Human-hand-simulated microsurgery robot

Abstract

The invention relates to the technical field of medical apparatuses and instruments, and provides a hand-simulated microsurgery robot which comprises a mechanical arm and a far-end instrument, the far-end instrument comprises a first mounting seat, a driving device and two oppositely-arranged clamping jaws, the first mounting seat is mounted at the execution tail end of the mechanical arm, and the clamping jaws and the driving device are mounted on the first mounting seat. The driving device is in driving connection with at least one clamping jaw and is used for driving the clamping jaw to move relative to the first mounting seat, so that the two clamping jaws can relatively move in the first direction, the second direction and the third direction; the two clamping jaws move relatively in the third direction so that the two clamping jaws can be opened and closed mutually, and included angles are formed between the first direction, the second direction and the third direction. The far-end instrument of the humanoid hand microsurgery robot is easy to machine, the posture of a clamped object can be adjusted only through the two clamping jaws, the surgery time consumed for posture adjustment is shortened, and the surgery efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a human hand-simulating microsurgery robot. Background Art

[0002] The main operation task of current microsurgery robots is to operate on tiny tissues under a microscopic perspective. Taking neurosurgery as an example, the most common surgical task is the anastomosis of tiny blood vessels, that is, operating suture needles and sutures to sew up vascular tissues. In order to assist surgeons in performing microsurgery, various microsurgery robots have been launched on the market.

[0003] In one technical route, the distal instrument of the microsurgical robot uses a three-degree-of-freedom wrist gripper. If delicate parts need to be sealed, the wrist gripper needs to be made smaller. However, this structure requires rope drive. When the wrist gripper is miniaturized, the rope needs to be made thinner to ensure surgical operation. This increases the difficulty of processing, and the selection of the rope is affected by the bending radius, strength, creep, etc. These factors will seriously affect the accuracy of its drive.

[0004] In another technical route, the microsurgery robot adopts a double cantilever structure that mimics human arms, with shoulders, elbows, and wrists. Its distal instrument is a surgical forceps driven by an actuator, which can be easily made into an extremely fine structure, and the accuracy is directly related to the drive motor, without any intermediate influencing factors. However, the distal instrument has only one degree of freedom for clamping, and additional mechanisms are required to adjust the posture of the clamped object, which often consumes the time of the operation. Summary of the invention

[0005] The present invention provides a human hand-like microsurgery robot, which is used to solve the problem in the prior art that the distal end instrument of the microsurgery robot is either difficult to process or requires other mechanisms to adjust the posture of the clamped object, resulting in a long operation time.

[0006] The present invention provides a human hand-like microsurgery robot, comprising: Robotic arm; The distal instrument comprises a first mounting seat, a driving device and two clamping jaws arranged opposite to each other, wherein the first mounting seat is mounted on the execution end of the robotic arm, the clamping jaw and the driving device are respectively mounted on the first mounting seat, and the driving device is drivingly connected to at least one of the clamping jaws for driving the clamping jaw to move relative to the first mounting seat so that the two clamping jaws can move relative to each other in a first direction, a second direction and a third direction; the relative movement of the two clamping jaws in the third direction can cause the two clamping jaws to open and close each other, and the first direction, the second direction and the third direction are arranged at angles to each other.

[0007] According to a human hand-like microsurgery robot provided by the present invention, the distal instrument further comprises a second mounting seat, and the driving device comprises a first driving mechanism and a driving assembly; At least one of the clamping jaws is mounted on the first mounting seat through the second mounting seat, the first driving mechanism is mounted on the second mounting seat, and the first driving mechanism is drivingly connected to the clamping jaw located on the second mounting seat, and is used to drive the clamping jaw to move relative to the second mounting seat along the first direction; The driving assembly is connected to the second mounting seat, and is used to drive the second mounting seat to move relative to the first mounting seat along the second direction and the third direction.

[0008] According to a human hand-like microsurgery robot provided by the present invention, the first driving mechanism includes a first driving member, a first lead screw and a first sliding member; The clamping jaw is slidably disposed on the second mounting seat along the first direction, the first driving member is fixed to the second mounting seat and drivingly connected to the first lead screw, and the first sliding member cooperates with the first lead screw and is fixedly connected to the clamping jaw.

[0009] According to a human hand-like microsurgery robot provided by the present invention, the distal instrument further comprises a third mounting seat, and the drive assembly comprises a second drive mechanism and a third drive mechanism; The second driving mechanism and the second mounting seat are respectively mounted on the third mounting seat, and the second driving mechanism is drivingly connected to the second mounting seat for driving the second mounting seat to move relative to the third mounting seat along the second direction; The third driving mechanism is mounted on the first mounting seat and is drivingly connected to the third mounting seat, and is used for driving the third mounting seat to move along the third direction relative to the first mounting seat.

[0010] According to a human hand-like microsurgery robot provided by the present invention, the distal instrument further comprises a first connecting rod, and the second driving mechanism comprises a second driving member, a second lead screw and a second sliding member; The second mounting seat is slidably arranged on the third mounting seat along the second direction, the second driving member is fixed to the third mounting seat and is drivingly connected to the second screw, the second screw is extended along the first direction, the second sliding member cooperates with the second screw and is rotatably connected to one end of the first connecting rod, and the other end of the first connecting rod is rotatably connected to the second mounting seat.

[0011] According to a human hand-like microsurgery robot provided by the present invention, the third driving mechanism comprises a third driving member, a third lead screw and a third sliding member; The third mounting seat is slidably disposed on the first mounting seat along the third direction, the third driving member is fixed to the first mounting seat and drivingly connected to the third lead screw, and the third sliding member cooperates with the third lead screw and is fixedly connected to the second mounting seat.

[0012] According to the human hand-like microsurgery robot provided by the present invention, the distal instrument further comprises two second connecting rods; The third lead screw is extended along the first direction, the two clamping jaws are respectively mounted on the third mounting seat through the second mounting seat, one end of the two second connecting rods are respectively rotatably connected to the third sliding member, and the other end of the two second connecting rods are rotatably connected to the two third mounting seats in a one-to-one correspondence.

[0013] According to a human hand-like microsurgery robot provided by the present invention, the robot arm includes a distal motion center, and the distal motion center includes a base, a fourth sliding member, a third connecting rod, a fourth connecting rod and a connecting rod assembly; The fourth sliding member is slidably disposed on the base, and the fourth sliding member, the third connecting rod, the fourth connecting rod and the base are sequentially connected to form a crank sliding member mechanism; The connecting rod assembly is connected with the fourth connecting rod to form a parallelogram mechanism. The first mounting seat is fixed to the fifth connecting rod in the parallelogram mechanism. The fifth connecting rod is arranged in parallel with the fourth connecting rod.

[0014] According to a human hand-like microsurgery robot provided by the present invention, the connecting rod assembly comprises: a sixth connecting rod, a seventh connecting rod, an eighth connecting rod and the fifth connecting rod; The eighth connecting rod is parallel to the fourth connecting rod and is rotatably connected to the base. The fourth connecting rod, the base, the eighth connecting rod and the sixth connecting rod are sequentially connected to form a first parallelogram mechanism. The fifth connecting rod, the sixth connecting rod, the eighth connecting rod and the seventh connecting rod are sequentially connected to form a second parallelogram mechanism.

[0015] According to a human hand-like microsurgery robot provided by the present invention, the robotic arm also includes a three-dimensional moving mechanism and a rotating drive component, the base and the rotating drive component are installed on the moving end of the three-dimensional moving mechanism, and the rotating drive component is used to drive the base to rotate relative to the moving end of the three-dimensional moving mechanism.

[0016] The human hand-like microsurgery robot provided by the present invention is configured with a driving device on the distal instrument for driving at least one clamping jaw to move relative to the first mounting seat in the first direction, the second direction and the third direction, so that one of the clamping jaws can move relative to the other clamping jaw in the first direction, the second direction and the third direction. The relative movement of the two clamping jaws in the third direction realizes the clamping action, and the relative movement of the two clamping jaws in the first direction in the clamping state can simulate the "rubbing" action of the human thumb and index finger, and the relative movement of the two clamping jaws in the second direction in the clamping state can simulate the "twisting" action of the human thumb and index finger. The human hand-like microsurgery robot can adjust the posture of the clamped object only by relying on the two clamping jaws, reduce the surgical time consumed by adjusting the posture, and improve the surgical efficiency; and the translational movement of the clamping jaws in three directions does not need to be driven by ropes, and can be driven by a precise linear drive mechanism, with high driving accuracy and simple processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 The figure is a schematic diagram of the overall structure of the human hand imitating microsurgery robot provided by the present invention.

[0019] Figure 2 The figure is a schematic diagram of the movement direction of the gripper in the human hand imitating microsurgery robot provided by the present invention.

[0020] Figure 3 It is a schematic diagram of the distal instrument structure of the human hand imitating microsurgery robot provided by the present invention.

[0021] Figure 4 yes Figure 3 Schematic diagram of the structure of the distal instrument from another perspective.

[0022] Figure 5 yes Figure 3 Schematic diagram of the structure of the distal instrument at another viewing angle.

[0023] Figure 6 The present invention is a schematic diagram of the connection structure between the distal motion center and the distal instrument of the human hand-mimicking microsurgery robot provided by the present invention.

[0024] Figure 7 yes Figure 6 Schematic diagram of the connection structure between the distal motion center and the distal instrument from another perspective.

[0025] Figure 8 yes Figure 7 Simplified schematic diagram of the connection structure between the mid-distal motion center and the distal instrument.

[0026] Reference numerals: 1. Robotic arm; 11. Distal motion center; 111. Base; 112. Fourth sliding member; 113. Third connecting rod; 114. Fourth connecting rod; 115. Connecting rod assembly; 1151. Fifth connecting rod; 1152. Sixth connecting rod; 1153. Seventh connecting rod; 1154. Eighth connecting rod; 12. Three-dimensional moving mechanism; 13. Rotary driving member; 2. Distal instrument; 21. First mounting seat; 211. Third guide rail; 221. First driving mechanism; 2211. First driving member; 22 12. First lead screw; 2213. First sliding member; 222. Second driving mechanism; 2221. Second driving member; 2222. Second lead screw; 2223. Second sliding member; 223. Third driving mechanism; 2231. Third driving member; 2232. Third lead screw; 2233. Third sliding member; 23. Clamp; 24. Second mounting seat; 241. First guide rail; 25. Third mounting seat; 251. Second guide rail; 26. First connecting rod; 27. Second connecting rod; 3. Base. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings 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 creative work are within the scope of protection of the present invention.

[0028] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "first"... "eighth" are for the purpose of clearly explaining the numbering of product components and do not represent any substantial difference. The terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to the specific circumstances. In addition, the meaning of "multiple" is two or more.

[0029] Combine the following Figure 1-Figure 8 The present invention describes a human-hand-like microsurgery robot.

[0030] like Figure 1As shown, the human hand-like microsurgery robot provided in an embodiment of the present invention includes a robotic arm 1 and a distal instrument 2. The distal instrument 2 includes a first mounting seat 21, a driving device, and two clamping jaws 23 arranged opposite to each other. The first mounting seat 21 is installed at the execution end of the robotic arm 1, and the clamping jaws 23 and the driving device are respectively installed on the first mounting seat 21. The driving device is drivingly connected to at least one clamping jaw 23, and is used to drive the clamping jaw 23 to move relative to the first mounting seat 21, so that the two clamping jaws 23 can move relative to each other in a first direction, a second direction, and a third direction. The relative movement of the two clamping jaws 23 in the third direction can make the two clamping jaws 23 open and close with each other, and the first direction, the second direction, and the third direction are arranged at an angle to each other.

[0031] See also Figure 2 , the first direction is the U-axis direction in the figure, the second direction is the V-axis direction in the figure, and the third direction is the W-axis direction in the figure, and the U-axis, V-axis and W-axis constitute a three-dimensional space coordinate system of the clamping jaw 23 on the first mounting seat 21. Optionally, the U-axis, V-axis and W-axis are 90° to each other to form a rectangular coordinate system, the first direction is consistent with the length direction of the clamping jaw 23, the second direction is consistent with the width direction of the clamping jaw 23, and the third direction is consistent with the thickness direction of the clamping jaw 23.

[0032] The two clamping jaws 23 are arranged relative to each other to form a forceps, which is a part used to enter the body for diagnosis, treatment or surgery. The two clamping jaws 23 open and close with each other in the third direction, that is, the opening and closing of the two ends of the forceps are realized, and are used to clamp and release the clamped object. When the two clamping jaws 23 are closed, the relative movement of the two clamping jaws 23 in the first direction can simulate the action of "rubbing" by the thumb and index finger of a person, and the relative movement of the two clamping jaws 23 in the second direction can simulate the action of "twisting" by the thumb and index finger of a person.

[0033] The driving device is connected to the two clamping jaws 23 at the same time, and is used to drive the two clamping jaws 23 to move in the first direction, the second direction and the third direction relative to the first mounting seat 21. Alternatively, the driving device is connected to only one clamping jaw 23, and is used to drive the clamping jaw 23 to move in the first direction, the second direction and the third direction relative to the first mounting seat 21, and the other clamping jaw 23 is fixed to the first mounting seat 21. In both cases, the two clamping jaws 23 can move relative to each other in the first direction, the second direction and the third direction, simulating the actions of "pinching", "rubbing" and "twisting" by human hands. When the driving device is connected to the two clamping jaws 23 at the same time, the two clamping jaws have a total of six degrees of freedom, which can make the fine movements of the distal instrument 2 more efficient.

[0034] The human hand-like microsurgery robot provided by the embodiment of the present invention is provided with a driving device on the distal instrument 2 for driving at least one clamping jaw 23 to move relative to the first mounting seat 21 in the first direction, the second direction and the third direction, so that one of the clamping jaws 23 can move relative to the other clamping jaw 23 in the first direction, the second direction and the third direction. The relative movement of the two clamping jaws 23 in the third direction realizes the clamping action. The relative movement of the two clamping jaws 23 in the first direction in the clamping state can simulate the "rubbing" action of the thumb and index finger of the human being. The relative movement of the two clamping jaws 23 in the second direction in the clamping state can simulate the "twisting" action of the thumb and index finger of the human being. The human hand-like microsurgery robot can adjust the posture of the clamped object only by relying on the two clamping jaws 23, reduce the surgical time consumed by adjusting the posture, and improve the surgical efficiency; and the translational movement of the clamping jaws 23 in three directions does not need to be driven by ropes, and can be driven by a precise linear drive device, with high driving accuracy and simple processing.

[0035] like Figure 3-Figure 5 As shown, the distal instrument 2 also includes a second mounting seat 24. The driving device includes a first driving mechanism 221 and a driving assembly. At least one clamping jaw 23 is mounted on the first mounting seat 21 through the second mounting seat 24. The second mounting seat 24 is mounted with a first driving mechanism 221, and the first driving mechanism 221 is drivingly connected to the clamping jaw 23 located on the second mounting seat 24, and is used to drive the clamping jaw 23 to move relative to the second mounting seat 24 along the first direction. The second mounting seat 24 is mounted on the first mounting seat 21, and the driving assembly is connected to the second mounting seat 24, and is used to drive the second mounting seat 24 to move relative to the first mounting seat 21 along the second direction and the third direction.

[0036] Wherein, in the case where the driving device is used to drive one clamping jaw 23 to move in the first direction, the second direction and the third direction relative to the first mounting seat 21, only one clamping jaw 23 is mounted on the first mounting seat 21 through the second mounting seat 24, and the driving assembly is used to drive the second mounting seat 24 to move in the second direction and the third direction relative to the first mounting seat 21. In the case where the driving device is used to drive two clamping jaws 23 to move in the first direction, the second direction and the third direction relative to the first mounting seat 21, the two clamping jaws 23 are respectively mounted on the first mounting seat 21 through a second mounting seat 24, and the driving assembly is used to drive the two second mounting seats 24 to move in the second direction and the third direction relative to the first mounting seat 21. In both cases, the second mounting seat 24 can drive the clamping jaw 23 located thereon to move relative to the other clamping jaw 23 in the second direction and the third direction.

[0037] Specifically, a first driving mechanism 221 and a clamping jaw 23 are respectively mounted on the second mounting seat 24. The first driving mechanism 221 is a linear driving mechanism, which is used to drive the clamping jaw 23 to move along the first direction on the second mounting seat 24, so that the clamping jaw 23 moves relative to the other clamping jaw in the first direction. When the second mounting seat 24 is driven to move along the third direction by the driving assembly, so that the two clamping jaws 23 are close to each other and clamped, the first driving member 2211 drives the clamping jaw 23, so that the two clamping jaws 23 move relative to each other in the first direction, and the "rubbing" action is realized.

[0038] like Figure 4 and Figure 5 As shown, in some embodiments of the present invention, the first driving mechanism 221 includes a first driving member 2211, a first lead screw 2212 and a first sliding member 2213. The clamping jaw 23 is slidably disposed on the second mounting seat 24 along the first direction. The first driving member 2211 is fixed to the second mounting seat 24 and is drivingly connected to the first lead screw 2212, and the first sliding member 2213 cooperates with the first lead screw 2212 and is fixedly connected to the clamping jaw 23.

[0039] Specifically, the first driving member 2211 is a driving motor, and its rotation driving end is connected to the first lead screw 2212, and is used to drive the first lead screw 2212 to rotate. The first lead screw 2212 drives the first sliding member 2213 to move along the first direction through the thread, and the first sliding member 2213 drives the clamping jaw 23 to move along the first direction on the second mounting seat 24. Figure 5 The second mounting seat 24 is provided with a first guide rail 241 extending along the first direction, and the first sliding member 2213 is slidably disposed on the first guide rail 241 .

[0040] It should be noted that the first driving member 2211 is not limited to a driving motor, but can also be a pneumatic or hydraulic driving member, which can be selected according to actual conditions, and this embodiment does not limit this. The second driving mechanism 222 in the embodiment of the present invention is not limited to the above-mentioned screw slider driving method, for example, it can also be a linear driving mechanism such as a linear motor.

[0041] like Figure 3-Figure 5 As shown, the distal instrument 2 further includes a third mounting seat 25, and the driving assembly includes a second driving mechanism 222 and a third driving mechanism 223. The second driving mechanism 222 and the second mounting seat 24 are respectively mounted on the third mounting seat 25, and the second driving mechanism 222 is drivingly connected to the second mounting seat 24, and is used to drive the second mounting seat 24 to move relative to the third mounting seat 25 in the second direction. The third driving mechanism 223 is mounted on the first mounting seat 21 and drivingly connected to the third mounting seat 25, and is used to drive the third mounting seat 25 to move relative to the first mounting seat 21 in the third direction.

[0042] Wherein, in the case where the driving device is used to respectively drive the two clamping jaws 23 to move in the first direction, the second direction and the third direction relative to the first mounting seat 21, the distal instrument 2 includes two third mounting seats 25. A second driving mechanism 222 and a second mounting seat 24 are provided on each of the two third mounting seats 25, and a first driving mechanism 221 and a clamping jaw 23 are provided on each of the two second mounting seats 24. Each first driving mechanism 221 is used to drive the corresponding clamping jaw 23 to move in the first direction relative to the second mounting seat 24, and each second driving mechanism 222 is used to drive the corresponding second mounting seat 24 to move in the second direction relative to the third mounting seat 25.

[0043] In the case where the driving device is used to drive one clamping jaw 23 to move relative to the first mounting seat 21 in the first direction, the second direction, and the third direction, only one clamping jaw 23 is mounted on the first mounting seat 21 through the second mounting seat 24 and the third mounting seat 25, and the other clamping jaw 23 is fixed to the first mounting seat 21. The first driving mechanism 221 is used to drive the clamping jaw 23 to move relative to the second mounting seat 24 along the first direction, and the second driving mechanism 222 drives the second mounting seat 24 to move relative to the third mounting seat 25 along the second direction.

[0044] In one specific embodiment, see Figure 4 The second mounting seat 24 includes a first plate body and a second plate body, and the first plate body and the second plate body are connected to form an L-shaped mounting seat. The third mounting seat 25 includes a third plate body and a fourth plate body, and the third plate body and the fourth plate body are connected to form an L-shaped mounting seat. The first plate body and the third plate body are arranged opposite to each other and parallel to the UW plane, and the second plate body and the fourth plate body are arranged opposite to each other and parallel to the UV plane. The first driving mechanism 221 and the clamping claw 23 are installed on the first plate body, and the second plate body is slidably arranged on the fourth plate body in the second direction. The third plate body is slidably arranged on the first mounting seat 21, and the second driving mechanism 222 is installed on the fourth plate body. The second guide rail 251 is arranged on the fourth plate body.

[0045] like Figure 4 and Figure 5 As shown, in the embodiment of the present invention, the distal instrument 2 further includes a first connecting rod 26. The second driving mechanism 222 includes a second driving member 2221, a second lead screw 2222, a second sliding member 2223 and the first connecting rod 26. The second mounting seat 24 is slidably arranged on the third mounting seat 25 along the second direction. The second driving member 2221 is fixed to the third mounting seat 25 and is drivingly connected to the second lead screw 2222, and the second lead screw 2222 is extended along the first direction. The second sliding member 2223 cooperates with the second lead screw 2222 and is rotatably connected to one end of the first connecting rod 26, and the other end of the first connecting rod 26 is rotatably connected to the second mounting seat 24.

[0046] Specifically, the second lead screw 2222 is extended along the first direction. The second driving member 2221 is a driving motor, whose rotation driving end is connected to the second lead screw 2222, and is used to drive the second lead screw 2222 to rotate. The second lead screw 2222 drives the second sliding member 2223 to move along the first direction through the thread, and the second sliding member 2223 drives the second mounting seat 24 to move along the second direction on the third mounting seat 25 through the first connecting rod 26. Figure 4 The third mounting seat 25 is provided with a second guide rail 251 along the second direction, and the second mounting seat 24 is slidably disposed on the second guide rail 251 .

[0047] It should be noted that the second driving member 2221 is not limited to a driving motor, but can also be a pneumatic or hydraulic driving member, which can be selected according to actual conditions, and this embodiment does not limit this. The second driving mechanism 222 is not limited to the above-mentioned screw slider driving method, for example, it can also be a linear driving mechanism such as a linear motor.

[0048] like Figure 4 and Figure 5 As shown, the third driving mechanism 223 includes a third driving member 2231, a third lead screw 2232 and a third sliding member 2233. The third mounting seat 25 is slidably disposed on the first mounting seat 21 along the third direction. The third driving member 2231 is fixed to the first mounting seat 21 and is drivingly connected to the third lead screw 2232. The third sliding member 2233 cooperates with the third lead screw 2232 and is fixedly connected to the second mounting seat 24.

[0049] Specifically, the third driving member 2231 is a driving motor, and its rotation driving end is connected to the third lead screw 2232, and is used to drive the third lead screw 2232 to rotate. The third lead screw 2232 drives the third sliding member 2233 to move, and the third sliding member 2233 drives the third mounting seat 25 to move along the third direction. Figure 4 The first mounting seat 21 is provided with a third guide rail 211 along the third direction, and the third mounting seat 25 is slidably disposed on the third guide rail 211 .

[0050] Further, see Figure 4 and Figure 5 The distal instrument 2 further includes two second connecting rods 27. The third lead screw 2232 is extended along the first direction. The two clamping jaws 23 are respectively mounted on the third mounting seat 25 through the second mounting seat 24. One end of the two second connecting rods 27 is rotatably connected to the third sliding member 2233, and the other end of the two second connecting rods 27 is rotatably connected to the two third mounting seats 25 in a one-to-one correspondence. It can be understood that the other end of one second connecting rod 27 is rotatably connected to the third mounting seat 25 where one of the clamping jaws 23 is located, and the other end of the other second connecting rod 27 is rotatably connected to the third mounting seat 25 where the other clamping jaw 23 is located.

[0051] In this embodiment, a third driving mechanism 223 is used to simultaneously drive the two third mounting seats 25 to move relative to each other, so that the two third mounting seats 25 are moved closer to or farther from each other, thereby making the two clamping jaws 23 move relative to each other in the third direction, simplifying the structure of the driving device. Of course, two third driving mechanisms 223 can also be provided, and the two third driving mechanisms 223 are connected to the two third mounting seats 25 in a one-to-one driving manner, respectively driving the two third mounting seats 25 to move relative to the first mounting seat 21 along the third direction.

[0052] It should be noted that the third driving member 2231 is not limited to a driving motor, but can also be a pneumatic or hydraulic driving member, which can be selected according to actual conditions, and this embodiment does not limit this. The third driving mechanism 223 is not limited to the above-mentioned screw slider driving method, for example, it can also be a linear driving mechanism such as a linear motor.

[0053] In a specific embodiment of the present invention, the driving ends of the first driving mechanism 221, the second driving mechanism 222 and the third driving mechanism 223 all move in the first direction. The first driving mechanism 221 drives the clamping jaw 23 to move in the first direction relative to the second mounting seat 24, that is, to move in the first direction relative to the first mounting seat 21. The movement of the driving end of the second driving mechanism 222 in the first direction is converted into the movement of the second mounting seat 24 in the second direction through the first connecting rod 26, so that the clamping jaw 23 moves in the second direction relative to the first mounting seat 21. The movement of the driving end of the third driving mechanism 223 in the first direction is converted into the movement of the third mounting seat 25 in the third direction through the second connecting rod 27, so that the clamping jaw 23 moves in the third direction relative to the first mounting seat 21.

[0054] like Figure 6 and Figure 7 As shown, in some embodiments of the present invention, the robot arm 1 includes a distal motion center 11, and the distal motion center 11 includes a base 111, a fourth sliding member 112, a third connecting rod 113, a fourth connecting rod 114 and a connecting rod assembly 115. The fourth sliding member 112 is slidably arranged on the base 111, and the fourth sliding member 112, the third connecting rod 113, the fourth connecting rod 114 and the base 111 are rotated and connected in sequence to form a crank slider mechanism. The connecting rod assembly 115 is connected to the fourth connecting rod 114 to form a parallelogram mechanism. The first mounting seat 21 is fixed to the fifth connecting rod 1151 in the parallelogram mechanism, and the fifth connecting rod 1151 is arranged parallel to the fourth connecting rod 114.

[0055] Optionally, the distal instrument 2 further comprises a housing, wherein the first mounting seat 21, the second mounting seat 24, the first mounting seat 21 and the driving device are located in the housing, the first mounting seat 21 is fixedly connected to the housing, and the clamping claw 23 extends out of the housing. The fifth connecting rod 1151 can be a mounting base of the distal instrument 2.

[0056] Specifically, a slide groove is provided on the base 111, and the fourth sliding member 112 is slidably arranged in the slide groove. The base 111 is provided with a linear driving member for driving the fourth sliding member 112 to slide along the slide groove. The linear driving member is not limited to a screw slider mechanism and a linear motor. One end of the fourth sliding member 112 is fixedly connected to the driving end of the linear driving member, and the other end is rotatably connected to one end of the third connecting rod 113. The other end of the third connecting rod 113 is rotatably connected to the fourth connecting rod 114 to form a crank slider mechanism.

[0057] The fourth connecting rod 114 and the connecting rod assembly 115 are connected in series to form a parallelogram mechanism. When the fourth sliding member 112 slides relative to the base 111, the fourth connecting rod 114 is driven to rotate, and the fifth connecting rod 1151 rotates along with the fourth connecting rod 114, thereby driving the first mounting seat 21 to pitch, thereby adjusting the pitch posture of the distal instrument 2.

[0058] The fourth connecting rod 114 can form a parallelogram mechanism with the connecting rod assembly 115. The fourth connecting rod 114 can also form a plurality of parallelogram mechanisms connected in series, so that the distal instrument 2 can move in the length direction of the fifth connecting rod 1151 while pitching, so as to realize the advancement and retreat of the distal instrument 2.

[0059] like Figure 7 and Figure 8 As shown, in one embodiment, the connecting rod assembly 115 includes a fifth connecting rod 1151, a sixth connecting rod 1152, a seventh connecting rod 1153 and an eighth connecting rod 1154. The eighth connecting rod 1154 is parallel to the fourth connecting rod 114 and is rotatably connected to the base 111. The fourth connecting rod 114, the base 111, the eighth connecting rod 1154 and the sixth connecting rod 1152 are sequentially connected to form a first parallelogram mechanism. The fifth connecting rod 1151, the sixth connecting rod 1152, the eighth connecting rod 1154 and the seventh connecting rod 1153 are sequentially connected to form a second parallelogram mechanism. That is, the fourth connecting rod 114 is connected to the connecting rod assembly 115 to form two parallelogram mechanisms in series. Among them, the first parallelogram mechanism and the second parallelogram mechanism are in the same plane.

[0060] Specifically, the two ends of the fourth connecting rod 114 are rotatably connected to one end of the sixth connecting rod 1152 and the base 111, respectively, and the end of the third connecting rod 113 away from the fourth sliding member 112 is rotatably connected to the middle part of the fourth connecting rod 114. The two ends of the eighth connecting rod 1154 are rotatably connected to the base 111 and the middle part of the sixth connecting rod 1152. In this way, the fourth connecting rod 114, the base 111, the eighth connecting rod 1154 and a part of the sixth connecting rod 1152 are sequentially connected to form a first parallelogram mechanism.

[0061] Furthermore, two spaced connection portions on the fifth link 1151 are rotatably connected to the other end of the sixth link 1152 and one end of the seventh link 1153, respectively, and the other end of the seventh link 1153 is rotatably connected to the middle portion of the eighth link 1154. In this way, the fifth link 1151, the seventh link 1153, a portion of the eighth link 1154, and a portion of the sixth link 1152 are sequentially connected to form a second parallelogram mechanism.

[0062] In the embodiment of the present invention, the robot arm 1 further includes a three-dimensional moving mechanism 12, and the base 111 is installed at the moving end of the three-dimensional moving mechanism 12. The moving end of the three-dimensional moving mechanism 12 can move translationally along the X-axis, Y-axis and Z-axis in the XYZ rectangular coordinate system, thereby driving the translation movement of the distal instrument 2 in the three-dimensional space.

[0063] Specifically, the human hand-like microsurgery robot also has a base 3, and the three-dimensional moving mechanism 12 includes a first moving body, a second moving body and a third moving body. The first moving body is slidably arranged on the base 3 along the X axis, the second moving body is slidably arranged on the first moving body along the Y axis, and the third moving body is slidably arranged on the second moving body along the Z axis. The first moving body, the second moving body and the third moving body are respectively connected to a linear drive mechanism, and are driven by the linear drive mechanism to move along the X axis, the Y axis and the Z axis. The linear drive mechanism can be a screw module.

[0064] Furthermore, the robot arm 1 further includes a rotary drive member 13, which is mounted on the mobile end of the three-dimensional moving mechanism 12. The rotary drive member 13 is drivingly connected to the base 111, and the rotary drive member 13 is used to drive the base 111 to rotate relative to the mobile end of the three-dimensional moving mechanism 12. In this way, the posture of the distal instrument 2 can be adjusted. The rotary drive member 13 can be a joint motor, or a hydraulic or pneumatic rotary drive member.

[0065] In the embodiment of the present invention, there are two robotic arms 1, which are respectively mounted on a base 3, and the execution end of each robotic arm 1 is connected to a distal instrument 2. The two robotic arms 1 form the dual arms of the robot. The three-dimensional moving mechanisms 12 of the two robotic arms 1 are symmetrically arranged.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A human hand-like microsurgery robot, characterized in that: include: Robotic arm; The distal instrument comprises a first mounting seat, a driving device and two clamping jaws arranged opposite to each other, wherein the first mounting seat is mounted on the execution end of the mechanical arm, the clamping jaw and the driving device are respectively mounted on the first mounting seat, and the driving device is drivingly connected to at least one of the clamping jaws and is used to drive the clamping jaw to move relative to the first mounting seat, so that the two clamping jaws can move relative to each other in a first direction, a second direction and a third direction; The relative movement of the two clamping jaws in the third direction can cause the two clamping jaws to open and close with each other, and the first direction, the second direction and the third direction are arranged at an angle to each other.

2. The human hand-like microsurgery robot according to claim 1, characterized in that: The distal instrument further comprises a second mounting seat, and the drive device comprises a first drive mechanism and a drive assembly; At least one of the clamping jaws is mounted on the first mounting seat through the second mounting seat, the first driving mechanism is mounted on the second mounting seat, and the first driving mechanism is drivingly connected to the clamping jaw located on the second mounting seat, and is used to drive the clamping jaw to move relative to the second mounting seat along the first direction; The driving assembly is connected to the second mounting seat, and is used to drive the second mounting seat to move relative to the first mounting seat along the second direction and the third direction.

3. The human hand-like microsurgery robot according to claim 2, characterized in that: The first driving mechanism comprises a first driving member, a first lead screw and a first sliding member; The clamping jaw is slidably disposed on the second mounting seat along the first direction, the first driving member is fixed to the second mounting seat and drivingly connected to the first lead screw, and the first sliding member cooperates with the first lead screw and is fixedly connected to the clamping jaw.

4. The human hand-like microsurgery robot according to claim 2, characterized in that: The distal instrument further comprises a third mounting seat, and the drive assembly comprises a second drive mechanism and a third drive mechanism; The second driving mechanism and the second mounting seat are respectively mounted on the third mounting seat, and the second driving mechanism is drivingly connected to the second mounting seat for driving the second mounting seat to move relative to the third mounting seat along the second direction; The third driving mechanism is mounted on the first mounting seat and is drivingly connected to the third mounting seat, and is used for driving the third mounting seat to move along the third direction relative to the first mounting seat.

5. The human hand-like microsurgery robot according to claim 4, characterized in that: The distal instrument further comprises a first connecting rod, and the second driving mechanism comprises a second driving member, a second lead screw and a second sliding member; The second mounting seat is slidably arranged on the third mounting seat along the second direction, the second driving member is fixed to the third mounting seat and is drivingly connected to the second screw, the second screw is extended along the first direction, the second sliding member cooperates with the second screw and is rotatably connected to one end of the first connecting rod, and the other end of the first connecting rod is rotatably connected to the second mounting seat.

6. The human hand-like microsurgery robot according to claim 4, characterized in that: The third driving mechanism comprises a third driving member, a third lead screw and a third sliding member; The third mounting seat is slidably disposed on the first mounting seat along the third direction, the third driving member is fixed to the first mounting seat and drivingly connected to the third lead screw, and the third sliding member cooperates with the third lead screw and is fixedly connected to the second mounting seat.

7. The human hand-like microsurgery robot according to claim 6, characterized in that: The distal instrument also includes two second connecting rods; The third lead screw is extended along the first direction, the two clamping jaws are respectively mounted on the third mounting seat through the second mounting seat, one end of the two second connecting rods are respectively rotatably connected to the third sliding member, and the other end of the two second connecting rods are rotatably connected to the two third mounting seats in a one-to-one correspondence.

8. The human hand-like microsurgery robot according to claim 1, characterized in that: The robotic arm includes a distal motion center, and the distal motion center includes a base, a fourth sliding member, a third connecting rod, a fourth connecting rod and a connecting rod assembly; The fourth sliding member is slidably disposed on the base, and the fourth sliding member, the third connecting rod, the fourth connecting rod and the base are sequentially connected to form a crank sliding member mechanism; The connecting rod assembly is connected with the fourth connecting rod to form a parallelogram mechanism. The first mounting seat is fixed to the fifth connecting rod in the parallelogram mechanism. The fifth connecting rod is arranged in parallel with the fourth connecting rod.

9. The human hand-like microsurgery robot according to claim 8, characterized in that: The connecting rod assembly comprises: a sixth connecting rod, a seventh connecting rod, an eighth connecting rod and the fifth connecting rod; The eighth connecting rod is parallel to the fourth connecting rod and is rotatably connected to the base. The fourth connecting rod, the base, the eighth connecting rod and the sixth connecting rod are sequentially connected to form a first parallelogram mechanism. The fifth connecting rod, the sixth connecting rod, the eighth connecting rod and the seventh connecting rod are sequentially connected to form a second parallelogram mechanism.

10. The human hand-like microsurgery robot according to claim 8, characterized in that: The robotic arm further comprises a three-dimensional moving mechanism and a rotating driving member, wherein the base and the rotating driving member are mounted on a moving end of the three-dimensional moving mechanism, and the rotating driving member is used to drive the base to rotate relative to the moving end of the three-dimensional moving mechanism.

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