RCM mechanism capable of being used for cataract surgery and corresponding surgical robot

Abstract

The invention relates to the technical field of surgical robots, in particular to an RCM mechanism for cataract surgery and a corresponding surgical robotic.The RCM mechanism comprises a first active supporting rod, a second active supporting rod, a third active supporting rod and a fourth active supporting rod, the first end of the first active supporting rod is slidably arranged on a guide rail, the second active supporting rod comprises a telescopic part and a supporting rod part, and the second end of the telescopic part is hinged to a first base; the first end of the telescopic part is connected with the supporting rod part; the second end of the first driven supporting rod is connected with the first driving supporting rod through a sliding part, the first end of the supporting rod part is hinged to the first driven supporting rod, the second end of the second driven supporting rod is parallel to the first driven supporting rod, and the second end of the second driven supporting rod is hinged to the second end of the supporting rod part; the first end of the driven piece is hinged to the first end of the first driven supporting rod, and the second end of the driven piece is hinged to the first end of the second driven supporting rod; according to the surgical robot provided by the invention, the accuracy and safety of the surgery can be realized, and ophthalmologic surgeries such as cataract and the like can be carried out more quickly and noninvasively.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to an RCM mechanism that can be used for cataract surgery and a corresponding surgical robot. Background Art

[0002] Many conventional treatments applied in modern clinical practice involve the percutaneous insertion of medical tools (e.g., needles and catheters) for biopsy, drug delivery, and other diagnostic and therapeutic procedures. The goal of the insertion procedure is to safely and accurately place the tip of the appropriate medical tool at the target area, which may be a lesion, tumor, organ, or blood vessel. Examples of treatments requiring the insertion of such medical tools include vaccination, blood / fluid sampling, local anesthesia, tissue biopsy, catheterization, cryoablation, electrolytic ablation, brachytherapy, neurosurgery, deep brain stimulation, and various minimally invasive surgeries.

[0003] For example, patent application CN118161270A discloses a subretinal injection surgical robot, including a base assembly, a connecting rod assembly arranged on the base assembly, and a syringe assembly arranged on the connecting rod assembly; the connecting rod assembly is a parallelogram structure, and the base assembly drives the parallelogram structure of the connecting rod assembly to change through a motor-driven lead screw movement and a crank slider transmission method, so that the connecting rod assembly drives the syringe assembly to rotate around the surgical point; the injection assembly sets the injection time and injection amount according to the surgical requirements to complete fully automatic injection.

[0004] For another example, patent application CN114431940A discloses a four-degree-of-freedom puncture needle positioning guide device based on an RCM structure, comprising a driving platform, a first deflection mechanism and a second deflection mechanism; the driving platform comprises a base, a translation assembly, a linear drive assembly, a driving connecting rod, a bracket and a slider; the translation assembly is fixed on the base, and the translation assembly can drive the bracket to translate linearly; the linear drive assembly is fixed on the bracket; the first end of the driving connecting rod is hinged to the output end of the linear drive assembly through a vertical axis, and the second end is hinged to the slider through a vertical axis; the slider is slidably arranged on the bracket; the first deflection mechanism is arranged on the slider, and its output end can deflect around the Y axis; the second deflection mechanism is arranged at the output end of the first deflection mechanism, and its output end can deflect around the X axis, and the X axis and the Y axis are two horizontal axes that are perpendicular to each other.

[0005] For another example, CN116919715A discloses an RCM mechanism for minimally invasive ophthalmic surgery. The present invention aims to solve the problems that the existing RCM mechanism occupies a large volume, affects the doctor's operation, and cannot ensure the accuracy of the operation. One end of the driving rod of the present invention is slidably mounted on the swing arm rotation module, the second connecting rod and the first connecting rod are parallel and rotatably connected at the front of the swing arm rotation module, the middle part of the fourth connecting rod is rotatably connected to the intersection of the upper part of the rod body of the second connecting rod and the lower part of the rod body, the right end of the fourth connecting rod is rotatably connected to the intersection of the upper part of the rod body of the first connecting rod and the lower part of the rod body, and the other end of the driving rod is rotatably connected to the terminal end of the fourth connecting rod; the third connecting rod is arranged in parallel with the fourth connecting rod, the left side of the third connecting rod is bent to the lower left side along the horizontal direction to form a three-rod bending portion, the left side of the fourth connecting rod is bent to the lower left side along the horizontal direction to form a four-rod bending portion, and the left side of the four-rod bending portion of the fourth connecting rod is a four-rod horizontal section.

[0006] However, existing surgical robots have problems such as large size, poor flexibility in adjusting the range of motion, and poor stability. They are particularly limited when used in some special ophthalmic surgeries, especially cataract surgeries, which makes traditional surgical robots unable to be used in the operation process of cataract surgery.

[0007] However, cataract is the leading cause of blindness in the world. The only cataract surgery options available are traditional manual surgery and femtosecond cataract surgery. However, traditional manual cataract surgery is highly dependent on the doctor's experience and skills, and the training cycle for doctors is long, with a high error rate. Femtosecond laser equipment is expensive (>10 million per unit), and most hospitals cannot afford it.

[0008] Therefore, there is an urgent need to develop a low-cost cataract surgery robot to significantly reduce surgical costs, reduce surgical difficulty, and shorten the doctor training cycle, so as to help promote cataract surgery quickly and on a large scale and serve the majority of cataract patients. Summary of the invention

[0009] The object of the present invention is to provide a surgical robot that can be used for cataract surgery, which can partially solve or alleviate the above-mentioned deficiencies in the prior art and improve the stability and accuracy of the overall mechanism.

[0010] In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions: A first aspect of the present invention is to provide a surgical robot that can be used for cataract surgery, comprising: A multi-mode motion mechanism, the multi-mode motion mechanism comprising: A first base, wherein a guide rail is disposed on the first base, and a moving part disposed on the guide rail, wherein the moving part comprises: A first active support rod, wherein the second end of the first active support rod is disposed on the guide rail, and the first active support rod can reciprocate along the guide path of the guide rail, and the first active support rod and the guide rail form an intersection point E; A second active support rod, the second end of which is hinged to the first base; wherein the second active support rod is provided with: a telescopic portion and a support rod portion from the second end to the first end thereof, the second end of the telescopic portion being hinged to the first base to form a hinge point P, and the first end of the telescopic portion being connected to the support rod portion; A first driven support rod, wherein the second end of the first driven support rod is connected to the first active support rod through a sliding portion to form an intersection point F, and the first end of the support rod portion is hinged to a hinge point A on the first driven support rod, and the hinge point A is located between the first end and the second end of the first driven support rod; wherein the sliding portion is sleeved on the first active support rod, and the sliding portion can reciprocate along the axial direction of the first active support rod; a second driven support rod arranged parallel or approximately parallel to the first driven support rod, wherein the second end of the second driven support rod is hinged to the second end of the support rod portion to form a hinge point C; A follower member arranged parallel or approximately parallel to the support rod portion, wherein a first end of the follower member is hinged to a first end of the first driven support rod to form a hinge point B, and a second end of the follower member is hinged to a first end of the second driven support rod to form a hinge point D; The hinge point A, the hinge point P, the intersection point E, and the intersection point F are sequentially connected to form a trapezoid, and the hinge point A, the hinge point B, the hinge point D, and the hinge point C are sequentially connected to form a first parallelogram; When the first active support rod reciprocates along the axial direction of the guide rail, the height of the trapezoidal shape can be adaptively changed, so that the support rod portion can rotate around the hinge point C, thereby enabling the driven member to rotate around the hinge point D; a second base, the multi-mode motion mechanism being disposed on the second base; A displacement adjustment mechanism, wherein the second base is arranged on the displacement adjustment mechanism.

[0011] In some embodiments, the second base includes a disk motor, and an output shaft of the disk motor is connected to the first base so that the moving part can rotate around a first axis direction.

[0012] In some embodiments, the second base comprises: A first connecting plate, wherein the first connecting plate is connected to the first base; At least one ramp, the ramp comprising: a first mounting plate and a second mounting plate, the first sides of the first mounting plate and the second mounting plate being rotatably connected, a positioning piece is provided on the second side of the first mounting plate, a first thread is provided on the surface of the positioning piece, correspondingly, a positioning port and a first screw rod are provided on the second mounting plate, the positioning port has a first positioning area for the end of the positioning piece to pass through, and a second positioning area for installing the first screw rod; wherein a second thread matching the first thread is provided on the first screw rod, so that when the first screw rod rotates in the forward or reverse direction, the end of the positioning piece can move in the direction close to or away from the positioning port accordingly.

[0013] In some embodiments, at least one guide is provided on the first mounting plate, and correspondingly, a guide channel is provided on the second mounting plate, and a tip of the guide can pass through the guide channel, and when the first mounting plate and the second mounting plate rotate to increase or decrease the included angle, the tip of the guide can correspondingly move in a direction close to or away from the guide channel; Correspondingly, the second mounting plate also includes: a fixing member arranged at the guide channel, a clamping area is formed on the inner side of the fixing member, the guide member can pass through the clamping area, an opening is provided on one side of the clamping area, and a locking knob, when the locking knob passes through the opening and rotates along the locking direction, the width of the clamping area gradually decreases to increase the clamping force of the guide member.

[0014] In some embodiments, the invention further comprises: an auxiliary mechanism, wherein the auxiliary mechanism comprises: A first auxiliary support rod and a second auxiliary support rod are arranged in parallel, wherein the first ends of the first auxiliary support rod and the second auxiliary support rod are respectively hinged to the first driven support rod; A third auxiliary support rod and a fourth auxiliary support rod are arranged in parallel, and the second ends of the third auxiliary support rod and the fourth auxiliary support rod are respectively hinged to the first base; The second end of the first auxiliary support rod is hinged to the first end of the third auxiliary support rod, and the second end of the second auxiliary support rod is hinged to the first end of the fourth auxiliary support rod.

[0015] In some embodiments, the auxiliary mechanism further includes: a fifth auxiliary support rod, and correspondingly, the first auxiliary support rod and the third auxiliary support rod are hinged through the fifth auxiliary support rod, and the second auxiliary support rod and the fourth auxiliary support rod are hinged through the fifth auxiliary support rod.

[0016] In some embodiments, the first auxiliary support rod, the second auxiliary support rod, the fifth auxiliary support rod and the first driven support rod are connected to form a second parallelogram; the fifth auxiliary support rod, the third auxiliary support rod, the fourth auxiliary support rod and the first base are connected to form a third parallelogram; Correspondingly, when the first active support rod moves in a direction gradually approaching the first base, the first parallelogram and the third parallelogram are deformed along a first deformation direction, and the second parallelogram is deformed along a second deformation direction, wherein the first deformation direction and the second deformation direction are opposite.

[0017] In some embodiments, the follower is a surgical instrument; In some embodiments, the displacement adjustment mechanism includes: an X-axis moving part, a Y-axis moving part and a Z-axis moving part connected in sequence. Specifically, the X-axis moving part can be detachably connected to the second mounting surface through a second connecting plate.

[0018] The present invention can also provide a RCM mechanism that can be used for cataract surgery, comprising: A first base, wherein a guide rail is disposed on the first base, and a moving part disposed on the guide rail, wherein the moving part comprises: A first active support rod, wherein the second end of the first active support rod is disposed on the guide rail, and the first active support rod can reciprocate along the guide path of the guide rail, and the first active support rod and the guide rail form an intersection point E; A second active support rod, the second end of which is hinged to the first base; wherein the second active support rod is provided with: a telescopic portion and a support rod portion from the second end to the first end thereof, the second end of the telescopic portion being hinged to the first base to form a hinge point P, and the first end of the telescopic portion being connected to the support rod portion; A first driven support rod, wherein the second end of the first driven support rod is connected to the first active support rod through a sliding portion to form an intersection point F, and the first end of the support rod portion is hinged to a hinge point A on the first driven support rod, and the hinge point A is located between the first end and the second end of the first driven support rod; wherein the sliding portion is sleeved on the first active support rod, and the sliding portion can reciprocate along the axial direction of the first active support rod; a second driven support rod arranged parallel or approximately parallel to the first driven support rod, wherein the second end of the second driven support rod is hinged to the second end of the support rod portion to form a hinge point C; A follower member arranged parallel or approximately parallel to the support rod portion, wherein a first end of the follower member is hinged to a first end of the first driven support rod to form a hinge point B, and a second end of the follower member is hinged to a first end of the second driven support rod to form a hinge point D; The hinge point A, the hinge point P, the intersection point E, and the intersection point F are sequentially connected to form a trapezoid, and the hinge point A, the hinge point B, the hinge point D, and the hinge point C are sequentially connected to form a first parallelogram; When the first active support rod reciprocates along the axial direction of the guide rail, the height of the trapezoidal shape can be adaptively changed so that the support rod portion can rotate around the hinge point C, thereby allowing the follower to rotate around the hinge point D.

[0019] Beneficial technical effects: In stark contrast to the traditional triangular connection method, the present invention adopts a height-variable trapezoidal mechanism design to achieve a stable connection between the first parallelogram and the guide rail, as well as flexible displacement transmission with the help of the height-variable trapezoid.

[0020] Specifically, the present invention designs the transmission of displacement into the following two stages: (1) the first transmission stage: the displacement of point E in the right-angle side EF is transmitted to the hypotenuse AP; (2) the second transmission stage: the local line segment AC in the hypotenuse AP continues to transmit the displacement to the line segment BD (i.e., the follower, such as a surgical instrument); further, in the special trapezoidal connection mode adopted by the present invention, the right-angle side (which is formed by the first active support rod 121) can transmit the displacement of point E to the hypotenuse of the trapezoid in the critical first transmission stage by means of the motion form of the moving pair (or in other words, the translational mode). At the same time, the hypotenuse is sequentially arranged with retractable movable parts and non-retractable fixed parts along a specific direction away from the bottom of the trapezoid, thereby utilizing the coordinated cooperation of the movable parts and the fixed parts to complete the flexible transfer of displacement and improve the mechanical stability of the key transmission part (line segment AC).

[0021] Furthermore, the present invention also provides a limited-position pitch angle adjustment mechanism (i.e., a tilt table adjustment solution). In summary, the present invention actually provides a method of using a fixed position adjustment in a large range and a high-precision RCM mechanism automated adjustment solution in a small range to provide an angle adjustment solution with both stability and flexibility for different pitch angle operating ranges. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without paying creative labor.

[0023] Figure 1 is a schematic structural diagram of an RCM mechanism in an exemplary embodiment of the present invention; Figure 2 is a schematic structural diagram of an auxiliary mechanism in an exemplary embodiment of the present invention; Figure 3 is a schematic structural diagram of a surgical robot in an exemplary embodiment of the present invention; Figure 4 for Figure 1 The schematic diagram of the working principle of the RCM mechanism shown; Figure 5 is a schematic diagram of a joint hinge structure in an exemplary embodiment of the present invention; Figure 6 for Figure 5 Another schematic diagram of the joint hinge structure shown; Figure 7 It is a schematic structural diagram of a ramp in an exemplary embodiment of the present invention; Figure 8 It is a schematic exploded view of the parts of the ramp in an exemplary embodiment of the present invention; Fig. 9 is a schematic structural diagram of an inclined platform in another exemplary embodiment of the present invention; Fig.10 This is a schematic diagram of the first workspace of the RCM institution; Fig.11 Schematic diagram of the second workspace of the RCM institution.

[0024] Figure 1: multi-mode motion mechanism 10, guide rail 11, first base 13, bearing bracket 131, ball bearing 132; ball screw 14, motion part 12, first active support rod 121, second active support rod 122, telescopic part 122a, electric push rod 122a1, flange 122a2; support rod part 122b, first driven support rod 123, second driven support rod 124, driven member 125, hollow shaft motor 1251, operating needle 1252, motor 126, slider 127, connecting rod 128; second base 20, connecting plate 21, inclined platform 22, first mounting plate 221, second mounting plate 222, guide member 221a, positioning member 221b, guide passage Road 222a, positioning port 222b, first screw rod 222c, locking knob 222d, fixing piece 222e; adjusting plate 23, adjusting position 231; displacement adjusting mechanism 30, X-axis moving part 31, Y-axis moving part 32, Z-axis moving part 33; auxiliary mechanism 40, first auxiliary support rod 41, second auxiliary support rod 42, third auxiliary support rod 43, fourth auxiliary support rod 44, fifth auxiliary support rod 45, joint point 46; bushing 51, first connecting hole 52, second connecting hole 53, first hole position 521, second hole position 522, second connecting hole 53, third hole position 531, fourth hole position 532, mounting nut 54, first gasket 55, flange bearing 56, bolt 57. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] Herein, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings by themselves. Therefore, "module", "component" or "unit" can be used mixedly.

[0027] In this document, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0028] In this document, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Herein "and / or" includes any and all combinations of one or more of the associated listed items.

[0030] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0031] As used in this specification, the term "about" typically means + / - 5% of the stated value, more typically + / - 4% of the stated value, more typically + / - 3% of the stated value, more typically + / - 2% of the stated value, even more typically + / - 1% of the stated value, and even more typically + / - 0.5% of the stated value.

[0032] In this specification, some embodiments may be disclosed in a format of being in a range. It should be understood that this description of "being in a range" is only for convenience and brevity, and should not be interpreted as a rigid limitation on the disclosed range. Therefore, the description of the range should be considered to have specifically disclosed all possible sub-ranges and independent numerical values ​​within this range. For example, the description of the range 1-6 should be considered to have specifically disclosed sub-ranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., as well as individual numbers within this range, such as 1, 2, 3, 4, 5 and 6. Regardless of the breadth of the range, the above rules apply.

[0033] In this specification, "support rod" refers to a component with a certain length in the axial direction, which can play a certain supporting and connecting role. For example, the support rod can be a slender stick-shaped object, and illustratively, the support rod can be a metal support rod, a plastic support rod, etc. with a certain length.

[0034] In this specification, "trapezoid" is a quadrilateral with only one set of parallel opposite sides. Correspondingly, trapezoid-like structures include standard trapezoids and geometric structures that are approximately trapezoidal. For example, a trapezoid-like structure includes a quadrilateral with only one set of parallel or approximately parallel opposite sides. Approximately parallel can be understood as the angle between two lines or planes being very small, close to zero degrees, but not completely zero (such as approximately 0.5°, approximately 1°, etc.), which can play a role in transferring displacement similar to that of a trapezoid in actual operation (for example, in actual production and processing, the upper and lower bases of the trapezoid may not be absolutely parallel due to production or installation errors of parts, but there may be a certain angle, but they can still be regarded as parallel and operate normally).

[0035] The waist of a "trapezoid" or "quasi-trapezoid" that is perpendicular or nearly perpendicular to the lower base and the upper base is called a "right-angled side", and the other waist is called a "hypotenuse". Correspondingly, the length of the right-angled side is also called the height of the trapezoid. In particular, during the height change of a quasi-trapezoidal shape, at a certain position, the length of the hypotenuse may be equal to the length of the right-angled side due to the reduction of the length of the hypotenuse, that is, the quasi-trapezoidal shape may also change into a rectangle at a certain moment during the height change.

[0036] In this specification, two pairs of opposite sides of a “parallelogram” are parallel or approximately parallel.

[0037] In this specification, hinge points and intersection points may also be collectively referred to as "joint points", and "joint points" may also be simply referred to as "points" or "nodes".

[0038] The applicant noted that the traditional RCM mechanism usually uses a triangular mechanism to connect the guide rail and the parallelogram mechanism, and the vertex of the triangle is connected to the vertex of the quadrilateral mechanism located below. For example, the subretinal injection surgical robot in patent application CN118161270A uses a fifth connecting rod to connect the guide rail (such as the first screw) and the parallelogram (such as the connecting rod assembly), and one end of the fifth connecting rod is connected to the vertex below the parallelogram (that is, the vertex close to the first screw of the robot). However, this way of connecting the triangular mechanism to the lower vertex of the parallelogram will have at least the following defects in more sophisticated motion scenarios (especially in some special surgical fields in ophthalmic surgery, such as cataract surgery): 1) There are too many hinge points, and the working stability of the mechanism is poor when it is running for a long time. In particular, the flexibility of the parallelogram mechanism during frequent reciprocating motion may gradually decrease as the working time increases. This will cause great errors for some ophthalmic surgeries that require higher precision operations (especially cataract surgery), affecting the quality and efficiency of the surgery. 2) In order to stabilize the surgical instrument, two quadrilateral mechanisms need to be set up side by side, that is, the displacement of the triangle needs to pass through two quadrilateral mechanisms in sequence before it can be transmitted to the surgical instrument. This will increase the number of hinge points, while also increasing the mechanical structure complexity of the mechanism and the size of the device.

[0039] In this regard, in stark contrast to the traditional triangular connection method, the present invention adopts a height-variable trapezoidal mechanism design to achieve a stable connection between the first parallelogram and the guide rail, as well as flexible displacement transmission with the help of the height-variable trapezoid.

[0040] Unexpectedly, this connection scheme of the trapezoidal mechanism, by configuring the front and rear sides of the hypotenuse and right-angled sides in the trapezoidal mechanism and achieving a three-point connection with the first parallelogram with the help of the hypotenuse, right-angled sides, can actually improve the overall working stability of the robot while increasing the number of joint points.

[0041] Specifically, in order to more clearly state the improvement of the present invention in the technical path, see Figure 4 The transmission process of the displacement in the present invention is described, wherein the transmission process is improved into the following stages in the present invention: (1) The first transfer stage: the displacement of point E on the right-angle side EF is transferred to the hypotenuse AP; (2) Second transmission stage: the local line segment AC in the hypotenuse AP continues to transmit the displacement to the line segment BD (i.e., the follower, such as a surgical instrument); Furthermore, in the special trapezoidal connection mode adopted by the present invention, the right-angle side (which is formed by the first active support rod 121) can transmit the displacement of point E to the hypotenuse of the trapezoid in the critical first transmission stage by means of the motion form of the moving pair (or the translational method). At the same time, the hypotenuse is sequentially arranged with retractable movable parts and non-retractable fixed parts along a specific direction away from the bottom of the trapezoid, thereby improving the mechanical stability of the key transmission part (line segment AC) by utilizing the coordinated cooperation of the movable parts and the fixed parts to complete the flexible transfer of the displacement.

[0042] See also Figure 1-Figure 9 As shown, the present invention provides a surgical robot that can be used for cataract surgery, comprising: The multi-mode motion mechanism 10 comprises: A first base 13, on which a guide rail 11 is disposed, and a moving part 12 disposed on the guide rail 11, wherein the moving part 12 includes: A first active support rod 121, a second end of which is disposed on the guide rail 11, and the first active support rod can reciprocate along the guide path of the guide rail 11, and the first active support rod forms an intersection point E with the guide rail; A second active support rod 122, the second end of the second active support rod 122 is hinged to the first base; wherein the second active support rod 122 is provided with: a telescopic portion 122a and a support rod portion 122b from the second end to the first end thereof, the second end of the telescopic portion 122a is hinged to the first base to form a hinge point P, and the first end of the telescopic portion 122a is connected to the support rod portion 122b; In some embodiments, the telescopic portion 122a is a support rod with telescopic length, that is, the telescopic portion can be telescoped along its axial direction; the support rod portion 122b is a support rod with fixed length, that is, during the swinging of the second active support rod, the length of the support rod portion 122b in the axial direction remains unchanged; for example, in some embodiments, the telescopic portion is an electric push rod, wherein the output end of the electric push rod can be telescoped along its axial direction.

[0043] A first driven support rod 123, the second end of the first driven support rod 123 is connected to the first active support rod 121 through a sliding portion to form an intersection F, and the first end of the support rod portion 122b is hinged to a hinge point A on the first driven support rod 123, and the hinge point A is located between the first end and the second end of the first driven support rod 123; wherein the sliding portion is sleeved on the first active support rod 121, and the sliding portion can reciprocate along the axial direction of the first active support rod 121, so as to drive the first driven support rod 123 to move up and down along the axial direction of the first active support rod 121; a second driven support rod 124 arranged parallel or approximately parallel to the first driven support rod 123, wherein the second end of the second driven support rod 124 is hinged to the second end of the support rod portion 122b to form a hinge point C; A follower 125 arranged parallel or approximately parallel to the support rod portion 122b, wherein a first end of the follower 125 is hinged to a first end of the first driven support rod 123 to form a hinge point B, and a second end of the follower 125 is hinged to a first end of the second driven support rod 124 to form a hinge point D; The hinge point A, the hinge point P, the intersection point E, and the intersection point F are sequentially connected to form a trapezoid, and the hinge point A, the hinge point B, the hinge point D, and the hinge point C are sequentially connected to form a first parallelogram; When the first active support rod 121 reciprocates along the axial direction of the track, the height of the trapezoidal shape can be adaptively changed so that the support rod portion 122b can rotate around the hinge point C, thereby enabling the follower 125 to rotate around the hinge point D; wherein the height refers to the length of the line segment EF; Specifically, when the height of the trapezoid is enlarged or reduced, the coordinates of the output end (such as the operating needle) of the follower 125 in the horizontal position and the vertical position, as well as the tilt angle of the output end can be stably and adaptively changed.

[0044] A second base 20, the multi-mode motion mechanism is arranged on the second base 20; The displacement adjustment mechanism 30 , on which the second base 20 is disposed.

[0045] Preferably, the first driven support rod 123 is perpendicular or approximately perpendicular to the first active support rod 121. Preferably, the first active support rod 121 is perpendicular or approximately perpendicular to the axial direction of the guide path. That is, preferably, the trapezoid in this embodiment is a right-angle trapezoid.

[0046] In summary, the present invention proposes a displacement transmission mechanism based on a three-point connection between a quasi-right-angled trapezoid with variable height and a first parallelogram; wherein the two legs of the quasi-right-angled trapezoid, namely the right-angled side and the hypotenuse, respectively adopt different height adaptation change schemes, namely (1) the right-angled side FE adopts a fixed component to complete the height change (using the first driven support rod 123 to slide up and down along the first active support rod 121 of fixed length); (2) the hypotenuse AP is provided with a movable component and a fixed component to collaboratively complete the connection between the first parallelogram S1 and the guide rail. Specifically, the rotation performance and telescopic performance of the movable component arranged between the guide rail and the first parallelogram are utilized to complete the flexible adjustment of the length of the hypotenuse AP.

[0047] This fixed and movable dual height adjustment mode is achieved by adjusting the height of the needle in the front and rear directions (i.e., in the direction of the needle pointing to the second base, such as Figure 1 The collaborative solution of connecting with the first parallelogram by the position layout on the upper side of the trapezoidal structure (as shown by the arrow F1 in the figure) can not only utilize the translation characteristics of the fixed parts to complete the stable transmission of the displacement (especially the rotation) in the trapezoidal structure in the critical first transmission stage. At the same time, the coordination between the fixed parts and the movable parts on the hypotenuse can ensure the flexibility of displacement transmission and ensure that the displacement is transmitted from the trapezoidal structure to the first parallelogram with high stability and reliability.

[0048] In some embodiments, the moving part also includes: a motor 126; a slider 127 (such as a screw slider), which is arranged at the second end of the first active support rod 121 and is slidably arranged on the guide rail 11 to guide the first active support rod 121 to reciprocate thereon, and the output shaft of the motor is connected to the slider to provide it with a driving force for reciprocating movement; specifically, a ball screw 14 is arranged on the guide rail 11, and the screw slider is installed on the ball screw 14.

[0049] Furthermore, the driven member 125 includes: a hollow shaft motor 1251, and a surgical instrument (such as an operating needle 1252) arranged at the output end of the hollow shaft motor 1251. The two ends of the housing of the hollow shaft motor 1251 are respectively hinged to the corresponding support rods.

[0050] Further, in some embodiments, the telescopic portion 122a includes: an electric push rod 122a1, whose output end is connected to the support rod portion 122b; and in this embodiment, it can also include: a flange 122a2; and the first base 13 also includes: a bearing seat bracket 131, and a ball bearing 132 arranged on the bearing seat bracket 131; wherein the electric push rod 122a1 is hinged to the ball bearing 132 through the flange 122a2.

[0051] Preferably, in some embodiments, one or more driven support rods in the moving part 12 can be arranged in pairs, such as a group of driven support rods arranged relatively to each other. Specifically, a group of first driven support rods 123 and a group of second driven support rods 124 can be arranged.

[0052] Further, in some embodiments, a group of driven support rods may include two or more driven support rods.

[0053] Furthermore, in some embodiments, two or more driven support rods arranged opposite to each other can be connected by at least one connecting rod. Figure 3 As shown, a connecting rod 128 may be provided between the two driven support rods.

[0054] Preferably, in some embodiments, the first end of the telescopic portion 122a is fixedly connected to the supporting rod portion 122b.

[0055] Preferably, in some embodiments, at least two support rods 122b (also referred to as fixed components) are relatively arranged, and at least two support rods 122b are connected by at least one connecting rod, and the first end of the telescopic part 122a (also referred to as the movable component) (for example, the output shaft of the electric push rod) is fixedly connected to the connecting rod; wherein the connecting rod is arranged between the first end and the second end of the support rod 122b. In this embodiment, the movable component and the fixed component are indirectly connected in a fixed manner by means of the connecting rod, which can not only improve the accuracy of the displacement transmission process, but also improve the stability and robustness of the movable component and the fixed component in the coordinated movement process with other support rods.

[0056] In other words, since the present invention adopts this trapezoidal structure that uses telescopic deformation and sliding deformation to coordinately adjust the height, a specific hinge and sliding connection is performed with a set of intersection lines of the first parallelogram. Moreover, unexpectedly, this connection scheme with more joint points can improve the stability of the overall mechanism (that is, the structural rigidity strength of the RCM mechanism is improved as a whole) under the optimized configuration of the movable parts and the fixed parts.

[0057] In fact, see Figure 4 As shown, this multi-joint-point trapezoidal connection scheme can further reduce the number of necessary joint points compared to the traditional triangular connection scheme. Due to the stability advantage of the moving pair in the trapezoidal shape, the present invention can only set up one first parallelogram S1 to complete the transmission of the displacement, without the need to set up two or more parallelograms S1 as in the traditional scheme. In other words, the transmission of the displacement can be directly transmitted to the follower 125 of the first parallelogram S1 through the trapezoidal shape S2 (especially, it is a right-angled trapezoid).

[0058] In some embodiments, the second base includes a disk motor, and the output shaft of the disk motor is connected to the first base 13, so that the moving part 12 can rotate around the first axis direction. For example, the first axis direction refers to the axial direction of the guide path. Figure 4 As shown, the rotation center of the disc motor is point M, which can be located on the same straight line as point P and point E.

[0059] In some embodiments, the second base 20 comprises: A first connecting plate 21, wherein the first connecting plate 21 is connected to the first base; At least one inclined platform 22, the inclined platform 22 includes: a first mounting surface and a second mounting surface; and an angle α is formed between the first mounting surface and the second mounting surface; correspondingly, the first connecting plate is detachably connected to the first mounting surface, and the second mounting surface is detachably connected to the displacement adjustment mechanism 30.

[0060] For example, in some embodiments, the inclined platform or the first connecting plate is connected to the disc motor. Exemplarily, the disc motor can be arranged between the first connecting plate and the inclined platform, and in particular, the disc motor can also be arranged inside the first connecting plate, such as the first connecting plate can be an outer shell that fully or partially wraps the disc motor to output the rotation amount of the disc motor.

[0061] In some embodiments, at least two ramps with different angles are included.

[0062] For example, in some embodiments, a ramp with an angle of approximately 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, or 45° may be provided.

[0063] Different surgical operation scenarios may involve different needle movement ranges, and the present invention adopts a detachable inclined table to adjust the movement range.

[0064] Specifically, in view of the pitch angle movement range that the needle can accomplish, the present invention adopts a replaceable inclined platform design for manual adjustment, and the inclined platform is arranged between the disk electrode / first connecting plate and the displacement adjustment mechanism 30 with multi-axis freedom, so as to reserve sufficient pitch angle adjustment space without increasing the space occupied by the device too much.

[0065] For example, in some embodiments, see Figure 7-Figure 8 As shown, the ramp includes: a first mounting plate 221 and a second mounting plate 222; wherein the first mounting plate 221 and the second mounting plate 222 can be rotatably connected (such as the first mounting plate 221 and the second mounting plate 222 can be rotatably connected via a rotating shaft), a positioning member 221b is further provided on the first mounting plate 221, a first thread is provided on the surface of the positioning member 221b, a positioning port 222b and a first screw (such as a worm adjustment knob) are provided on the second mounting plate 222, the positioning port 222b has a first positioning area for the end of the positioning member 221b to pass through, and a second positioning area for installing the first screw; wherein the first screw is provided with a second thread that matches the first thread, so that when the first screw rotates in the forward or reverse direction, the end of the positioning member can move in a direction close to or away from the positioning port accordingly; Furthermore, at least one guide member 221a (preferably an arc-shaped guide member) is provided on the first mounting plate 221, and correspondingly, a guide channel 222a (such as an opening for the end of the guide member to pass through) is provided on the second mounting plate 222, and the end of the guide member 221a can pass through the guide channel, and when the first mounting plate and the second mounting plate rotate relative to each other, the end of the guide member can pass through the guide channel.

[0066] Correspondingly, the second mounting plate 222 also includes: a fixing member 222e arranged at the guide channel, a clamping area is formed on the inner side of the fixing member 222e, the guide member 221a can pass through the clamping area, an opening is provided on one side of the clamping area, and a locking knob 222d, when the locking knob 222d passes through the opening and rotates along the locking direction, the width of the clamping area gradually decreases to increase the clamping force of the guide member 221a to lock it.

[0067] In order to further verify the advantages of the surgical robot in the present invention in terms of working range, see Fig.10 As shown, it shows the range of the working space at the end of the RCM mechanism in an exemplary embodiment of the present invention. The surgical robot in this embodiment is not provided with a tilt table or the tilt table angle is approximately 0°. Fig.10 From left to right and from top to bottom, the front view, left view, top view, and axonometric view of the working space of the RCM mechanism are shown in sequence. Fig.10 It can be seen that the surgical robot can better cover the cornea and the anterior lens capsule below, meeting the needs of anterior segment surgery such as cataracts.

[0068] See also Fig.11 As shown, it shows the space of the working range of the end of the RCM mechanism in another exemplary embodiment of the present invention, Fig.11 From left to right and from top to bottom, the front view, left view, top view, and axonometric view of the working space of the RCM mechanism are shown in sequence. In this embodiment, the axial angle of the RCM mechanism in the surgical robot is appropriately adjusted by using an inclined table, and the corresponding spatial range formed covers most of the area below the cornea, mainly for posterior segment surgery, such as retinal vein cannulation and bypass surgery, macular epiretinal membrane peeling, etc.

[0069] It is worth noting that in ophthalmic surgery, different surgical operations may involve different working spaces. In this regard, the present invention provides a mechanism that adds a degree of freedom, i.e., a ramp, between the base of the RCM mechanism and the displacement adjustment mechanism by comprehensively considering factors such as floor space, rigidity, and weight. The addition of the ramp can reduce the spatial adjustment pressure of the RCM mechanism and the displacement adjustment mechanism to a certain extent, thereby reducing the overall floor space of the two mechanisms and reducing the overall weight of the surgical robot. This small and lightweight robot design is more conducive to improving the operating accuracy.

[0070] For example, in other embodiments, Fig. 9 As shown, the ramp 22 includes: A first mounting plate 221 having a first mounting surface connected to the first connecting plate; and a second mounting plate 222 having a second mounting surface capable of being connected to the displacement adjustment mechanism; At least one adjustment plate 23, the adjustment plate 23 is arranged on the sides of the first mounting plate 221 and the second mounting plate 222; the first end of the first mounting plate and the first end of the second mounting plate are arranged to intersect (specifically, the two can be hinged to each other), wherein the first mounting plate can rotate relative to the first end of the second mounting plate; At least one group of adjustment positions 231 is provided on the adjustment plate; correspondingly, it also includes: a locking piece matching the adjustment position, the locking piece can be locked into the adjustment position, and has a portion protruding from the adjustment position; wherein, when the first mounting plate is arranged at the corresponding adjustment position, the protruding portion of the locking piece can lock and fix the first mounting plate.

[0071] Specifically, at least one group of adjustment positions are arranged in a circle with the first end of the first mounting plate as the center, and the adjustment positions include: at least two adjustment ports arranged opposite to each other, when the first mounting plate 221 is arranged at the corresponding adjustment position, at least two locking members inserted into the adjustment ports can limit the mounting surfaces on both sides of the first mounting plate so that the inclined platform remains within a fixed angle range.

[0072] For example, in some embodiments, the side surface of the second mounting plate 222 can be directly fixed to the adjustment plate.

[0073] For example, in some embodiments, the retaining member may be a retaining block, or a bolt or other component.

[0074] It is worth noting that ophthalmic surgery is a surgical scenario that requires extremely high operating skills of the doctor, and cataract surgery is a special type of ophthalmic surgery scenario that is more difficult. In particular, the main corneal incision, side incision and further capsular tearing steps involved in cataract surgery place extremely high demands on the pitch accuracy of the surgical needle, and traditional surgical robots are very difficult to meet such special application requirements.

[0075] In this regard, the present invention provides, on one hand, the above-mentioned special right-angle trapezoid-parallelogram RCM mechanism, and at the same time provides a limited-position adjustment mechanism for adjusting the pitch angle (i.e., a tilt table adjustment scheme). Furthermore, the present invention actually provides a method of using a fixed position adjustment in a large range and a high-precision RCM mechanism automatic adjustment scheme in a small range, so as to provide an angle adjustment scheme with both stability and flexibility for different pitch angle operating ranges.

[0076] However, in the actual cataract surgery operating environment, especially the capsulotomy scenario, the needle needs to be rotated in a circular motion at a specific pitch angle. Among them, the actual pitch angle may have different angle ranges due to changes in environmental characteristics such as the height of the operating table, the patient's physical characteristics, the doctor's operating habits, and different equipment carrying platforms. In this regard, the present invention adopts a limited adjustment mode to provide multiple sets of pitch angle ranges, which can meet the adjustment requirements of different intervals to a certain extent. At the same time, this fixed mechanical adjustment scheme (and preferably manual or semi-manual adjustment) can ensure the accuracy and reliability of the range adjustment, and the increase in the degree of freedom of adjustment will not have too much impact on the overall volume of the robot.

[0077] In some embodiments, Figure 2 As shown, the present invention further includes: an auxiliary mechanism 40, the auxiliary mechanism 40 includes: A first auxiliary support rod 41 and a second auxiliary support rod 42 are arranged in parallel, wherein the first end of the first auxiliary support rod 41 and the first end of the second auxiliary support rod 42 are hinged to the first driven support rod 123 respectively; A third auxiliary support rod 43 and a fourth auxiliary support rod 44 are arranged in parallel, and the second end of the third auxiliary support rod 43 and the second end of the fourth auxiliary support rod 44 are respectively hinged to the first base; The second end of the first auxiliary support rod 41 is hinged to the first end of the third auxiliary support rod 43, and the second end of the second auxiliary support rod 42 is hinged to the first end of the fourth auxiliary support rod 44. Figure 3 As shown, the hinged connection of two or more auxiliary support rods forms a joint point 46 .

[0078] In some embodiments, the auxiliary mechanism also includes: a fifth auxiliary support rod 45, correspondingly, the first auxiliary support rod 41 and the third auxiliary support rod 43 are hinged through the fifth auxiliary support rod 45, and the second auxiliary support rod 42 and the fourth auxiliary support rod 44 are also hinged through the fifth auxiliary support rod 45.

[0079] In some embodiments, the first auxiliary support rod 41, the second auxiliary support rod 42, the fifth auxiliary support rod 45 and the first driven support rod 123 are connected to form a second parallelogram; the fifth auxiliary support rod 45, the third auxiliary support rod 43, the fourth auxiliary support rod 44 and the first base 13 are connected to form a third parallelogram; Correspondingly, when the first active support rod 121 moves in a direction gradually approaching the first base, the first parallelogram and the third parallelogram are deformed along a first deformation direction, and the second parallelogram is deformed along a second deformation direction, wherein the first deformation direction and the second deformation direction are opposite in direction. The auxiliary rod can enhance the lateral stability of the structure and increase the overall rigidity of the structure.

[0080] In this embodiment, the “deformation direction” refers to the rotation direction of the side of the parallelogram that is deformed (i.e., the side that is rotated) during the deformation process of the parallelogram. For example, the deformation direction of the first parallelogram refers to the rotation direction of the second end of the support rod portion 122b, while the deformation direction of the second parallelogram refers to the rotation direction of the second end of the first auxiliary support rod 41, and the deformation direction of the third parallelogram refers to the rotation direction of the second end of the third auxiliary support rod 43.

[0081] In this embodiment, the deformation directions of the three parallelograms are changed in sequence, so that the auxiliary rods can enhance the supporting and auxiliary role of the core first parallelogram.

[0082] In some embodiments, the follower 125 is a surgical instrument; the end of the surgical instrument is an operating needle, see Figure 4 As shown, the operating needle can be regarded as a line segment DO (equivalent to the prime mover). In some embodiments, the displacement adjustment mechanism 30 includes: an X-axis moving part 31, a Y-axis moving part 32, and a Z-axis moving part 33 connected in sequence. Preferably, the X-axis moving part is detachably connected to the second mounting surface through a second connecting plate. Preferably, the X-axis, Y-axis, and Z-axis are in directions perpendicular to each other. The X-axis moving part, the Y-axis moving part, and the Z-axis moving part can respectively drive the multi-mode motion mechanism to reciprocate on the X-axis, the Y-axis, and the Z-axis.

[0083] In this embodiment, the displacement adjustment mechanism is preferably separately arranged at the rear end of the base of the RCM mechanism, which can reduce the mass of the end (i.e., the surgical instrument end), lower the overall center of gravity of the mechanism, and improve the stability of the overall mechanism.

[0084] Further, a sleeve 51 is used to connect at least two mutually hinged rods (specifically, the sleeve can be cushioned between the two rods). Figure 5 The schematic diagram of the partial connection structure shown in the figure, a first connection hole 52 is provided on one rod, and a second connection hole 53 is provided on the other rod; correspondingly, the first connection hole 52 is sequentially formed with a first hole position 521 and a second hole position 522 along the direction from the first side to the second side thereof (preferably, the diameter of the first hole position is larger than that of the second hole position); correspondingly, the second connection hole 53 is also sequentially formed with a third hole position 531 and a fourth hole position 532 along the direction from the first side to the second side thereof (preferably, the diameter of the third hole position is smaller than that of the fourth hole position); specifically, it also includes: The mounting nut 54, the first hole 521 is used to accommodate the mounting nut 54, and a first gasket 55 can be arranged between the mounting nut and the first hole 521; The flange bearing 56 comprises a cylindrical portion, and a limiting portion extending from one end of the cylindrical portion in a direction away from the axial direction, wherein the outer diameter of the limiting portion is larger than the outer diameter of the cylindrical portion, and mounting holes are formed in the limiting portion and the cylindrical portion; specifically, the cylindrical portion is tightly matched with the third hole 531, and the surface of the limiting portion is tightly matched with the end surface of the fourth hole 532 (i.e., the table formed by the side connected to the third hole 531), so that the flange bearing is limitedly installed in the corresponding connecting hole; The bolt 57 (such as a plug bolt) passes through the mounting holes in sequence, and the head of the bolt passes through the flange bearing (the width of the head is greater than the width of the mounting hole of the flange bearing), and can be tightly connected with the flange bearing through the second gasket; and the shank of the bolt passes through the first gasket and the nut; Correspondingly, the sleeve is arranged between the second side of the first connection hole 52 and the first side of the second connection hole 53, and the sleeve 51 partially extends into the third hole 531 to contact the flange bearing, and the outer diameter of the sleeve is smaller than the outer diameter of the flange bearing to reduce the friction area. In this embodiment, the above-mentioned multi-part coordination for the key hinge position can improve the connection stability of the hinge point.

[0085] Embodiment 2 The present invention also provides an RCM mechanism that can be used for cataract surgery, comprising: a first base 13, a guide rail 11 is arranged on the first base 13, and a moving part 12 arranged on the guide rail 11, the moving part 12 comprising: A first active support rod 121, a second end of which is disposed on the guide rail 11, and the first active support rod can reciprocate along the guide path of the guide rail 11, and the first active support rod forms an intersection point E with the guide rail; A second active support rod 122, the second end of the second active support rod 122 is hinged to the first base; wherein the second active support rod 122 is provided with: a telescopic portion 122a and a support rod portion 122b from the second end to the first end thereof, the second end of the telescopic portion 122a is hinged to the first base to form a hinge point P, and the first end of the telescopic portion 122a is connected to the support rod portion 122b; A first driven support rod 123, wherein the second end of the first driven support rod 123 is connected to the first active support rod 121 through a sliding portion to form an intersection point F, and the first end of the support rod portion 122b is hinged to a hinge point A on the first driven support rod 123, and the hinge point A is located between the first end and the second end of the first driven support rod 123; wherein the sliding portion is sleeved on the first active support rod 121, and the sliding portion can reciprocate along the axial direction of the first active support rod 121; a second driven support rod 124 arranged parallel or approximately parallel to the first driven support rod 123, wherein the second end of the second driven support rod 124 is hinged to the second end of the support rod portion 122b to form a hinge point C; A follower 125 arranged parallel or approximately parallel to the support rod portion 122b, wherein a first end of the follower 125 is hinged to a first end of the first driven support rod 123 to form a hinge point B, and a second end of the follower 125 is hinged to a first end of the second driven support rod 124 to form a hinge point D; The hinge point A, the hinge point P, the intersection point E, and the intersection point F are sequentially connected to form a trapezoid, and the hinge point A, the hinge point B, the hinge point D, and the hinge point C are sequentially connected to form a first parallelogram; When the first active support rod 121 reciprocates along the axial direction of the guide rail, the height of the trapezoidal shape can be adaptively changed so that the support rod portion 122b can rotate around the hinge point C, thereby allowing the follower 125 to rotate around the hinge point D.

[0086] The RCM mechanism in this embodiment may include the same or similar structural components as those in any of the above embodiments, such as a ramp that uses a limited solution to adjust the pitch angle, which will not be described in detail here.

[0087] Since the inclined table can directly adjust the movement range of RCM, the inclined table compensates for the range adjustment to a certain extent. In turn, the movement stroke of the X-axis, Y-axis and Z-axis of the displacement adjustment mechanism 30 can be set relatively smaller, which is also conducive to reducing the overall volume occupied.

[0088] The applicant noted that robots specifically used for cataract surgery are still in a blank stage. The development of cataract surgery robot mechanisms faces difficult technical problems such as the insertion of surgical instruments from tiny incisions and the rapid implementation of multi-degree-of-freedom high-precision surgery in a narrow and limited space. However, traditional surgical robots based on six-axis robotic arms and their end mechanisms used in cataract surgery have problems such as insufficient rigidity, insufficient compactness, insufficient flexibility, difficulty in spatial positioning of the incision point, unlimited range of movement of the mechanism, and insufficient movement accuracy, which makes it difficult to apply them in actual cataract surgery scenarios.

[0089] Therefore, the present invention proposes an RCM (Remote Center of Motion) mechanism for cataract surgery and an ophthalmic surgical robot with the mechanism, which breaks through the technical difficulties of traditional surgical robots such as stiffness, volume, flexibility, spatial point positioning, motion range, and precision, achieves the accuracy and safety of cataract surgery, and brings better treatment effects to patients.

[0090] The invention can achieve better results in circular motion when tearing the capsulotomy membrane and aspirating the residue, and the feeding and pitching can make the operation space more flexible. The linear motion of the electric push rod and the sliding cooperation of the translation guide rail can provide the required multi-degree-of-freedom precise control, so that the surgical instrument can rotate along the ideal trajectory, which fully meets the requirements of cataract surgery for circular motion.

[0091] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0092] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a computer terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0093] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A surgical robot that can be used for cataract surgery, characterized in that: include: A multi-mode motion mechanism (10), the multi-mode motion mechanism comprising: A first base (13), wherein a guide rail (11) is arranged on the first base (13), and a moving part (12) arranged on the guide rail (11), wherein the moving part (12) comprises: a first active support rod (121), wherein the second end of the first active support rod (121) is arranged on the guide rail (11), and the first active support rod is capable of reciprocating along a guide path of the guide rail (11), and the first active support rod and the guide rail form an intersection point E; a second active support rod (122), wherein the second end of the second active support rod (122) is hinged to the first base; wherein the second active support rod (122) is provided with: a telescopic portion (122a) and a support rod portion (122b) from the second end to the first end thereof, the second end of the telescopic portion (122a) being hinged to the first base to form a hinge point P, and the first end of the telescopic portion (122a) being connected to the support rod portion (122b); A first driven support rod (123), wherein the second end of the first driven support rod (123) is connected to the first active support rod (121) via a sliding portion to form an intersection point F, and the first end of the support rod portion (122b) is hinged to a hinge point A on the first driven support rod (123), and the hinge point A is located between the first end and the second end of the first driven support rod (123); wherein the sliding portion is sleeved on the first active support rod (121), and the sliding portion is capable of reciprocating along the axial direction of the first active support rod (121); a second driven support rod (124) arranged parallel or approximately parallel to the first driven support rod (123), the second end of the second driven support rod (124) being hinged to the second end of the support rod portion (122b) to form a hinge point C; a follower (125) arranged parallel or approximately parallel to the support rod portion (122b), wherein a first end of the follower (125) is hingedly connected to a first end of the first driven support rod (123) to form a hinge point B, and a second end of the follower (125) is hingedly connected to a first end of the second driven support rod (124) to form a hinge point D; The hinge point A, the hinge point P, the intersection point E, and the intersection point F are sequentially connected to form a trapezoid, and the hinge point A, the hinge point B, the hinge point D, and the hinge point C are sequentially connected to form a first parallelogram; When the first active support rod (121) reciprocates along the axial direction of the guide rail, the height of the trapezoidal shape can be adaptively changed, so that the support rod portion (122b) can rotate around the hinge point C, thereby enabling the driven member (125) to rotate around the hinge point D; a second base (20), the multi-mode motion mechanism being arranged on the second base (20); A displacement adjustment mechanism (30), wherein the second base (20) is arranged on the displacement adjustment mechanism (30).

2. A surgical robot that can be used for cataract surgery according to claim 1, characterized in that: The second base comprises a disc motor, and the output shaft of the disc motor is connected to the first base (13), so that the moving part (12) can rotate around the first axis direction.

3. A surgical robot that can be used for cataract surgery according to claim 1, characterized in that: The second base (20) comprises: A first connecting plate (21), the first connecting plate (21) being connected to the first base; At least one inclined platform (22), the inclined platform (22) comprising: a first mounting plate (221) and a second mounting plate (222), the first side of the first mounting plate (221) and the second mounting plate (222) being rotatably connected, the second side of the first mounting plate (221) being provided with a positioning piece (221b), the surface of the positioning piece (221b) being provided with a first thread, correspondingly, the second mounting plate (222) being provided with a positioning opening (222b) and a first screw rod (222c), the positioning opening (222b) having a first positioning area for the end of the positioning piece (221b) to pass through, and a second positioning area for installing the first screw rod; wherein the first screw rod is provided with a second thread matching the first thread, so that when the first screw rod rotates in a forward direction or a reverse direction, the end of the positioning piece can move in a direction close to or away from the positioning opening accordingly.

4. A surgical robot that can be used for cataract surgery according to claim 3, characterized in that: At least one guide member (221a) is further provided on the first mounting plate (221), and correspondingly, a guide channel (222a) is provided on the second mounting plate (222), the end of the guide member (221a) being able to pass through the guide channel, and when the first mounting plate and the second mounting plate rotate to increase or decrease the included angle, the end of the guide member is able to correspondingly move in a direction approaching or moving away from the guide channel (222a); Correspondingly, the second mounting plate (222) further comprises: a fixing member (222e) arranged at the guide channel, a clamping area being formed on the inner side of the fixing member (222e), the guide member (221a) being able to pass through the clamping area, an opening being provided on one side of the clamping area, and a locking knob, and when the locking knob passes through the opening and rotates in the locking direction, the width of the clamping area gradually decreases to increase the clamping force on the guide member (221a).

5. A surgical robot that can be used for cataract surgery according to claim 1, characterized in that: Also includes: An auxiliary mechanism (40), wherein the auxiliary mechanism (40) comprises: A first auxiliary support rod (41) and a second auxiliary support rod (42) arranged in parallel, wherein the first ends of the first auxiliary support rod (41) and the second auxiliary support rod (42) are respectively hinged to the first driven support rod (123); A third auxiliary support rod (43) and a fourth auxiliary support rod (44) are arranged in parallel, and the second ends of the third auxiliary support rod (43) and the fourth auxiliary support rod (44) are respectively hinged to the first base; The second end of the first auxiliary support rod (41) is hinged to the first end of the third auxiliary support rod (43), and the second end of the second auxiliary support rod (42) is hinged to the first end of the fourth auxiliary support rod (44).

6. A surgical robot that can be used for cataract surgery according to claim 5, characterized in that: The auxiliary mechanism further comprises: a fifth auxiliary support rod (45); correspondingly, the first auxiliary support rod (41) and the third auxiliary support rod (43) are hingedly connected via the fifth auxiliary support rod (45), and the second auxiliary support rod (42) and the fourth auxiliary support rod (44) are hingedly connected via the fifth auxiliary support rod (45).

7. A surgical robot that can be used for cataract surgery according to claim 6, characterized in that: The first auxiliary support rod (41), the second auxiliary support rod (42), the fifth auxiliary support rod (45) and the first driven support rod (123) are connected to form a second parallelogram; the fifth auxiliary support rod (45), the third auxiliary support rod (43), the fourth auxiliary support rod (44) and the first base (13) are connected to form a third parallelogram; Correspondingly, when the first active support rod (121) moves in a direction gradually approaching the first base, the first parallelogram and the third parallelogram are deformed along a first deformation direction, and the second parallelogram is deformed along a second deformation direction, wherein the first deformation direction and the second deformation direction are in opposite directions.

8. The surgical robot that can be used for cataract surgery according to claim 1, characterized in that: The driven member (125) is a surgical instrument.

9. A surgical robot that can be used for cataract surgery according to claim 1, characterized in that: The displacement adjustment mechanism (30) comprises: an X-axis moving part, a Y-axis moving part and a Z-axis moving part which are connected in sequence.

10. An RCM mechanism that can be used for cataract surgery, characterized in that: include: A first base (13), wherein a guide rail (11) is arranged on the first base (13), and a moving part (12) is arranged on the guide rail (11), and the moving part (12) comprises: a first active support rod (121), wherein the second end of the first active support rod (121) is arranged on the guide rail (11), and the first active support rod is capable of reciprocating along a guide path of the guide rail (11), and the first active support rod and the guide rail form an intersection point E; a second active support rod (122), wherein the second end of the second active support rod (122) is hinged to the first base; wherein the second active support rod (122) is provided with: a telescopic portion (122a) and a support rod portion (122b) from the second end to the first end thereof, the second end of the telescopic portion (122a) being hinged to the first base to form a hinge point P, and the first end of the telescopic portion (122a) being connected to the support rod portion (122b); A first driven support rod (123), wherein the second end of the first driven support rod (123) is connected to the first active support rod (121) via a sliding portion to form an intersection point F, and the first end of the support rod portion (122b) is hinged to a hinge point A on the first driven support rod (123), and the hinge point A is located between the first end and the second end of the first driven support rod (123); wherein the sliding portion is sleeved on the first active support rod (121), and the sliding portion is capable of reciprocating along the axial direction of the first active support rod (121); a second driven support rod (124) arranged parallel or approximately parallel to the first driven support rod (123), the second end of the second driven support rod (124) being hinged to the second end of the support rod portion (122b) to form a hinge point C; a follower (125) arranged parallel or approximately parallel to the support rod portion (122b), wherein a first end of the follower (125) is hingedly connected to a first end of the first driven support rod (123) to form a hinge point B, and a second end of the follower (125) is hingedly connected to a first end of the second driven support rod (124) to form a hinge point D; The hinge point A, the hinge point P, the intersection point E, and the intersection point F are sequentially connected to form a trapezoid, and the hinge point A, the hinge point B, the hinge point D, and the hinge point C are sequentially connected to form a first parallelogram; When the first active support rod (121) reciprocates along the axial direction of the guide rail, the height of the trapezoidal shape can be adaptively changed, so that the support rod portion (122b) can rotate around the hinge point C, thereby enabling the follower (125) to rotate around the hinge point D.

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