rotatably connected to the second support platform 371. The second support member 372 is capable of extending and retracting along its own extension direction. The fourth positioning component 370 is used to drive the endoscope 380 to move within a preset space.

[0117] Specifically, the fourth positioning component 370 also includes a second connecting platform 373, which is connected to the connecting plate 390 and located between the two instrument changing components 310. One end of the second support member 372 is rotatably connected to the second support platform 371 about at least three mutually perpendicular directions, and the other end is also rotatably connected to the second connecting platform 373 about at least three mutually perpendicular directions. The length of the second support member 372 is adjustable, thereby improving the flexibility of the fourth positioning component 370. This allows the second support platform 371 to move relative to the second connecting platform 373, so that the second support platform 371 can drive the endoscope 380 to make fine adjustments at the cranial window 160, thereby achieving precise 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 existing technology. The length of the second support member 372 can be adjusted in various ways, such as by driving a linear motor or by using a cylinder. Preferably, the fourth positioning component 370 has the same structure and dimensions as the third positioning component 360.

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

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

[0122] Specifically, the number of depth feed components 350 corresponds to the number of instrument changing components 310. Each depth feed component 350 also includes a base plate 353 connected to a first support platform 361. A fourth drive component 351 is mounted on the base plate 353, and a base 311 is connected to a slider. The fourth drive component 351 drives a lead screw 352 to rotate, thereby enabling the slider to move the instrument changing components 310 via threaded transmission. This allows the target instrument 473 to move forward and backward at the lesion site, improving the operating efficiency and accuracy of the instrument module 300. Preferably, the fourth drive component 351 is a motor.

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

[0124] See Figure 5 and Figure 10 , Figure 10 A partial schematic diagram of a surgical robot provided in 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. A first linkage arm 451 and a second linkage arm 461 are connected to a support 410. The navigation guidance display 450 is connected to the support 410 via the first linkage arm 451 and displays the position image information of the instrument module 300 outside the cranial window 160. The operation display 460 is connected to the support 410 via the second linkage arm 461 and displays the position image information of the instrument module 300 inside the cranial window 160. This embodiment, through the arrangement of the navigation guidance display 450 and the operation display 460, can more accurately and promptly obtain the position information of the target instrument 473, thereby facilitating timely adjustment of the position of the target instrument 473 and improving the surgical efficiency and precision of the surgical robot.

[0125] See Figure 5 and Figure 11, Figure 11 A partial schematic diagram of a surgical robot provided in an embodiment of the present invention. Figure 2 In one embodiment, the first linkage arm 451 includes a first segment 452 and a second segment 453 that are rotatably connected. The first segment 452 is rotatably connected to the support 410, and the navigation guidance display 450 is rotatably connected to the second segment 453, thereby making the position of the navigation guidance display 450 relative to the support 410 adjustable, thus improving the adaptability of the surgical robot.

[0126] The second linkage arm 461 includes a third segment 462 and a fourth segment 463 that are rotatably connected. The third segment 462 is rotatably connected to the support 410, and the operation display 460 is rotatably connected to the fourth segment 463, thereby making the position of the operation display 460 relative to the support 410 adjustable, thus improving the adaptability of the surgical robot.

[0127] See Figure 5 and Figure 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 support 410 to rise and fall, further improving the adaptability of the surgical robot. The lifting module 430 may be a combination of a motor and a lead screw 352 assembly.

[0128] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0129] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A posture positioning module for neurosurgical procedures, characterized in that, The attitude positioning module includes: a bracket (410), a first positioning component (110) and a second positioning component (120). The first positioning component (110) is connected to the bracket (410), the second positioning component (120) is driven to the first positioning component (110), and the second positioning component (120) is driven to the operating component. The first positioning component (110) is used to drive the second positioning component (120) to rotate the operating member around the telecentric point (130) on the first plane (131), and the second positioning component (120) is used to drive the operating member to rotate around the telecentric point (130) on the second plane (132) to adjust the posture of the operating member. The telecentric point (130) is located at the intersection of the line of intersection of the first plane (131) and the second plane (132) with the operating member, and the first plane (131) is perpendicular to the second plane (132). 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). 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 axis of rotation (141) between the first connecting arm (111) and the bracket (410), the first line (151) between the first connecting arm (111) and the second axis of rotation (142) between the second connecting arm (112), and the second line (152) between the third axis of rotation (143) between the third connecting arm (119) and the second connecting arm (112) and the centroid (130) are parallel and equal; 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 line (153) connecting the fourth rotation axis (144) of the first positioning component (110) and the first support arm (121) with the centroid point, is parallel and equal to the fourth line (154) connecting the fifth rotation axis (145) of the second support arm (122) and the first support arm (121) with the sixth rotation axis (146) of the second support arm (122) and the third support arm (123); The second connecting line (152) and the third connecting line (153) at least partially overlap.

2. The attitude positioning module according to claim 1, characterized in that, When the first connecting arm (111) rotates relative to the bracket (410) around the first direction by a first target angle, the second connecting arm (112) rotates relative to the first connecting arm (111) around the first direction by the first target angle in the opposite direction, and the third connecting arm (119) rotates relative to the second connecting arm (112) around the first direction by the first target angle, so that the second positioning component (120) drives the operating member to rotate around the telecentric point (130) on the first plane (131), wherein the first direction is perpendicular to the first plane (131).

3. The attitude positioning module according to claim 2, characterized in that, 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 the first rotation axis (141). The first driving wheel (114) is rotatably connected to the first connecting rod around the second rotation axis (142). The first driving wheel (114) is driven by the first rotating wheel (113) and connected to the second connecting arm (112). When the first connecting rod rotates relative to the bracket (410) around the first direction at 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 at the first target angle.

4. The attitude positioning module according to claim 2, characterized in that, 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 rotatably connected to the second connecting rod around the second rotation axis (142). The second driving wheel (116) is rotatably connected to the second connecting rod around the third rotation axis (143). The second driving wheel (116) is driven by the second rotating wheel (115) 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 the first target angle, the second rotating wheel (115) drives the second driving wheel (116) to drive the third connecting arm (119) to rotate in the first direction by the first target angle.

5. The attitude positioning module according to claim 1, characterized in that, When the first support arm (121) rotates relative to the first positioning component (110) around the second direction by the second target angle, the second support arm (122) rotates relative to the first support arm (121) around the second direction by the second target angle in the opposite direction, and the third support arm (123) rotates relative to the second support arm (122) around the second direction by the second target angle, so that the operating member rotates around the centroid (130) on the second plane (132), wherein the second direction is perpendicular to the second plane (132).

6. The attitude positioning module according to claim 5, characterized in that, The first support arm (121) includes a first support rod, a third rotating wheel (124) and a third drive 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 rotation axis (144). The third drive wheel (125) is rotatably connected to the first support rod around the fifth rotation axis (145). The third drive wheel (125) is drively connected to the third rotating wheel (124) and connected to the second support arm (122). When the first support rod rotates relative to the first positioning component (110) around the second direction at the second target angle, 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 at the second target angle.

7. The attitude positioning module according to claim 5, characterized in that, The second support arm (122) includes a second support rod, a fourth rotating wheel (126) and a fourth drive 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 the fifth rotation axis (145). The fourth drive wheel (127) is rotatably connected to the second support rod around the sixth rotation axis (146). The fourth drive wheel (127) is driven by the fourth rotating wheel (126) and connected to the third support arm (123). When the second support rod rotates in the opposite direction to the first support arm (121) around the second direction at the 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 at the second target angle.

8. A surgical robot, characterized in that, The system includes an attitude positioning module (100), which includes a support (410), a first positioning component (110), and a second positioning component (120). The first positioning component (110) is connected to the support (410), and the second positioning component (120) is driven to the first positioning component (110). The second positioning component (120) is also driven to the operating component. It also includes a position positioning module (200) and an operating instrument module (300). 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 component. The position positioning module (200) is used to drive the attitude positioning module (100) to move the operating instrument module (300) in a preset space. The attitude positioning module (100) is used to drive the operating instrument module (300) to rotate around the telecentric point in the preset space. The operating instrument module (300) includes an instrument replacement assembly (310), which includes: Instruments (470); The base (311) is connected to the second positioning component (120); A rotary drive (320) is connected to the base (311). The rotary drive (320) is used to drive at least two instruments (470) to rotate, so as to move the target instrument (473) to a first preset position. A conveyor (330) is connected to the base (311). The conveyor (330) has a first state and a second state. In the first state, the conveyor (330) is used to drive the target device (473) located at the first preset position and to drive the target device (473) to move to the second preset position. In the second state, the transmission between the conveyor (330) and the target device (473) is interrupted.

9. The surgical robot according to claim 8, characterized in that, The instrument replacement assembly (310) includes: An operating drive unit (340) is connected to the base (311). In the second state, the operating drive unit (340) is used to drive the target instrument (473) to operate.

10. The surgical robot according to claim 9, characterized in that, The rotary drive (320) includes a first drive and a support frame (321). The first drive is connected to the base (311), and the support frame (321) is connected to the transmission end of the first drive. The support frame (321) has a plurality of mounting holes for mounting each of the instruments (470) in the circumferential direction. The first drive 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 component (330) includes a second driving component (331) and a first attracting magnet (332). The first attracting magnet (332) is installed at the output end of the second driving component (331). In the first state, the first attracting magnet (332) is used to attract the first mating magnet (471) on the target instrument (473).

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

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

14. The surgical robot according to claim 9, characterized in that, The operating instrument module (300) further includes a fourth positioning component (370) and an endoscope (380). The fourth positioning component (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 component (120), and the other end is rotatably connected to the second support platform (371). The second support member (372) can extend and retract along its own extension direction. 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 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 component (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). The third support member (220) is capable of extending and retracting along its own extension direction.

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