RCM mechanism applicable to cataract surgery and corresponding surgical robot

Abstract

The present invention relates to the technical field of surgical robots, and particularly to an RCM mechanism and a corresponding surgical robot that can be used in cataract surgery, including: a first active support rod, the first end of which is slidably arranged on a guide rail; a second active support rod, which includes a telescopic part and a support rod part, the second end of the telescopic part is hinged to a first base, and the first end of the telescopic part is connected to the support rod part; a first driven support rod, the second end of which is connected to the first active support rod through a sliding part, and the first end of the support rod part is hinged to the first driven support rod; a second driven support rod parallel to the first driven support rod, the second end of which is hinged to the second end of the support rod part; a driven member parallel to the support rod part, the first end of which is hinged to the first end of the first driven support rod, and the second end of which is hinged to the first end of the second driven support rod. The surgical robot provided by the present invention can achieve the accuracy and safety of the surgery, and perform cataract and other ophthalmic surgeries more quickly and non-invasively.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and particularly to an RCM mechanism applicable to 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 (such as needles and catheters) for biopsy, drug delivery, and other diagnostic and therapeutic procedures. The goal of the insertion procedure is to safely and precisely place the tip of a suitable medical tool in the target area, which may be a lesion, tumor, organ, or blood vessel. Examples of treatments that require the insertion of such medical tools include vaccination, blood / fluid sampling, local anesthesia, tissue biopsy, catheterization, cryoablation, electrocautery 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 link assembly disposed on the base assembly, and a syringe assembly disposed on the link assembly; the link assembly is a parallelogram structure, and the base assembly drives the screw rod to move and the crank-slider transmission mode through a motor, driving the parallelogram structure of the link assembly to change, so that the link assembly drives the syringe assembly to rotate around the surgical point; the injection assembly sets the injection time and injection dosage according to the surgical requirements to complete full-automatic injection.

[0004] Again, for example, patent application CN1144319A discloses a four-degree-of-freedom puncture needle positioning and guiding device based on an RCM structure, including a driving platform, a first deflection mechanism, and a second deflection mechanism; the driving platform includes a base, a translation assembly, a linear driving assembly, a driving link, a bracket, and a slider; the translation assembly is fixed on the seat, and the translation assembly can drive the bracket to translate linearly; the linear driving assembly is fixedly arranged on the bracket; the first end of the driving link is hinged to the output end of the linear driving assembly through a vertical axis, and the second end is hinged to the slider through a vertical axis; the slider slides 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 on 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 and perpendicular axes to each other.

[0005] For another example, CN116919715A discloses an RCM mechanism for ophthalmic minimally invasive surgery. The present invention aims to solve the problems of the existing RCM mechanism, such as large occupied volume, affecting the operation of doctors, and being unable to ensure the accuracy of surgery. One end of the driving rod of the present invention is slidably installed on the swing arm rotation module. The second link and the first link are rotatably connected in parallel at the front of the swing arm rotation module. The middle part of the fourth link is rotatably connected to the intersection of the upper and lower parts of the rod body of the second link, and the right end of the fourth link is rotatably connected to the intersection of the upper and lower parts of the rod body of the first link. The other end of the driving rod is rotatably connected to the end of the fourth link. The third link is arranged in parallel with the fourth link. The left side of the third link is bent downward and to the left along the horizontal direction to form a three-bar bending part, and the left side of the fourth link is bent downward and to the left along the horizontal direction to form a four-bar bending part. The left side of the four-bar bending part of the fourth link is a four-bar horizontal section.

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

[0007] However, cataract is the leading cause of blindness globally. Existing cataract surgery options are only traditional manual surgery and femtosecond cataract surgery. However, traditional manual cataract surgery highly depends on the experience and skills of doctors, with a long training cycle for doctors and a high error rate. Femtosecond laser equipment is expensive (>10 million per unit), and it is unaffordable for general hospitals.

[0008] Therefore, there is an urgent need to develop a low-cost cataract surgery robot to significantly reduce the surgical cost, lower the surgical difficulty, and shorten the doctor training cycle, so as to help the rapid wide-scale promotion of cataract surgeries and serve the vast number of cataract patients. Summary of the Invention

[0009] The purpose of the present invention is to provide a surgical robot that can be used for cataract surgery, partially solving or alleviating the above deficiencies in the prior art, and capable of improving the stability and precision of the overall mechanism.

[0010] To solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions:

[0011] In a first aspect of the present invention, there is provided a surgical robot that can be used for cataract surgery, including:

[0012] A multi-mode motion mechanism, the multi-mode motion mechanism including:

[0013] A first base, on which a guide rail is provided, and a moving part provided on the guide rail, the moving part including:

[0014] The first active support rod, the second end of the first active support rod is arranged on the guide rail, and the first active support rod can reciprocate along the guiding path of the guide rail, and the first active support rod and the guide rail form an intersection point E;

[0015] The second active support rod, the second end of the second active support rod is hinged to the first base; wherein, from the second end to the first end of the second active support rod, there are provided: a telescopic part and a support rod part, the second end of the telescopic part is hinged to the first base to form a hinge point P, and the first end of the telescopic part is connected to the support rod part;

[0016] The first driven support rod, the second end of the first driven support rod is connected to the first active support rod through a sliding part to form an intersection point F, and the first end of the support rod part 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 part is sleeved on the first active support rod, and the sliding part can reciprocate along the axial direction of the first active support rod; [[ID=⑨]]

[0017] The second driven support rod arranged parallel or approximately parallel to the first driven support rod, the second end of the second driven support rod is hinged to the second end of the support rod part to form a hinge point C;

[0018] The driven part arranged parallel or approximately parallel to the support rod part, the first end of the driven part is hinged to the first end of the first driven support rod to form a hinge point B, and the second end of the driven part is hinged to the first end of the second driven support rod to form a hinge point D;

[0019] Wherein, the hinge point A, the hinge point P, the intersection point E, and the intersection point F are sequentially connected to form a trapezoid-like shape, 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;

[0020] When the first active support rod reciprocates along the axial direction of the guide rail, the height of the trapezoid-like shape can adaptively change, so that the support rod part can rotate around the hinge point C, and further enable the driven part to rotate around the hinge point D;

[0021] The second base, the multi-mode motion mechanism is arranged on the second base;

[0022] The displacement adjustment mechanism, the second base is arranged on the displacement adjustment mechanism.

[0023] In some embodiments, the second base includes: a disc motor, and an output shaft of the disc motor is connected to the first base so that the moving part can rotate about the first axis direction.

[0024] In some embodiments, the second base includes:

[0025] a first connecting plate, and the first connecting plate is connected to the first base;

[0026] at least one inclined platform, and the inclined platform includes: a first mounting plate and a second mounting plate. A first side of the first mounting plate and the second mounting plate are rotatably connected. A positioning member is provided on a second side of the first mounting plate, and a first thread is provided on a surface of the positioning member. 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 member to pass through, and a second positioning area for installing the first screw rod; wherein, a second thread that cooperates with the first thread is provided on the first screw rod so that when the first screw rod rotates forward or backward, the end of the positioning member can correspondingly move in a direction close to or away from the positioning port.

[0027] In some embodiments, at least one guiding member is provided on the first mounting plate. Correspondingly, a guiding channel is provided on the second mounting plate. The end of the guiding member can pass through the guiding channel, and when the first mounting plate and the second mounting plate rotate to increase or decrease the included angle, the end of the guiding member can correspondingly move in a direction close to or away from the guiding channel;

[0028] Correspondingly, the second mounting plate further includes: a fixing member provided at the guiding channel. A clamping area is formed inside the fixing member. The guiding 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 in the locking direction, the width of the clamping area gradually decreases to increase the clamping force on the guiding member.

[0029] In some embodiments, it further includes: an auxiliary mechanism, and the auxiliary mechanism includes:

[0030] [[ID=2));

[0031] a third auxiliary support rod and a fourth auxiliary support rod arranged in parallel. Second ends of the third auxiliary support rod and the fourth auxiliary support rod are respectively hinged to the first base;

[0032] The second end of the first auxiliary support rod and the first end of the third auxiliary support rod, and the second end of the second auxiliary support rod and the first end of the fourth auxiliary support rod are respectively hinged.

[0033] In some embodiments, the auxiliary mechanism further includes: a fifth auxiliary support rod. 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.

[0034] 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;

[0035] 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.

[0036] In some embodiments, the driven member is a surgical instrument;

[0037] 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.

[0038] The present invention can also provide an RCM mechanism applicable to cataract surgery, including:

[0039] A first base, on which a guide rail is provided, and a moving part provided on the guide rail, the moving part includes:

[0040] A first active support rod, the second end of the first active support rod is provided on the guide rail, and the first active support rod can reciprocate along the guiding path of the guide rail, and the first active support rod and the guide rail form an intersection point E;

[0041] A second active support rod, the second end of the second active support rod is hinged to the first base; wherein, the second active support rod is provided with: a telescopic part and a support rod part from its second end to its first end, the second end of the telescopic part is hinged to the first base to form a hinge point P, and the first end of the telescopic part is connected to the support rod part;

[0042] The first driven support rod, the second end of the first driven support rod is connected to the first active support rod through a sliding part to form an intersection point F, and the first end of the support rod part is hinged to the 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 part is sleeved on the first active support rod, and the sliding part can reciprocate along the axial direction of the first active support rod;

[0043] A second driven support rod arranged parallel or approximately parallel to the first driven support rod, the second end of the second driven support rod is hinged to the second end of the support rod part to form a hinge point C;

[0044] A driven member arranged parallel or approximately parallel to the support rod part, the first end of the driven member is hinged to the first end of the first driven support rod to form a hinge point B, and the second end of the driven member is hinged to the first end of the second driven support rod to form a hinge point D;

[0045] Wherein, the hinge point A, the hinge point P, the intersection point E, and the intersection point F are connected in sequence to form a trapezoid-like shape, and the hinge point A, the hinge point B, the hinge point D, and the hinge point C are connected in sequence to form a first parallelogram;

[0046] When the first active support rod reciprocates along the axial direction of the guide rail, the height of the trapezoid-like shape can change adaptively, so that the support rod part can rotate around the hinge point C, and further the driven member can rotate around the hinge point D.

[0047] Beneficial technical effect: Contrary to the traditional triangular connection method, the present invention adopts a trapezoidal mechanism design with variable height to achieve a stable connection between the first parallelogram and the guide rail and a flexible displacement amount transmission by means of the variable-height trapezoid.

[0048] Specifically, the present invention designs the transmission of the displacement amount into the following two major stages: (1) The first transmission stage: the displacement amount of point E in the right-angled side EF is transmitted to the hypotenuse AP; (2) The second transmission stage: the local line segment AC in the hypotenuse AP further conducts the displacement amount to the line segment BD (i.e., the driven member, such as a surgical instrument); Further, in the special trapezoidal connection mode adopted by the present invention, the right-angled side (formed by the first active support rod 121) can transmit the displacement amount of point E in the crucial first conduction stage in the form of the movement of a moving pair (or rather, in a translational manner) to the hypotenuse of the trapezoid. At the same time, the hypotenuse is sequentially provided with a telescopic movable member and a non-telescopic fixed member in a specific direction away from the lower base of the trapezoid. Thus, on the basis of flexibly transferring and transmitting the displacement amount by the coordinated cooperation of the movable member and the fixed member, the mechanical stability of the key transmission part (line segment AC) can be improved.

[0049] Further, the present invention also provides a limit type pitch angle adjustment mechanism (i.e., an inclined table type adjustment solution). In summary, the present invention actually provides a combination of a fixed site adjustment in a large range and an automatic adjustment solution of a high-precision RCM mechanism in a small range, so as to provide an angle adjustment solution with both stability and flexibility for different pitch angle operation ranges. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to actual scale. Obviously, the following-described drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0051] Figure 1 It is a schematic structural diagram of the RCM mechanism in an exemplary embodiment of the present invention;

[0052] Figure 2 It is a schematic structural diagram of the auxiliary mechanism in an exemplary embodiment of the present invention;

[0053] Figure 3 It is a schematic structural diagram of the surgical robot in an exemplary embodiment of the present invention;

[0054] Figure 4 is Figure 1 a schematic diagram of the working principle of the RCM mechanism shown;

[0055] Figure 5 It is a schematic diagram of the joint hinge structure in an exemplary embodiment of the present invention;

[0056] Figure 6 Another schematic diagram of the articulated structure shown Figure 5 ;

[0057] Figure 7 Schematic diagram of the structure of the inclined platform in an exemplary embodiment of the present invention

[0058] Figure 8 Exploded view of the parts of the inclined platform in an exemplary embodiment of the present invention

[0059] Figure 9 Schematic diagram of the structure of the inclined platform in another exemplary embodiment of the present invention

[0060] Figure 10 Schematic diagram of the first working space of the RCM mechanism

[0061] Figure 11 Schematic diagram of the second working space of the RCM mechanism

[0062] Reference numerals: multi-mode motion mechanism 10, guide rail 11, first base 13, bearing bracket 131, ball bearing 132; ball screw 14, moving 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 part 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 221a, positioning part 221b, guide channel 222a, positioning port 222b, first screw 222c, locking knob 222d, fixing part 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 connection hole 52, second connection hole 53, first hole position 521, second hole position 522, second connection hole 53, third hole position 531, fourth hole position 532, mounting nut 54, first gasket 55, flange bearing 56, bolt 57. Detailed implementation manners

[0063] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0064] In this document, suffixes such as "module", "component" or "unit" used to represent elements are only for the convenience of describing the present invention, and have no specific meaning in themselves. Therefore, "module", "component" or "unit" can be used interchangeably.

[0065] In this document, the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", "outer", "front", "rear", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0066] In this document, unless otherwise clearly defined and limited, terms such as "installed", "provided with", "connected", etc. shall 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, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0067] In this document, "and / or" includes any and all combinations of one or more of the listed related items.

[0068] In this document, "a plurality of" means two or more, that is, it includes two, three, four, five, etc.

[0069] As used in this specification, the term "about" typically represents + / -5% of the value, more typically + / -4% of the value, more typically + / -3% of the value, more typically + / -2% of the value, even more typically + / -1% of the value, and even more typically + / -0.5% of the value.

[0070] In this specification, certain embodiments may be disclosed in a format that is within a certain range. It should be understood that this description of "within a certain range" is merely for convenience and brevity and should not be construed 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 the individual numerical values within that range. For example, the description of the range 1 - 6 should be regarded as having 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 the individual numbers within this range, such as 1, 2, 3, 4, 5, and 6. The above rules apply regardless of the breadth of the range.

[0071] In this specification, a "support rod" refers to a component having a certain length in the axial direction, which can play a certain supporting and connecting role. For example, the support rod can be an elongated rod-shaped object. Exemplarily, the support rod can be a metal support rod, a plastic support rod, etc. with a certain length.

[0072] In this specification, a "trapezoid" is a quadrilateral with only one pair of opposite sides parallel. Correspondingly, a trapezoid-like shape includes a standard trapezoid and geometric structures similar to a trapezoid, such as a trapezoid-like shape includes a quadrilateral with only one pair of opposite sides parallel or approximately parallel. Approximately parallel can be understood as the angle between two lines or planes is very small, close to zero degrees, but not exactly zero (such as about 0.5°, about 1° or so, etc.), and it can play a role in transmitting displacement similar to that of a trapezoid during actual operation (for example, during actual production and processing, due to production or installation errors of parts, the upper and lower bases of the trapezoid may not be absolutely parallel but have a certain angle, yet it can still be regarded as parallel and operate normally).

[0073] The waist perpendicular or approximately perpendicular to the lower base and the upper base in a "trapezoid" or "trapezoid-like shape" is called the "right-angled side", and the other waist is called the "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 trapezoid-like shape, at a certain specific position, it may change to a rectangle due to the decrease in the length of the hypotenuse such that the length of the hypotenuse is equal to that of the right-angled side, that is, a trapezoid-like shape can change to a rectangle at a certain moment during the height change process.

[0074] In this specification, in a "parallelogram", two pairs of opposite sides are parallel or approximately parallel to each other.

[0075] In this specification, the hinge point and the intersection point can also be collectively referred to as "joint points", and the "joint points" can also be abbreviated as "points" or "nodes".

[0076] The applicant has noticed that traditional RCM mechanisms usually use a triangular mechanism to connect the guide rail and the parallelogram mechanism, and the vertex of the triangle is connected to the lower vertex of the quadrilateral mechanism. For example, the subretinal injection surgical robot in the patent application CN118161270A uses a fifth link to connect the guide rail (such as the first lead screw) and the parallelogram (such as the link assembly), and one end of the fifth link is connected to the lower vertex of the parallelogram (i.e., the vertex close to the first lead screw side 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 higher-precision motion scenarios (especially in some special surgical fields in ophthalmic surgery, such as the cataract surgery field):

[0077] 1) There are too many hinge points, and the working stability of the mechanism is poor during long-term operation; especially during the frequent reciprocating motion of the parallelogram mechanism, the flexibility of its motion may gradually decrease as the working time prolongs. For some ophthalmic surgeries that require higher-precision operations (especially in the cataract surgery field), this will cause great errors and affect the quality and efficiency of the surgery;

[0078] 2) In order to stabilize the surgical instrument, a double parallelogram mechanism needs to be arranged side by side, that is, the displacement of the triangle needs to be transmitted to the surgical instrument through two parallelogram mechanisms in sequence. On the one hand, this will increase the number of hinge points, and at the same time, it will also increase the mechanical structure complexity of the mechanism and the volume of the device.

[0079] In contrast to the traditional triangular connection method, the present invention adopts a highly variable trapezoidal mechanism design to achieve stable connection between the first parallelogram and the guide rail and flexible displacement transmission by means of the height-variable trapezoid.

[0080] Surprisingly, this connection scheme of the trapezoidal mechanism can improve the overall working stability of the robot even when the number of some joints increases by arranging the hypotenuse and the right-angle side of the trapezoidal mechanism front and back and realizing three-point connection with the first parallelogram.

[0081] Specifically, to more clearly state the improvement of the present invention in the technical path, refer to Figure 4 Describe the displacement transmission process in the present invention, where the transmission process in the present invention is improved to the following stages:

[0082] (1) The first transmission stage: The displacement of point E in the right-angle side EF is transmitted to the hypotenuse AP;

[0083] (2) The second transmission stage: The local line segment AC in the hypotenuse AP continues to conduct the displacement to the line segment BD (i.e., the driven member, such as the surgical instrument);

[0084] Furthermore, in the special trapezoidal connection mode adopted by the present invention, the right-angled side (formed by the first active support rod 121) can conduct the displacement of point E to the hypotenuse of the trapezoid in the crucial first conduction stage by means of the motion form of the moving pair (or rather, the translational motion). At the same time, a telescopic movable part and a non-telescopic fixed part are arranged in sequence along a specific direction away from the lower base of the trapezoid. Thus, on the basis of flexibly transferring and transmitting the displacement by the coordinated cooperation of the movable part and the fixed part, the mechanical stability of the key transmission part (line segment AC) can be improved.

[0085] See Figures 1-9 As shown, the present invention provides a surgical robot applicable to cataract surgery, including:

[0086] A multi-mode motion mechanism 10, and the multi-mode motion mechanism includes:

[0087] A first base 13, on which a guide rail 11 is provided, and a motion part 12 provided on the guide rail 11. The motion part 12 includes:

[0088] A first active support rod 121, the second end of the first active support rod 121 is provided on the guide rail 11, and the first active support rod can reciprocate along the guiding path of the guide rail 11. The first active support rod and the guide rail form an intersection point E;

[0089] A second active support rod 122, the second end of the second active support rod 122 is hinged to the first base; wherein, from the second end to the first end of the second active support rod 122, there are provided: a telescopic part 122a and a support rod part 122b. The second end of the telescopic part 122a is hinged to the first base to form a hinge point P, and the first end of the telescopic part 122a is connected to the support rod part 122b;

[0090] In some embodiments, the telescopic part 122a is a length-telescopic support rod, that is, the telescopic part can be telescoped along its axial direction; the support rod part 122b is a length-fixed support rod, that is, during the swinging process of the second active support rod, the length of the support rod part 122b remains unchanged in the axial direction; for example, in some embodiments, the telescopic part is an electric push rod, and the output end of the electric push rod can perform telescopic activities along its axial direction.

[0091] The 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 part to form an intersection point F, and the first end of the support rod part 122b is hinged to the 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 part is sleeved on the first active support rod 121, and the sliding part can reciprocate along the axial direction of the first active support rod 121 to drive the first driven support rod 123 to move up and down along the axial direction of the first active support rod 121;

[0092] 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 is hinged to the second end of the support rod part 122b to form a hinge point C;

[0093] A driven member 125 arranged parallel or approximately parallel to the support rod part 122b, the first end of the driven member 125 is hinged to the first end of the first driven support rod 123 to form a hinge point B, and the second end of the driven member 125 is hinged to the first end of the second driven support rod 124 to form a hinge point D;

[0094] Wherein, the hinge point A, the hinge point P, the intersection point E, and the intersection point F are connected in sequence to form a trapezoid-like shape, and the hinge point A, the hinge point B, the hinge point D, and the hinge point C are connected in sequence to form a first parallelogram;

[0095] When the first active support rod 121 reciprocates along the axial direction of the track, the height of the trapezoid-like shape can change adaptively, so that the support rod part 122b can rotate around the hinge point C, and further the driven member 125 can rotate around the hinge point D; wherein, the height refers to the length of the line segment EF;

[0096] Specifically, when the height of the trapezoid-like shape expands or shrinks, the coordinates of the output end (such as the operating needle) of the driven member 125 in the horizontal and vertical positions, as well as the inclination angle of the output end, can all change stably and adaptively.

[0097] A second base 20, the multi-mode motion mechanism is arranged on the second base 20;

[0098] A displacement adjustment mechanism 30, the second base 20 is arranged on the displacement adjustment mechanism 30.

[0099] 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 guiding path. That is to say, preferably, in this embodiment, the trapezoid-like shape is a right-angled trapezoid-like shape.

[0100] In summary, the present invention proposes a displacement transfer mechanism based on a three-point connection of a right-angled trapezoid-like shape with variable height and a first parallelogram; wherein, for the two waists of the right-angled trapezoid-like shape, namely the right-angled side and the hypotenuse, different height adaptation change schemes are adopted, that is, (1) the right-angled side FE uses a fixed component to complete the height change (the first driven support rod 123 slides up and down along the first active support rod 121 with a fixed length); (2) the hypotenuse AP is provided with a movable component and a fixed component to cooperate to complete the connection between the first parallelogram S1 and the guide rail. Specifically, the flexible adjustment of the length of the hypotenuse AP is completed by utilizing the rotational performance and telescopic performance of the movable component arranged between the guide rail and the first parallelogram.

[0101] And this dual height adjustment mode of fixed type and movable type, by virtue of its position layout in the front and rear directions (that is, along the direction of the needle pointing to the second base, as shown by the arrow F1 in Figure 1 ), and the cooperation scheme for connecting with the first parallelogram, can not only utilize the translational characteristics of the fixed component to complete the stable transfer of the displacement amount (especially the rotational amount) in the critical first transfer stage under the trapezoid-like structure. At the same time, the cooperation of the fixed component and the movable component of the hypotenuse can ensure high stability and reliability in the process of transferring the displacement amount from the trapezoid-like shape to the first parallelogram while meeting the flexibility of the displacement amount transfer.

[0102] In some embodiments, the moving part further includes: a motor 126; a slider 127 (such as a lead screw slider), the slider 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 reciprocating movement of the first active support rod 121 thereon, and the output shaft of the motor is connected to the slider to provide a driving force for its reciprocating movement; specifically, a ball screw 14 is arranged on the guide rail 11, and the lead screw slider is installed on the ball screw 14.

[0103] Furthermore, the follower 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. Wherein, both ends of the housing of the hollow shaft motor 1251 are hinged to the corresponding support rods.

[0104] Further, in some embodiments, the telescopic part 122a includes: an electric push rod 122a1, whose output end is connected to the support rod part 122b; and in this embodiment, it may further include: a flange 122a2; and the first base 13 further 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.

[0105] Preferably, in some embodiments, one or more driven support rods in the moving part 12 can be arranged in pairs, such as arranging a set of driven support rods relatively. Specifically, a set of first driven support rods 123 can be arranged, and a set of second driven support rods 124 can be arranged.

[0106] Further, in some embodiments, a set of driven support rods can include two or more driven support rods.

[0107] Further, in some embodiments, two or more relatively arranged driven support rods can be connected by at least one connecting rod. As Figure 3 shown, a connecting rod 128 can be arranged between two driven support rods.

[0108] Preferably, in some embodiments, the first end of the telescopic part 122a is fixedly connected to the support rod part 122b.

[0109] Preferably, in some embodiments, at least two support rod parts 122b (also called fixed parts) are arranged relatively, and at least two support rod parts 122b are connected by at least one connecting rod, and the first end (for example, the output shaft of the electric push rod) of the telescopic part 122a (also called the movable part) 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 part 122b. In this embodiment, the movable part and the fixed part are indirectly connected in a fixed manner by means of the connecting rod, which can not only improve the accuracy in the process of displacement transfer, but also improve the stability and robustness of the movable part and the fixed part in the process of coordinated movement with other support rods.

[0110] In other words, since the present invention adopts this trapezoid-like structure that uses telescopic deformation and sliding deformation to jointly adjust the height, and is specifically hinged and slidably connected to a set of intersecting lines of the first parallelogram. And, unexpectedly, this connection scheme with more joints can, under the optimized configuration of the movable part and the fixed part, instead improve the overall stability of the mechanism (that is, improve the structural stiffness and strength of the RCM mechanism as a whole).

[0111] In fact, referring to Figure 4As shown, this multi-joint trapezoid-like connection scheme can further reduce the number of necessary joints compared to the traditional triangular connection scheme. Due to the stability advantage of the prismatic pairs in the trapezoid-like shape, in the present invention, only one first parallelogram S1 can be set to complete the transmission of the displacement amount, instead of two or more parallelograms S1 required in the traditional scheme. In other words, the transmission of the displacement amount can be directly transmitted to the follower 125 of the first parallelogram S1 through the trapezoid-like S2 (specifically, it is a right trapezoid-like).

[0112] In some embodiments, the second base includes: 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. For example, the first axis direction refers to the axial direction of the guiding path. As Figure 4 shown, the rotation center of the disc motor is point M, which can be on the same straight line as point P and point E.

[0113] In some embodiments, the second base 20 includes:

[0114] a first connecting plate 21, the first connecting plate 21 is connected to the first base;

[0115] at least one inclined platform 22, the inclined platform 22 includes: a first mounting surface and a second mounting surface; and an included 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 adjusting mechanism 30.

[0116] 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. Specifically, the disc motor can also be arranged inside the first connecting plate. For example, the first connecting plate can be a fully enclosed or partially enclosed outer shell of the disc motor to output the rotation amount of the disc motor.

[0117] In some embodiments, at least two inclined platforms with different included angle sizes are included.

[0118] For example, in some embodiments, inclined platforms with included angles of approximately 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45° can be set.

[0119] For different surgical operation scenarios, different needle movement ranges may be involved. The present invention adopts a detachable inclined platform method to complete the adjustment of the movement range.

[0120] Specifically, for the range of pitch angle movement that the needle can achieve, the present invention adopts a replaceable inclined platform design for manual adjustment, and the inclined platform is arranged between the disc electrode / first connecting plate and the displacement adjustment mechanism 30 with multi-axis degrees of freedom, so as to reserve a relatively sufficient pitch angle adjustment space without overly increasing the floor space of the device.

[0121] For another example, in some embodiments, referring to Figures 7-8 As shown, the inclined platform 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 (for example, the first mounting plate 221 and the second mounting plate 222 can be rotatably connected through a rotating shaft), a positioning member 221b is further arranged on the first mounting plate 221, a first thread is arranged on the surface of the positioning member 221b, a positioning port 222b and a first screw (such as a worm adjustment knob) are arranged 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, a second thread matching the first thread is arranged on the first screw, so that when the first screw rotates forward or backward, the end of the positioning member can correspondingly move in a direction close to or away from the positioning port;

[0122] Further, at least one guiding member 221a (preferably an arc-shaped guiding member) is arranged on the first mounting plate 221. Correspondingly, a guiding channel 222a (such as an opening for the end of the guiding member to pass through) is arranged on the second mounting plate 222. The end of the guiding member 221a can pass through the guiding channel, and when the first mounting plate and the second mounting plate rotate relative to each other, the end of the guiding member can pass through the guiding channel.

[0123] Correspondingly, the second mounting plate 222 further includes: a fixing member 222e arranged at the guiding channel, a clamping area is formed inside the fixing member 222e, the guiding member 221a can pass through the clamping area, an opening is arranged on one side of the clamping area, and a locking knob 222d. When the locking knob 222d 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 guiding member 221a and lock it.

[0124] In order to further verify the advantages of the surgical robot in the working range in the present invention, referring to Figure 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. In this embodiment, the surgical robot is not provided with an inclined platform or the angle of the inclined platform is approximately 0°. Figure 10From 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. From Figure 10 it can be seen that the surgical robot can better cover the cornea and the anterior capsule of the lens below, meeting the requirements of anterior segment surgeries such as cataract surgery.

[0125] See Figure 11 as shown, which shows the space of the working range of the end of the RCM mechanism in another exemplary embodiment of the present invention. Figure 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 the inclined platform, and the corresponding space range formed covers most of the area below the cornea, mainly for posterior segment surgeries such as retinal vein vascular intubation and bypass surgery, epiretinal membrane peeling surgery, etc.

[0126] It should be noted that in ophthalmic surgery, different surgical operations may involve different working spaces. In this regard, the present invention provides a degree-of-freedom mechanism, namely an inclined platform, between the base of the RCM mechanism and the displacement adjustment mechanism in consideration of factors such as occupied space, stiffness, and weight. Thus, the addition of the inclined platform can reduce the space adjustment pressure of the RCM mechanism and the displacement adjustment mechanism to a certain extent, thereby reducing the overall occupied space of these two mechanisms and reducing the overall weight of the surgical robot. And this small and lightweight robot design is more conducive to improving the operation accuracy.

[0127] For another example, in some other embodiments, as Figure 9 shown, the inclined platform 22 includes:

[0128] 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;

[0129] at least one adjusting plate 23 disposed 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 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;

[0130] at least one set of adjusting positions 231 are provided on the adjusting plate; correspondingly, it further includes: a clamping member cooperating with the adjusting position, the clamping member can be snapped into the adjusting position and has a part protruding from the adjusting position; wherein, when the first mounting plate is arranged at the corresponding adjusting position, the protruding part of the clamping member can fix the first mounting plate by clamping.

[0131] Specifically, at least one set of adjustment positions is circumferentially arranged with the first end of the first mounting plate as the center, and the adjustment positions include at least two oppositely arranged adjustment openings. When the first mounting plate 221 is arranged at the corresponding adjustment position, at least two clamping members that are inserted into the adjustment openings can limit the two side mounting surfaces of the first mounting plate, so that the inclined platform is maintained within a fixed included angle range.

[0132] For example, in some embodiments, the side surface of the second mounting plate 222 can be directly fixed to the adjustment plate.

[0133] For example, in some embodiments, the clamping member can be a clamping block, or components such as bolts.

[0134] It should be noted that ophthalmic surgery is a surgical scenario that requires extremely high operating techniques from doctors, and cataract surgery is an even more difficult special ophthalmic surgical scenario among ophthalmic surgeries. Especially in the steps of corneal main incision, side incision, and further capsulotomy in cataract surgery, extremely high requirements are put forward for the pitching accuracy of the surgical needle, and it is very difficult for traditional surgical robots to meet such special application requirements.

[0135] In response to this, on the one hand, the present invention provides the above-mentioned special RCM mechanism that combines a right-angled trapezoid and a parallelogram, and at the same time provides a limit type pitching angle adjustment mechanism (i.e., the inclined platform type adjustment scheme). Furthermore, the present invention actually provides an angle adjustment scheme that combines fixed-site adjustment on a large scale and automated adjustment of a high-precision RCM mechanism on a small scale, so as to provide an angle adjustment scheme that combines stability and flexibility for different pitching angle operation ranges.

[0136] In the actual operating environment of cataract surgery, especially in the capsulotomy scenario, it is required that the needle rotates in a circumferential manner at a specific pitching angle. Among them, due to environmental characteristics such as the height of the operating table, the physical characteristics of the patient, the operating habits of the doctor, and different equipment carrying platforms, the actual pitching angle may have different angle ranges. In response to this, the present invention adopts a limit type adjustment mode to provide multiple sets of pitching 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 range adjustment, and the increase in adjustment freedom will not have too much impact on the overall volume of the robot.

[0137] In some embodiments, as Figure 2 shown, the present invention further includes: an auxiliary mechanism 40, and the auxiliary mechanism 40 includes:

[0138] The first auxiliary support rod 41 and the second auxiliary support rod 42 are arranged in parallel, and 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;

[0139] The third auxiliary support rod 43 and the 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;

[0140] The second end of the first auxiliary support rod 41 and the first end of the third auxiliary support rod 43, and the second end of the second auxiliary support rod 42 and the first end of the fourth auxiliary support rod 44 are respectively hinged. As Figure 3 shown, the hinge points of two or more auxiliary support rods form a joint point 46.

[0141] In some embodiments, the auxiliary mechanism further 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.

[0142] 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;

[0143] 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. Among them, the auxiliary rod can strengthen the lateral stability of the structure and at the same time increase the overall stiffness of the structure.

[0144] In this embodiment, the "deformation direction" refers to the rotation direction of the side that generates deformation (i.e., the rotating side) 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, 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.

[0145] In this embodiment, the deformation directions of the three parallelograms are sequentially set, which can enable the auxiliary rods to enhance the supporting and assisting effect on the core first parallelogram.

[0146] In some embodiments, the driven member 125 is a surgical instrument; the end of the surgical instrument is an operating needle. Refer to Figure 4 As shown, the operating needle can be regarded as a line segment DO (equivalent to the driving member).

[0147] In some embodiments, the displacement adjusting mechanism 30 includes: an X-axis moving part 31, a Y-axis moving part 32, and a Z-axis moving part 33 that are sequentially connected. 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 directions that are pairwise perpendicular in sequence. The X-axis moving part, Y-axis moving part, and Z-axis moving part can respectively drive the multi-mode motion mechanism to reciprocate along the X-axis, Y-axis, and Z-axis.

[0148] In this embodiment, preferably, the displacement adjusting mechanism is 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.

[0149] Furthermore, a bushing 51 is used to connect between at least two mutually hinged rods (specifically, the bushing can be placed between the two rods). Specifically, refer to Figure 5 As shown in the schematic diagram of the local connection structure, 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 its first side to its second side (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 its first side to its second side (preferably, the diameter of the third hole position is smaller than that of the fourth hole position); specifically, it further includes:

[0150] A mounting nut 54, the first hole position 521 is used to accommodate the mounting nut 54, and a first gasket 55 can be provided between the mounting nut and the first hole position 521;

[0151] A flange bearing 56, which has a cylindrical part and a limiting part extending in a direction away from the axial direction at one end of the cylindrical part. The outer diameter of the limiting part is larger than that of the cylindrical part, and a mounting hole position is formed in the limiting part and the cylindrical part; specifically, the cylindrical part is in close fit with the third hole position 531, and the surface of the limiting part is correspondingly in close fit with the end face of the fourth hole position 532 (i.e., the table surface formed on the side connected to the third hole position 531), so that the flange bearing is limited and installed in the corresponding connection hole;

[0152] A bolt 57 (such as a socket head cap screw) sequentially passes through the mounting hole positions, and the head of the bolt passes through a flange bearing (the width of the head is greater than the width of the mounting hole position of the flange bearing), and can be tightly connected to the flange bearing through a second gasket; while the rod portion of the bolt passes through a first gasket and a nut;

[0153] Correspondingly, the bushing is arranged between the second side of the first connection hole 52 and the first side of the second connection hole 53, and the bushing 51 partially extends into the third hole position 531 to contact the flange bearing, and the outer diameter of the bushing is smaller than the outer diameter of the flange bearing to reduce the friction area. In this embodiment, the above-mentioned cooperation of multiple parts for the key hinge position can improve the connection stability of the hinge point.

[0154] Embodiment 2

[0155] The present invention also provides an RCM mechanism applicable to cataract surgery, including: a first base 13, a guide rail 11 arranged on the first base 13, and a moving part 12 arranged on the guide rail 11, and the moving part 12 includes:

[0156] A first active support rod 121, the second end of the first active support rod 121 is arranged on the guide rail 11, and the first active support rod can reciprocate along the guiding path of the guide rail 11, and the first active support rod and the guide rail form an intersection point E;

[0157] 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 part 122a and a support rod part 122b from its second end to the first end, the second end of the telescopic part 122a is hinged to the first base to form a hinge point P, and the first end of the telescopic part 122a is connected to the support rod part 122b;

[0158] 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 part to form an intersection point F, and the first end of the support rod part 122b is hinged to the 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 part is sleeved on the first active support rod 121, and the sliding part can reciprocate along the axial direction of the first active support rod 121;

[0159] 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 is hinged to the second end of the support rod part 122b to form a hinge point C;

[0160] A follower 125 arranged parallel or approximately parallel to the support rod portion 122b. The first end of the follower 125 is hinged to the first end of the first follower support rod 123 to form a hinge point B, and the second end of the follower 125 is hinged to the first end of the second follower support rod 124 to form a hinge point D.

[0161] Wherein, the hinge point A, the hinge point P, the intersection point E, and the intersection point F are sequentially connected to form a trapezoid-like shape, 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.

[0162] When the first active support rod 121 reciprocates along the axial direction of the guide rail, the height of the trapezoid-like shape can adaptively change, so that the support rod portion 122b can rotate around the hinge point C, and further the follower 125 can rotate around the hinge point D.

[0163] The RCM mechanism in this embodiment may include structural components that are the same as or similar to those in any of the above embodiments, such as an inclined platform that adjusts the pitch angle using a limiting scheme, which will not be elaborated here.

[0164] Since the inclined platform can directly adjust the motion range of the RCM, therefore, due to the inclined platform making up for the range adjustment to a certain extent, conversely, the moving strokes of the X-axis, Y-axis, and Z-axis of the displacement adjustment mechanism 30 can be set relatively smaller, which is also beneficial to reducing the occupied volume of the overall volume.

[0165] The applicant notes that currently, robots dedicated to cataract surgery are still in a blank stage. The development of the cataract surgery robot mechanism faces high-difficulty technical problems such as surgical instruments accessing through tiny incisions and quickly achieving 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-effectors used for cataract surgery have problems such as insufficient stiffness, non-compact enough volume, inflexible movement, difficult spatial positioning of the incision point, unrestricted movement range of the mechanism, and insufficient movement accuracy, making it difficult to apply in actual cataract surgery scenarios.

[0166] Therefore, the present invention proposes an RCM (Remote Center of Motion) mechanism for cataract surgery and an ophthalmic surgery robot having the mechanism, which breaks through technical problems such as the stiffness, volume, flexibility, spatial point positioning, motion range, and accuracy of traditional surgical robots, realizes the accuracy and safety of cataract surgery, and brings better treatment effects to patients.

[0167] The present invention can achieve better effects during circular motion, especially when tearing the capsular bag and aspirating residues. Feeding and pitching can provide more and more flexible operating space. The linear motion of the electric push rod and the sliding fit of the translational guide rail can provide the required precise control of multiple degrees of freedom, enabling the surgical instrument to rotate along an ideal trajectory, fully meeting the requirements of circular motion in cataract surgery.

[0168] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including that element.

[0169] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented 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. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a computer terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0170] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present invention. All of these are within the protection scope of the present invention.

Claims

1. A surgical robot that can be used in cataract surgery, characterized in that, Comprising: A multi-mode motion mechanism (10), the multi-mode motion mechanism comprising: A first base (13), on which a guide rail (11) is provided, and a moving part (12) provided on the guide rail (11), the moving part (12) comprising: A first active support rod (121), the second end of the first active support rod (121) being provided on the guide rail (11), and the first active support rod being capable of reciprocating along the guiding path of the guide rail (11), the first active support rod and the guide rail forming an intersection point E; A second active support rod (122), the second end of the second active support rod (122) being hinged to the first base; wherein, from its second end to its first end, the second active support rod (122) is provided with: a telescopic part (122a) and a support rod part (122b), the second end of the telescopic part (122a) being hinged to the first base to form a hinge point P, and the first end of the telescopic part (122a) being connected to the support rod part (122b); A first driven support rod (123), the second end of the first driven support rod (123) being connected to the first active support rod (121) through a sliding part to form an intersection point F, and the first end of the support rod part (122b) being hinged to a hinge point A on the first driven support rod (123), and the hinge point A being located between the first end and the second end of the first driven support rod (123); wherein, the sliding part is sleeved on the first active support rod (121), and the sliding part 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 part (122b) to form a hinge point C; A driven member (125) arranged parallel or approximately parallel to the support rod part (122b), the first end of the driven member (125) being hinged to the first end of the first driven support rod (123) to form a hinge point B, and the second end of the driven member (125) being hinged to the first end of the second driven support rod (124) to form a hinge point D; Wherein, the hinge point A, the hinge point P, the intersection point E, and the intersection point F are sequentially connected to form a trapezoid-like shape, 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 trapezoid-like shape can adaptively change, so that the support rod part (122b) can rotate around the hinge point C, and further enable the driven member (125) to rotate around the hinge point D; A second base (20), the multi-mode motion mechanism being provided on the second base (20); A displacement adjusting mechanism (30), and the second base (20) is disposed on the displacement adjusting mechanism (30).

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

3. The surgical robot according to claim 1, which can be used for cataract surgery, is characterized in that, The second base (20) includes: A first connecting plate (21), and the first connecting plate (21) is connected to the first base; At least one inclined platform (22), and the inclined platform (22) includes: a first mounting plate (221) and a second mounting plate (222). The first sides of the first mounting plate (221) and the second mounting plate (222) are rotatably connected. A positioning member (221b) is disposed on the second side of the first mounting plate (221), and a first thread is disposed on the surface of the positioning member (221b). Correspondingly, a positioning port (222b) and a first screw (222c) are disposed 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 mounting the first screw. Wherein, a second thread that cooperates with the first thread is disposed on the first screw, so that when the first screw rotates forward or backward, the end of the positioning member can correspondingly move in a direction close to or away from the positioning port.

4. The surgical robot according to claim 3 that can be used for cataract surgery, characterized in that, At least one guiding member (221a) is further disposed on the first mounting plate (221). Correspondingly, a guiding channel (222a) is disposed on the second mounting plate (222). The end of the guiding member (221a) can pass through the guiding channel, and when the included angle between the first mounting plate and the second mounting plate increases or decreases, the end of the guiding member can correspondingly move in a direction close to or away from the guiding channel (222a); Correspondingly, the second mounting plate (222) further includes: a fixing member (222e) disposed at the guiding channel. A clamping area is formed inside the fixing member (222e). The guiding member (221a) can pass through the clamping area. An opening is disposed on one side of the clamping area, and a locking knob. 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 guiding member (221a).

5. The surgical robot applicable to cataract surgery according to claim 1, wherein, It further includes: An auxiliary mechanism (40), and the auxiliary mechanism (40) includes: A first auxiliary support rod (41) and a second auxiliary support rod (42) arranged in parallel. The first ends of the first auxiliary support rod (employed) 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) arranged in parallel. 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) and the first end of the third auxiliary support rod (43), and the second end of the second auxiliary support rod (42) and the first end of the fourth auxiliary support rod (44) are respectively hinged.

6. The surgical robot according to claim 5, which is applicable to cataract surgery, is characterized in that, The auxiliary mechanism further 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 hinged through the fifth auxiliary support rod (45).

7. The surgical robot according to claim 6, which is applicable to cataract surgery, is 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 opposite in direction.

8. The surgical robot according to claim 1, which can be used for cataract surgery, is 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, wherein, The displacement adjustment mechanism (30) includes: an X-axis moving part, a Y-axis moving part and a Z-axis moving part connected in sequence.

10. An RCM mechanism that can be used in cataract surgery, characterized in that, Including: A first base (13), on which a guide rail (11) is provided, and a moving part (12) provided on the guide rail (11), and the moving part (12) includes: A first active support rod (121), the second end of the first active support rod (121) is provided on the guide rail (11), and the first active support rod can reciprocate along the guiding 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), 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 part (122a) and a support rod part (122b) from its second end to its first end, the second end of the telescopic part (122a) is hinged to the first base to form a hinge point P, and the first end of the telescopic part (122a) is connected to the support rod part (122b); The 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 part to form an intersection point F, and the first end of the support rod part (122b) is hinged to the 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 part is sleeved on the first active support rod (121), and the sliding part 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), the second end of the second driven support rod (124) is hinged to the second end of the support rod part (122b) to form a hinge point C; A driven member (125) arranged parallel or approximately parallel to the support rod part (122b), the first end of the driven member (125) is hinged to the first end of the first driven support rod (123) to form a hinge point B, and the second end of the driven member (125) is hinged to the first end of the second driven support rod (124) to form a hinge point D; Wherein, the hinge point A, the hinge point P, the intersection point E, and the intersection point F are sequentially connected to form a trapezoid-like shape, 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 trapezoid-like shape can adaptively change, so that the support rod part (122b) can rotate around the hinge point C, and further enable the driven member (125) to rotate around the hinge point D.

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