Telecentric fixed point structure for surgical robot and debugging method of telecentric fixed point structure

Abstract

The invention provides a telecentric fixed point structure for a surgical robot and a debugging method of the telecentric fixed point structure, and relates to the technical field of surgical robots. A first transmission joint, a second transmission joint and a third transmission joint are arranged in sequence, a first transmission driving wheel and a first transmission hooking wheel are rotationally installed on the first transmission joint, and a second transmission hooking wheel is rotationally installed on the second transmission joint. The first transmission driving wheel and the first transmission hooking wheel are connected through a first transmission steel belt set, the first transmission driving wheel is driven by a rotation driving piece, the first transmission joint is fixed to the base, and the second transmission joint is configured to rotate synchronously with the first transmission hooking wheel. According to the invention, the precision of the telecentric fixed point of the surgical robot can be effectively adjusted, and the problem of transmission precision reduction caused by connecting rod transmission is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a telecentric fixed point structure for a surgical robot and a debugging method thereof. Background Art

[0002] Surgical robots usually adopt a parallelogram structure. A key advantage of this design is that it can always maintain a fixed point (telecentric fixed point) on the patient's skin surface in three-dimensional space. During the movement of the surgical robot (such as pitch, rotation and other operational movements), the position of the fixed point will not change. Therefore, the surgical instrument can use the interventional incision as the center and pitch, yaw, rotate on its own axis, and extend and retract inward and outward around the incision to perform telecentric movement, thereby reducing potential damage to the patient's skin.

[0003] In the prior art, this type of robot transmits power through a parallelogram linkage, that is, starting from a power source, the rotational motion is transmitted to a sliding platform on which surgical tools are installed through three sets of parallelogram linkages. However, the above prior art has some limitations. For example, after long-term use of the linkage, the shaft clearance may become larger, resulting in a decrease in transmission accuracy, etc., resulting in a large deviation between the actual position of the telecentric fixed point and the theoretical position and the inability to adjust. Summary of the invention

[0004] The problem to be solved by the present invention is that the actual position deviation of the telecentric fixed point of the existing telecentric fixed point structure is large and cannot be adjusted.

[0005] To solve the above problems, in a first aspect, the present invention provides a telecentric fixed point structure for a surgical robot, comprising:

[0006] Pedestal;

[0007] A first transmission joint, a second transmission joint and a third transmission joint, the first transmission joint, the second transmission joint and the third transmission joint are arranged in sequence, the first transmission joint is rotatably mounted with a first transmission driving wheel and a first transmission hanging wheel, the first transmission driving wheel and the first transmission hanging wheel are connected by a first transmission steel belt group, the first transmission driving wheel is driven by a rotating driving member, the first transmission joint is fixed to the base, the second transmission joint is configured to rotate synchronously with the first transmission hanging wheel, the second transmission joint is provided with a second transmission wheel 1 and a second transmission hanging wheel, the second transmission wheel 1 and the second transmission hanging wheel are connected by a second transmission steel belt group, the second transmission wheel 1 is fixedly connected to the first transmission joint, the second transmission hanging wheel is rotatably connected to the second transmission joint, the third transmission joint is configured to rotate synchronously with the second transmission hanging wheel, the third transmission joint is provided with a third transmission wheel 1 and a third transmission hanging wheel, the third transmission wheel 1 and the third transmission hanging wheel are connected by a third transmission steel belt group, the third transmission wheel 1 is fixedly connected to the second transmission joint, and the third transmission hanging wheel is rotatably connected to the third transmission joint;

[0008] A mounting seat, fixedly connected to the third transmission hanging wheel, the mounting seat is used for slidingly mounting an adjustable instrument part, the adjustable instrument part having a spherical body;

[0009] Among them, the axis center of the first transmission coupling wheel, the axis center of the second transmission coupling wheel, and the axis center of the third transmission coupling wheel constitute three vertices of a virtual parallelogram, another vertex of the virtual parallelogram is a theoretical telecentric fixed point, the center of the sphere is an actual telecentric fixed point, and the second transmission steel belt group and the third transmission steel belt group are both configured to have adjustable tension.

[0010] Optionally, the adjustable instrument member includes a rod body, one end of the rod body is slidably connected to the mounting seat, the sphere is fixed to the other end of the rod body, and the axis of the rod body passes through the center of the sphere.

[0011] Optionally, the first transmission coupling wheel and the second transmission wheel are arranged concentrically, and the second transmission coupling wheel and the third transmission wheel are arranged concentrically.

[0012] Optionally, one end of the second transmission joint is fixedly connected to the axle of the first transmission mounting wheel, the first transmission mounting wheel is rotatably connected to the first transmission joint via the axle, the second transmission mounting wheel is rotatably connected to the other end of the second transmission joint via the axle, the axle of the second transmission mounting wheel is fixedly connected to one end of the third transmission joint, and the mounting seat is arranged at the other end of the third transmission joint.

[0013] Optionally, the second transmission wheel 1 is fixedly connected to flange 1 via a first connecting bolt, and flange 1 is fixed to the first transmission joint via a second connecting bolt, and the axle of the first transmission mounting wheel passes through the center hole of flange 1 and is fixedly connected to the second transmission joint.

[0014] Optionally, the third transmission wheel 1 is fixedly connected to flange 2 via a third connecting bolt, flange 2 is fixed to the second transmission joint via a fourth connecting bolt, and the axle of the second transmission mounting wheel passes through the center hole of flange 2 and is fixedly connected to the third transmission joint.

[0015] Optionally, the second transmission steel belt group includes an upper steel belt and a lower steel belt arranged in parallel, the two ends of the upper steel belt of the second transmission steel belt group are respectively connected to the second transmission wheel 1 and the second transmission hanging wheel and form a wrap angle with both, the two ends of the lower steel belt of the second transmission steel belt group are respectively connected to the second transmission wheel 1 and the second transmission hanging wheel and form a wrap angle with both, the third transmission steel belt group includes an upper steel belt and a lower steel belt arranged in parallel, the two ends of the upper steel belt of the third transmission steel belt group are respectively connected to the third transmission wheel 1 and the third transmission hanging wheel and form a wrap angle with both, and the two ends of the lower steel belt of the third transmission steel belt group are respectively connected to the third transmission wheel 1 and the third transmission hanging wheel and form a wrap angle with both.

[0016] Optionally, the second transmission steel belt group and the third transmission steel belt group are both provided with a tension adjustment component, and the distances between the tension adjustment components and the axle centers at both ends of the second transmission steel belt group or the third transmission steel belt group are respectively greater than a preset distance threshold. The tension adjustment component includes an adjusting screw, a first connecting piece, a second connecting piece and a fastening nut, one end of the first connecting piece is fixedly connected to the steel belt to be adjusted, one end of the second connecting piece is spaced apart from one end of the first connecting piece and fixedly connected to the steel belt to be adjusted, the other end of the second connecting piece and the other end of the first connecting piece are arranged facing each other and partially overlap, the adjusting screw is used to connect the first connecting piece and the second connecting piece, the second connecting piece is provided with a through hole for the adjusting screw to pass through, the first connecting piece is provided with a strip hole for the adjusting screw to move along a direction perpendicular to its own axis, the adjusting screw passes through the through hole and the strip hole and then cooperates with the fastening nut, and the steel belt to be adjusted is the second transmission steel belt group or the third transmission steel belt group.

[0017] The telecentric fixed point structure of the present invention, each joint mainly includes a first transmission joint, a second transmission joint and a third transmission joint, the first transmission joint, the second transmission joint and the third transmission joint, the first transmission joint, the second transmission joint and the third transmission joint are arranged in sequence, the first transmission joint is rotatably mounted with a first transmission driving wheel and a first transmission hanging wheel, the first transmission driving wheel and the first transmission hanging wheel are connected by a first transmission steel belt group, the first transmission driving wheel is driven by a rotating driving member, the first transmission joint is fixed to the base, the second transmission joint is configured to rotate synchronously with the first transmission hanging wheel, the second transmission joint is provided with a second transmission wheel 1 and a second transmission hanging wheel, the second transmission wheel 1 and the second transmission hanging wheel are connected by a second transmission steel belt group, the second transmission wheel 1 is fixedly connected to the first transmission joint, the second transmission hanging wheel is rotatably connected to the second transmission joint, the third transmission joint is configured to rotate synchronously with the second transmission hanging wheel, the third transmission joint is provided with a third transmission wheel 1 and a third transmission hanging wheel, the third transmission wheel 1 and the third transmission hanging wheel are connected by a third transmission steel belt group, the third transmission wheel 1 and the second The transmission joint is fixedly connected, thus, each surgical arm (each joint) of the surgical robot is equivalent to using a steel belt to transmit motion, which can ensure that there is enough contact area (wrapped angle) between the steel belt and the pulley. This method not only expands the robot's range of motion, but also the high toughness of the steel belt itself can effectively absorb the inertial impact generated by high-speed motion, thereby improving the flexibility and stability of the surgical arm. The debugging structure is also provided with a mounting seat fixedly connected to the third transmission hanging wheel, and the mounting seat is used for slidingly installing an adjustable instrument part, and the adjustable instrument part has a sphere. Therefore, only one rotating drive part is needed to realize each joint. The rotation angle is adjusted, and the rotation of the adjustable instrument part at the distal end is driven. Furthermore, the second transmission steel belt group and the third transmission steel belt group are configured to have adjustable tension. By adjusting the tension of the second transmission steel belt group and the third transmission steel belt group in practice, the tension of the second transmission steel belt group and the third transmission steel belt group can be changed, so that the actual telecentric fixed point is closer to the theoretical telecentric fixed point, which can effectively adjust the accuracy of the telecentric fixed point of the surgical robot and avoid the problem of reduced transmission accuracy caused by the connecting rod transmission, so as to ensure that the position of the telecentric fixed point during the operation tends to be accurate, thereby improving the safety and effectiveness of the operation.

[0018] In a second aspect, the present invention further provides a debugging method for a telecentric fixed point structure for a surgical robot, using the telecentric fixed point structure for a surgical robot as described in any one of the above items to obtain the deviation between the center of the sphere of the adjustable instrument and the theoretical telecentric fixed point;

[0019] If the deviation is not within the preset deviation range, the tension of the second transmission steel belt set and the third transmission steel belt set is adjusted to make the deviation within the preset deviation range.

[0020] If the deviation is not within the preset deviation range, adjusting the tension of the second transmission steel belt set and the third transmission steel belt set so that the deviation is within the preset deviation range includes:

[0021] Optionally, the deviation between the center of the sphere and the theoretical telecentric fixed point in a first direction and a second direction are measured, wherein the first direction is a direction parallel to the third transmission joint, and the second direction is a direction parallel to the second transmission steel belt group;

[0022] Determine whether at least one of the deviation in the first direction and the deviation in the second direction is not within a preset deviation range;

[0023] If so, adjust the steel belt to be adjusted corresponding to the deviation in the first direction and / or the deviation in the second direction so that the deviation in the first direction and the deviation in the second direction are both within the preset deviation range, wherein the steel belt to be adjusted corresponding to the deviation in the first direction is the third transmission steel belt group, and the steel belt to be adjusted corresponding to the deviation in the second direction is the second transmission steel belt group.

[0024] By means of the debugging method of the telecentric fixed point structure for a surgical robot provided by the present invention, by obtaining the deviation between the center of the sphere of the adjustable instrument part and the theoretical telecentric fixed point, the deviation between the actual telecentric fixed point and the theoretical telecentric fixed point can be quantified. If the deviation is not within the preset deviation range, the tension of the second transmission steel belt group and the third transmission steel belt group is adjusted to make the deviation within the preset deviation range. With the aid of the quantified deviation, the tension of the second transmission steel belt group and the third transmission steel belt group are adjusted respectively, so as to achieve the purpose of reducing the deviation and meet the accuracy requirement of the actual telecentric fixed point during the surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The structure diagram of a telecentric fixed point structure for a surgical robot in an embodiment of the present invention is shown. Figure 1 ;

[0026] Figure 2 The structure diagram of a telecentric fixed point structure for a surgical robot in an embodiment of the present invention is shown. Figure 2 ;

[0027] Figure 3 A schematic diagram of the connection structure of the first transmission joint and the second transmission joint in an embodiment of the present invention is shown;

[0028] Figure 4 A schematic diagram of the connection structure of the second transmission joint and the third transmission joint in an embodiment of the present invention is shown;

[0029] Figure 5 A schematic diagram of the structure of a tension adjustment assembly in an embodiment of the present invention is shown;

[0030] Figure 6 A schematic diagram showing the structure of the strip-shaped hole on the first connecting member in an embodiment of the present invention is shown;

[0031] Figure 7 The overall position diagram of the actual telecentric fixed point and the theoretical telecentric fixed point in the embodiment of the present invention is shown;

[0032] Figure 8 A schematic diagram showing the structure of position adjustment of the actual telecentric fixed point and the theoretical telecentric fixed point in an embodiment of the present invention is shown;

[0033] Fig. 9 It shows a schematic structural diagram of the connection between the driving wheel, the coupling wheel and the transmission steel belt group in an embodiment of the present invention;

[0034] Fig.10 The figure shows the principle diagram of the cooperation among the driving wheel, the coupling wheel and the steel belt in the embodiment of the present invention.

[0035] Description of reference numerals:

[0036] 1. First transmission driving wheel; 2. First transmission steel belt group; 3. First transmission coupling wheel; 4. Second transmission wheel one; 5. Second transmission steel belt group; 6. Second transmission coupling wheel; 7. Third transmission wheel one; 8. Third transmission steel belt group; 9. Third transmission coupling wheel; 10. Adjustable instrument part; 101. Rod body; 102. Ball body; 11. Base; 12. First transmission joint; 13. Second transmission joint; 14. Third transmission joint; 15. Mounting seat; 16. Adjusting screw; 17. First connecting piece; 18. Second connecting piece; 19. Fastening nut; 20. Flange one; 21. Flange two. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0038] It should be noted that, in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0039] In the description of this specification, the description with reference to the terms "embodiment", "one embodiment" and "one implementation" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or implementation are included in at least one embodiment or implementation of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or implementation. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or implementations in a suitable manner.

[0040] The surgical arms of surgical robots are usually limited by mechanical structures. These limitations are caused by errors in the design, manufacturing and assembly processes. When a parallelogram structure is used for movement, any structural installation error may cause the position of the telecentric fixed point to deviate. Therefore, it is necessary to calibrate the telecentric fixed point. Figure 1 , Figure 2 , Figure 3 , Figure 4 and Fig. 9 As shown, an embodiment of the present invention proposes a telecentric fixed point structure for a surgical robot;

[0041] The telecentric fixed point structure for a surgical robot comprises:

[0042] Base 11;

[0043] The first transmission joint 12, the second transmission joint 13 and the third transmission joint 14 are arranged in sequence. The first transmission joint 12 is rotatably mounted with a first transmission driving wheel 1 and a first transmission hanging wheel 3. The first transmission driving wheel 1 and the first transmission hanging wheel 3 are connected by a first transmission steel belt group 2. The first transmission driving wheel 1 is driven by a rotating driving member. The first transmission joint 12 is fixed to the base 11. The second transmission joint 13 is configured to rotate synchronously with the first transmission hanging wheel 3. The second transmission joint 13 is provided with a second transmission wheel 4 and a second transmission hanging wheel 6. The second transmission wheel 14 and the second transmission connecting wheel 6 are connected via a second transmission steel belt group 5, the second transmission wheel 14 is fixedly connected to the first transmission joint 12, the second transmission connecting wheel 6 is rotationally connected to the second transmission joint 13, the third transmission joint 14 is configured to rotate synchronously with the second transmission connecting wheel 6, the third transmission joint 14 is provided with a third transmission wheel 17 and a third transmission connecting wheel 9, the third transmission wheel 17 and the third transmission connecting wheel 9 are connected via a third transmission steel belt group 8, the third transmission wheel 17 is fixedly connected to the second transmission joint 13, and the third transmission connecting wheel 9 is rotationally connected to the third transmission joint 14;

[0044] A mounting seat 15, fixedly connected to the third transmission hanging wheel 9, the mounting seat 15 is used for slidingly mounting an adjustable instrument part 10, the adjustable instrument part 10 having a sphere 102;

[0045] The adjustable instrument member 10 may be a separate tool (eg Figure 1 ), which is used to debug the fixed point after disassembling the actual surgical instrument arm, or it can be a surgical instrument arm with a sphere 102 (such as Figure 2 ), the fixed point can be debugged without disassembly.

[0046] Among them, the axis center of the first transmission coupling wheel 3, the axis center of the second transmission coupling wheel 6, and the axis center of the third transmission coupling wheel 9 constitute the three vertices of a virtual parallelogram, another vertex of the virtual parallelogram is a theoretical telecentric fixed point, the center of the sphere 102 is an actual telecentric fixed point, and the second transmission steel belt group 5 and the third transmission steel belt group 8 are both configured to have adjustable tension.

[0047] For example, Fig. 9In the figure, the first transmission steel belt group 2, the second transmission steel belt group 5 and the third transmission steel belt group 8 all include an upper steel belt and a lower steel belt, the two ends of the upper steel belt are respectively fixedly connected to the transmission wheel 1 and the hanging wheel, and the two ends of the lower steel belt are respectively fixedly connected to the transmission wheel 1 and the hanging wheel, that is, the first transmission steel belt group 2 corresponds to the first transmission driving wheel 1 and the first transmission hanging wheel 3, the second transmission steel belt group 5 corresponds to the second transmission wheel 1 4 and the second transmission hanging wheel 6, the third transmission steel belt group 8 corresponds to the third transmission wheel 1 7 and the third transmission hanging wheel 9, and it is determined that there is a sufficient wrap angle between the steel belt and the driving wheel and the hanging wheel.

[0048] Specifically, the first transmission joint 12, the second transmission joint 13 and the third transmission joint 14 can be arranged end to end in sequence, and along the direction from the base 11 to the second transmission joint 13 and then to the third transmission joint 14, the pulleys at the end of each joint (the first transmission hanging wheel 3, the second transmission hanging wheel 6 and the third transmission hanging wheel 9) can drive the next joint to rotate, thereby realizing the rotation and adjustment of different joints driven by the rotating driving member, and the rotation angle of the next joint and the previous joint can be the same. When the driving member drives the first transmission driving wheel 1 to rotate, the first transmission steel belt group 2 drives the first transmission hanging wheel 3 to actively rotate. Since the second transmission wheel 4 is fixedly connected to the first transmission joint 12, and the second transmission hanging wheel 6 is rotationally connected to the second transmission joint 13, therefore, see Fig.10, under the action of the main movement generated by the first transmission coupling wheel 3 driving the second transmission joint 13 to rotate, the second transmission joint 13 deflects. At this time, the second transmission joint 13 is deflected relative to the second transmission wheel 4. At this time, the left end of the upper steel belt is wrapped around the wheel body of the second transmission wheel 4, and the left end of the lower steel belt is released from the angle (wrapped) on the wheel body of the second transmission wheel 4. In order to keep the spacing between the second transmission wheel 4 and the second transmission coupling wheel 6 unchanged, the second transmission coupling wheel 6 is reversed, so that the right end of the upper steel belt is released from the angle on the wheel body of the second transmission coupling wheel 6, and the right end of the lower steel belt is wrapped around the wheel body of the second transmission coupling wheel 6. Then, when the second transmission coupling wheel 6 drives the third transmission joint 14 to rotate a certain angle, relative rotational movement is generated again. Similarly, the third transmission steel belt group 8 generates a rotation angle with the third transmission joint 14 The rotation in the opposite direction drives the third transmission coupling wheel 9 to rotate, and finally drives the mounting seat 15 to rotate synchronously, thereby realizing the adjustment of the rotation angle of multiple joints (the adjustment angle can be changed by the transmission ratio between the pulleys), and driving the rotation of the adjustable instrument part 10 at the distal end. By adjusting the tightness of the second transmission steel belt group 5 and the third transmission steel belt group 8, when it is found that the position deviation between the center of the sphere 102 and the theoretical telecentric fixed point is large, for example, the center of the sphere 102 is forward relative to the theoretical telecentric fixed point (in a direction parallel to the direction in which the third transmission wheel 7 points to the third transmission coupling wheel 9) and close to the top (in a direction parallel to the direction in which the second transmission wheel 4 points to the second transmission coupling wheel 6), the third transmission steel belt group 8 can be tightened and the second transmission steel belt group 5 can be loosened, so that the center is sufficiently close to the theoretical telecentric fixed point.

[0049] When this embodiment is applied in practice, each joint mainly includes a first transmission joint 12, a second transmission joint 13 and a third transmission joint 14, the first transmission joint 12, the second transmission joint 13 and the third transmission joint 14, the first transmission joint 12, the second transmission joint 13 and the third transmission joint 14 are arranged in sequence, the first transmission joint 12 is rotatably mounted with a first transmission driving wheel 1 and a first transmission hanging wheel 3, the first transmission driving wheel 1 and the first transmission hanging wheel 3 are connected by a first transmission steel belt group 2, the first transmission driving wheel 1 is driven by a rotating driving member, the first transmission joint 12 is fixed to the base 11, the second transmission joint 13 is fixed to the base 11, and the second transmission joint 13 is fixed to the base 11. 13 is configured to rotate synchronously with the first transmission hanging wheel 3, the second transmission joint 13 is provided with a second transmission wheel 14 and a second transmission hanging wheel 6, the second transmission wheel 14 and the second transmission hanging wheel 6 are connected by a second transmission steel belt group 5, the second transmission wheel 14 is fixedly connected to the first transmission joint 12, the second transmission hanging wheel 6 is rotatably connected to the second transmission joint 13, the third transmission joint 14 is configured to rotate synchronously with the second transmission hanging wheel 6, the third transmission joint 14 is provided with a third transmission wheel 17 and a third transmission hanging wheel 9, the third transmission wheel 17 and the third transmission hanging wheel 9 are connected by a third transmission steel belt group 8 The third transmission wheel 7 is fixedly connected to the second transmission joint 13, thereby, each surgical arm (each joint) of the surgical robot is equivalent to using a steel belt to transmit motion, which can ensure that there is enough contact area (wrapped angle) between the steel belt and the pulley. This method not only expands the range of motion of the robot, but also the high toughness of the steel belt itself can effectively absorb the inertial impact generated by high-speed motion, thereby improving the flexibility and stability of the surgical arm. The debugging structure is also provided with a mounting seat 15 fixedly connected to the third transmission hanging wheel 9, and the mounting seat 15 is used for slidingly installing the adjustable instrument part 10, and the adjustable instrument part 10 has a sphere 102, thereby, only one rotation is required. The driving member can be used to adjust the rotation angle of each joint and drive the rotation of the adjustable instrument member 10 at the distal end. Furthermore, the second transmission steel belt group 5 and the third transmission steel belt group 8 are configured to have adjustable tension. By adjusting the tension of the second transmission steel belt group 5 and the third transmission steel belt group 8 in practice, the tension of the second transmission steel belt group 5 and the third transmission steel belt group 8 can be changed to make the actual telecentric fixed point closer to the theoretical telecentric fixed point. The accuracy of the telecentric fixed point of the surgical robot can be effectively adjusted, and the problem of reduced transmission accuracy caused by the connecting rod transmission can be avoided, so as to ensure that the position of the telecentric fixed point during the operation is accurate, thereby improving the safety and effectiveness of the operation.

[0050] In actual operation, the steel belt will deform when it is under load. This deformation will affect the accuracy of the telecentric fixed point, and the deformation will change with the movement of the surgical robot. In addition, for the multi-layer steel belt structure, it is difficult to accurately predict the deformation of the steel belt under different stress levels through simulation calculation. The above structure can optimize the position of the fixed point to ensure that the high precision of the fixed point can be maintained even when the steel belt is deformed. This method aims to reduce the fixed point position deviation caused by the deformation of the steel belt and can adapt to different stress conditions to reduce the error caused by dimensional tolerance, installation error and material strain that the actual telecentric fixed point may not be completely consistent with the theoretical position, thereby improving the overall performance and reliability of the surgical robot and ensuring the smooth implementation of minimally invasive surgery. At the same time, it also ensures that the patient's wound will not be torn during the operation.

[0051] like Figure 1 As shown, as an optional embodiment of the present invention, the adjustable instrument member 10 includes a rod body 101, the rod body 101 is slidably connected to the mounting seat 15, the sphere 102 is fixed to the rod body 101, and the axis of the rod body 101 passes through the center of the sphere 102.

[0052] Specifically, the rod body 101 is parallel to the mounting seat 15 , and the adjustable instrument member 10 can be slidably mounted on the mounting seat 15 through the rod body 101 , so that the center of the rod body 101 can be close to the position of the theoretical telecentric fixed point.

[0053] like Figure 1 As shown, as an optional embodiment of the present invention, the first transmission coupling wheel 3 and the second transmission wheel 4 are arranged concentrically, and the second transmission coupling wheel 6 and the third transmission wheel 7 are arranged concentrically.

[0054] When this embodiment is applied in practice, the first transmission coupling wheel 3 and the second transmission wheel 4 are arranged concentrically, and the second transmission coupling wheel 6 and the third transmission wheel 7 are arranged concentrically, which is beneficial to the reasonable and compact use of space and also beneficial to improving the transmission efficiency.

[0055] like Figure 3 As an optional embodiment of the present invention, one end of the second transmission joint 13 is fixedly connected to the axle of the first transmission coupling wheel 3, the first transmission coupling wheel 3 is rotatably connected to the first transmission joint 12 via the axle, the second transmission coupling wheel 6 is rotatably connected to the other end of the second transmission joint 13 via the axle, the axle of the second transmission coupling wheel 6 is fixedly connected to one end of the third transmission joint 14, and the mounting seat 15 is arranged at the other end of the third transmission joint 14.

[0056] Specifically, the above arrangement enables the first transmission coupling wheel 3 and the second transmission coupling wheel 6 to be distributed at both ends of the second transmission joint 13, and in order to realize relative rotation between the first transmission joint 12, the second transmission joint 13 and the third transmission joint 14, the first transmission coupling wheel 3 can drive the second transmission joint 13 to rotate synchronously, and the second transmission coupling wheel 6 can drive the third transmission joint 14 to rotate synchronously, and the wheel axle is directly connected to the second transmission joint 13 or the third transmission joint 14, so that the wheel axle at the end of the previous joint drives the next joint to rotate.

[0057] See also Figure 3 As an optional embodiment of the present invention, the second transmission wheel 4 is fixedly connected to the flange 20 by a first connecting bolt, the flange 20 is fixed to the first transmission joint 12 by a second connecting bolt, and the axle (non-contact) of the first transmission mounting wheel 3 passes through the center hole of the flange 20 and is fixedly connected to the second transmission joint 13.

[0058] Similarly, see Figure 4 As an optional embodiment of the present invention, the third transmission wheel 1 7 is fixedly connected to the flange 2 21 by a third connecting bolt, the flange 21 is fixed to the second transmission joint 13 by a fourth connecting bolt, and the axle (non-contact) of the second transmission mounting wheel 6 passes through the center hole of the flange 21 and is fixedly connected to the third transmission joint 14.

[0059] Specifically, at least one first connecting bolt is fixed on the side wheel wall on one side of the second transmission wheel 4, the first connecting bolt penetrates the second transmission joint 13 without contact and is fixed to the surface of flange 10, and flange 20 is fixed to the first transmission joint 12 through multiple second connecting bolts. Similarly, at least one third connecting bolt is fixed on the side wheel wall on one side of the third transmission wheel 7, the third connecting bolt penetrates the third transmission joint 14 without contact and is fixed to the surface of flange 21, and flange 21 is fixed to the second transmission joint 13 through multiple fourth connecting bolts.

[0060] Therefore, when the driving member drives the first transmission driving wheel 1 to rotate, due to the connection effect of the first transmission steel belt group 2, the first transmission connecting wheel 3 is driven to rotate, generating a main motion, driving the second transmission joint 13 to deflect, and under the action of the main motion, a relative rotational motion is generated, that is, when the second transmission joint 13 rotates, the second transmission steel belt group 5 rotates in the opposite direction, and drives the second transmission connecting wheel 6 to rotate through the second transmission steel belt group 5;

[0061] Then, when the second transmission coupling wheel 6 drives the third transmission joint 14 to rotate a certain angle, relative rotational motion is generated. When the third transmission joint 14 rotates, the third transmission steel belt group 8 rotates in the opposite direction, and drives the third transmission coupling wheel 9 to rotate through the third transmission steel belt group 8, thereby driving the mounting seat 15 to rotate synchronously. The above ensures that the line connecting the centers of the pulleys where the second transmission steel belt group 5 is located and the axis of the rod body 101 (parallel to the mounting seat 15) always maintain the same angle, thereby realizing a fixed point.

[0062] As an optional embodiment of the present invention, the second transmission steel belt group 5 includes an upper steel belt and a lower steel belt arranged in parallel, the two ends of the upper steel belt of the second transmission steel belt group 5 are respectively connected to the second transmission wheel 4 and the second transmission hanging wheel 6 and form a wrap angle with both, the two ends of the lower steel belt of the second transmission steel belt group 5 are respectively connected to the second transmission wheel 4 and the second transmission hanging wheel 6 and form a wrap angle with both, the third transmission steel belt group 8 includes an upper steel belt and a lower steel belt arranged in parallel, the two ends of the upper steel belt of the third transmission steel belt group 8 are respectively connected to the third transmission wheel 7 and the third transmission hanging wheel 9 and form a wrap angle with both, and the two ends of the lower steel belt of the third transmission steel belt group 8 are respectively connected to the third transmission wheel 7 and the third transmission hanging wheel 9 and form a wrap angle with both.

[0063] Reference Fig. 9 and Fig.10 The transmission wheel 1 includes a second transmission wheel 4 and a third transmission wheel 7, and the connecting pulley includes a second transmission connecting wheel 6 and a third transmission connecting wheel 9. The transmission principle has been described in detail above and will not be described here.

[0064] like Figure 5 and Fig. 9 As an optional embodiment of the present invention, the second transmission steel belt group 5 and the third transmission steel belt group 8 are both provided with a tension adjustment component, and the distance between the tension adjustment component and the center of the wheel axle at both ends of the second transmission steel belt group 5 or the third transmission steel belt group 8 is greater than a preset distance threshold.

[0065] When this embodiment is applied in practice, the tension adjustment component is set at a certain distance from the axles at both ends of the second transmission steel belt group 5 or the third transmission steel belt group 8, for example, the distance on both sides is Dcm, D is the set value, so as to ensure that during operation, it is convenient to adjust and the influence of the interference between the tension adjustment component and the pulley on the steel belt transmission is avoided or reduced.

[0066] like Figure 1 , Figure 2 , Figure 5 and Figure 6As an optional embodiment of the present invention, the tension adjustment assembly includes an adjusting screw 16, a first connecting member 17, a second connecting member 18 and a fastening nut 19, one end of the first connecting member 17 is fixedly connected to the steel belt to be adjusted, one end of the second connecting member 18 is spaced apart from one end of the first connecting member 17 and fixedly connected to the steel belt to be adjusted, the other end of the second connecting member 18 and the other end of the first connecting member 17 are arranged facing each other and partially overlap, the adjusting screw 16 is used to connect the first connecting member 17 and the second connecting member 18, wherein the second connecting member 18 is provided with a through hole for the adjusting screw 16 to pass through, the first connecting member 17 is provided with a strip hole for the adjusting screw 16 to move along a direction perpendicular to its own axis, the adjusting screw 16 passes through the through hole and the strip hole and then cooperates with the fastening nut 19, and the steel belt to be adjusted is the second transmission steel belt group 5 or the third transmission steel belt group 8.

[0067] Specifically, for the second transmission steel belt group 5 and the third transmission steel belt group 8, the adjustment methods of the two are the same, the steel belt can be continuous, and the tension adjustment component is used to achieve partial tightening or loosening of the steel belt. The first connecting piece 17 and the second connecting piece 18 are both welding blocks, and the two welding blocks can be fixed to the two ends of the notch in the middle of the steel belt to be adjusted by welding. The first connecting piece 17 and the second connecting piece 18 are respectively arranged on the upper steel belt and the lower steel belt to constitute a part of the steel belt transmission, and the other end of the second connecting piece 18 and the other end of the fastening nut 19 are arranged facing each other and partially overlapped. Therefore, during use, by adjusting the overlap amount of the first connecting piece 17 and the second connecting piece 18, the tension adjustment can be achieved. Now, to adjust the tightness of the steel belt to be adjusted, loosen the fastening nut 19, move the adjusting screw 16 along the strip hole on the first connecting member 17 away from or close to the second connecting member 18, so that the overlap between the two is reduced or increased, thereby achieving the tensioning or relaxation of the steel belt to be adjusted, and then fix it by fastening the nut 19. It should be noted that the rotation angle of each connecting pulley generally does not exceed 360 degrees, that is, the reversal of the connecting pulley does not exceed one circle. After the adjusting screw 16 is moved in the strip hole of the first connecting member 17 and fixed, the adjusting steel belt can be tensioned or relaxed. It should be noted that the upper steel belt and the lower steel belt of each group of transmission steel belt groups need to be adjusted synchronously, that is, they need to be tensioned or relaxed synchronously.

[0068] When this embodiment is applied in practice, through the setting of the tension adjustment component, the first connecting member 17 and the second connecting member 18 and the multi-layer steel belt (the steel belt to be adjusted is provided with at least one layer) can be fixed by welding, and the tension adjustment component is generally arranged on the inner side relative to the adjustment steel belt, and the tension of the steel belt to be adjusted can be adjusted by moving the adjusting screw 16 in the strip hole of the first connecting member 17, thereby adjusting the deviation between the actual telecentric fixed point and the theoretical telecentric fixed point.

[0069] like Figure 7 and Figure 8 In order to solve the technical problems with the above structure, we proposed a debugging method based on the above structure, which includes:

[0070] Obtaining the deviation between the center of the sphere 102 of the adjustable instrument 10 and the theoretical telecentric fixed point;

[0071] If the deviation is not within the preset deviation range, the tension of the second transmission steel belt set 5 and the third transmission steel belt set 8 is adjusted to make the deviation within the preset deviation range.

[0072] Specifically, the center of the rod body 101 is the position of the actual telecentric fixed point, the position of the theoretical telecentric fixed point can be marked and determined, the position of the actual telecentric fixed point actually exists, and the deviation between the two can actually be quantified. The relative deviation between the two is obtained by measurement, and the relative deviation is eliminated by adjusting the tension of the second transmission steel belt group 5 and the third transmission steel belt group 8, so as to achieve the purpose of the deviation being within the preset deviation range and meet the actual needs in the operation. Precision adjustment can be performed before each operation and in each operation. For example, when it is found that the center of the rod body 101 is forward and close to the top relative to the theoretical telecentric fixed point, the third transmission steel belt group 8 can be tightened and the second transmission steel belt group 5 can be loosened, so that the center is close enough to the theoretical telecentric fixed point.

[0073] When this embodiment is applied in practice, the deviation between the center of the sphere 102 of the adjustable instrument 10 and the theoretical telecentric fixed point is obtained, and the deviation between the actual telecentric fixed point and the theoretical telecentric fixed point can be quantified. If the deviation is not within the preset deviation range, the tension of the second transmission steel belt group 5 and the third transmission steel belt group 8 is adjusted to make the deviation within the preset deviation range. With the help of the quantified deviation, the tension of the second transmission steel belt group 5 and the third transmission steel belt group 8 is adjusted respectively, so as to achieve the purpose of reducing the deviation and meet the accuracy requirements of the actual telecentric fixed point during the surgical operation, thereby improving the safety and effectiveness of the surgery.

[0074] If the deviation is not within the preset deviation range, adjusting the tension of the second transmission steel belt set 5 and the third transmission steel belt set 8 so that the deviation is within the preset deviation range includes:

[0075] Measure the deviation between the center of the sphere 102 and the theoretical telecentric fixed point in a first direction and a second direction, wherein the first direction is a direction parallel to the third transmission joint 14, and the second direction is a direction parallel to the second transmission steel belt group 5;

[0076] The direction parallel to the third transmission joint 14 is taken as the front-to-back direction (first direction), and the direction parallel to the second transmission steel belt group 5 is taken as the up-down direction (second direction), and the deviation between the actual fixed point and the theoretical telecentric fixed point is measured. Then, the deviation between the actual fixed point and the theoretical telecentric fixed point can be measured by a measuring instrument, for example, by measuring the deviation in the first direction and the second direction by a dial indicator. After calibrating and zeroing the dial indicator, the probe is brought into contact with the surface of the sphere 102, and the sphere 102 is moved along the first direction and the second direction from the actual position to a position flush with the telecentric fixed point, and the first deviation and the second deviation are measured respectively.

[0077] Determine whether at least one of the deviation in the first direction and the deviation in the second direction is not within a preset deviation range;

[0078] Generally, the preset deviation range is required to be within 2mm.

[0079] If so, adjust the steel belt to be adjusted corresponding to the deviation in the first direction and / or the deviation in the second direction so that the deviation in the first direction and the deviation in the second direction are both within the preset deviation range, wherein the steel belt to be adjusted corresponding to the deviation in the first direction is the third transmission steel belt group 8, and the steel belt to be adjusted corresponding to the deviation in the second direction is the second transmission steel belt group 5.

[0080] exist Figure 1 and Figure 2 In the embodiment, the direction (first direction) parallel to the direction in which the third transmission wheel 7 points to the third transmission connecting wheel 9 is the forward direction, and the reverse direction is the backward direction;

[0081] The direction (second direction) from the second transmission wheel 4 pointing to the second transmission connecting wheel 6 is taken as the upward direction, and the opposite direction is the downward direction.

[0082] For example, refer to Figure 1 , Figure 7 and Figure 8, the actual telecentric fixed point will not coincide with the theoretical telecentric fixed point, but will be infinitely close to the theoretical telecentric fixed point. In each adjustment state, or in each working state, the actual telecentric fixed point will only change around the theoretical telecentric fixed point as the original center, and its change trajectory is a dotted circle with different diameters. Figure 8 In the process, it is determined whether the actual telecentric fixed point is on the left or right, above or below the theoretical telecentric fixed point. If it is on the left (then biased to the rear), the third transmission steel belt group 8 should be properly loosened; if it is on the right (then biased to the front), the third transmission steel belt group 8 should be properly tightened; if it is above, the second transmission steel belt group 5 should be properly loosened; if it is below, the second transmission steel belt group 5 should be properly tightened; if it is Figure 8 The third transmission steel belt set 8 should be loosened appropriately, and the second transmission steel belt set 5 should be loosened appropriately. Figure 8 If it is in the lower left corner position A1, the third transmission steel belt group 8 should be properly loosened and the second transmission steel belt group 5 should be properly tightened. If it is in the upper right corner position A4, the third transmission steel belt group 8 should be properly tightened and the second transmission steel belt group 5 should be properly loosened. If it is in the lower right corner position A3, the third transmission steel belt group 8 should be properly loosened and the second transmission steel belt group 5 should be properly tightened. It can be measured while adjusting. It may jump between multiple positions during the adjustment process, such as first in the upper left corner position and then in the lower right corner position. At this time, a secondary adjustment can be made according to the strategy corresponding to the position.

[0083] The above can achieve fine adjustment between the actual telecentric fixed point and the theoretical telecentric fixed point, so that the position of the actual telecentric fixed point is close to the actual telecentric fixed point, thereby meeting the accuracy requirements in surgical operations.

[0084] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

[0085] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A telecentric fixed point structure for a surgical robot, characterized in that: include: Base (11); A first transmission joint (12), a second transmission joint (13) and a third transmission joint (14), wherein the first transmission joint (12), the second transmission joint (13) and the third transmission joint (14) are arranged in sequence, a first transmission driving wheel (1) and a first transmission connecting wheel (3) are rotatably mounted on the first transmission joint (12), the first transmission driving wheel (1) and the first transmission connecting wheel (3) are connected via a first transmission steel belt group (2), the first transmission driving wheel (1) is driven by a rotating driving member, the first transmission joint (12) is fixed to the base (11), the second transmission joint (13) is configured to rotate synchronously with the first transmission connecting wheel (3), and a second transmission wheel (4) is provided on the second transmission joint (13). ) and a second transmission hanging wheel (6), and the two are connected by a second transmission steel belt group (5), the second transmission wheel one (4) is fixedly connected to the first transmission joint (12), the second transmission hanging wheel (6) is rotationally connected to the second transmission joint (13), the third transmission joint (14) is configured to rotate synchronously with the second transmission hanging wheel (6), the third transmission joint (14) is provided with a third transmission wheel one (7) and a third transmission hanging wheel (9), the third transmission wheel one (7) and the third transmission hanging wheel (9) are connected by a third transmission steel belt group (8), the third transmission wheel one (7) is fixedly connected to the second transmission joint (13), and the third transmission hanging wheel (9) is rotationally connected to the third transmission joint (14); A mounting seat (15) fixedly connected to the third transmission hanging wheel (9), the mounting seat (15) being used for slidably mounting an adjustable instrument part (10), the adjustable instrument part (10) having a sphere (102); The axis of the first transmission coupling wheel (3), the axis of the second transmission coupling wheel (6), and the axis of the third transmission coupling wheel (9) constitute three vertices of a virtual parallelogram, another vertex of the virtual parallelogram is a theoretical telecentric fixed point, the center of the sphere (102) is an actual telecentric fixed point, and the second transmission steel belt group (5) and the third transmission steel belt group (8) are both configured to have adjustable tension.

2. The telecentric fixed point structure for a surgical robot according to claim 1, characterized in that: The adjustable instrument member (10) comprises a rod body (101), one end of the rod body (101) is slidably connected to the mounting seat (15), the sphere (102) is fixed to the other end of the rod body (101), and the axis of the rod body (101) passes through the center of the sphere (102).

3. The telecentric fixed point structure for a surgical robot according to claim 2, characterized in that: The first transmission coupling wheel (3) and the second transmission wheel one (4) are arranged concentrically, and the second transmission coupling wheel (6) and the third transmission wheel one (7) are arranged concentrically.

4. The telecentric fixed point structure for a surgical robot according to claim 1, characterized in that: One end of the second transmission joint (13) is fixedly connected to the axle of the first transmission coupling wheel (3); the first transmission coupling wheel (3) is rotationally connected to the first transmission joint (12) via the axle; the second transmission coupling wheel (6) is rotationally connected to the other end of the second transmission joint (13) via the axle; the axle of the second transmission coupling wheel (6) is fixedly connected to one end of the third transmission joint (14); and the mounting seat (15) is arranged at the other end of the third transmission joint (14).

5. The telecentric fixed point structure for a surgical robot according to claim 4, characterized in that: The second transmission wheel (4) is fixedly connected to the flange (20) via a first connecting bolt, the flange (20) is fixed to the first transmission joint (12) via a second connecting bolt, and the axle of the first transmission connecting wheel (3) passes through the center hole of the flange (20) and is fixedly connected to the second transmission joint (13).

6. The telecentric fixed point structure for a surgical robot according to claim 4 or 5, characterized in that: The third transmission wheel one (7) is fixedly connected to the flange two (21) via a third connecting bolt, the flange two (21) is fixed to the second transmission joint (13) via a fourth connecting bolt, and the axle of the second transmission connecting wheel (6) passes through the center hole of the flange two (21) and is fixedly connected to the third transmission joint (14).

7. The telecentric fixed point structure for a surgical robot according to claim 1, characterized in that: The second transmission steel belt group (5) comprises an upper steel belt and a lower steel belt arranged in parallel, the two ends of the upper steel belt of the second transmission steel belt group (5) are respectively connected to the second transmission wheel one (4) and the second transmission hanging wheel (6) and form a wrap angle with both, the two ends of the lower steel belt of the second transmission steel belt group (5) are respectively connected to the second transmission wheel one (4) and the second transmission hanging wheel (6) and form a wrap angle with both, the third transmission steel belt group (8) comprises an upper steel belt and a lower steel belt arranged in parallel, the two ends of the upper steel belt of the third transmission steel belt group (8) are respectively connected to the third transmission wheel one (7) and the third transmission hanging wheel (9) and form a wrap angle with both, and the two ends of the lower steel belt of the third transmission steel belt group (8) are respectively connected to the third transmission wheel one (7) and the third transmission hanging wheel (9) and form a wrap angle with both.

8. The telecentric fixed point structure for a surgical robot according to claim 7, characterized in that: The second transmission steel belt group (5) and the third transmission steel belt group (8) are both provided with a tension adjustment component, the distance between the tension adjustment component and the axle centers at both ends of the second transmission steel belt group (5) or the third transmission steel belt group (8) is greater than a preset distance threshold, the tension adjustment component comprises an adjustment screw (16), a first connecting member (17), a second connecting member (18) and a fastening nut (19), one end of the first connecting member (17) is fixedly connected to the steel belt to be adjusted, one end of the second connecting member (18) is spaced apart from one end of the first connecting member (17) and is fixedly connected to the steel belt to be adjusted, and the second connecting member (18) is fixedly connected to the steel belt to be adjusted. The other end of the first connecting member (8) and the other end of the first connecting member (17) are arranged facing each other and partially overlap, and the adjusting screw (16) is used to connect the first connecting member (17) and the second connecting member (18), wherein the second connecting member (18) is provided with a through hole for the adjusting screw (16) to pass through, and the first connecting member (17) is provided with a strip hole for the adjusting screw (16) to move along a direction perpendicular to its own axis, and the adjusting screw (16) cooperates with the fastening nut (19) after passing through the through hole and the strip hole, and the steel belt to be adjusted is the second transmission steel belt group (5) or the third transmission steel belt group (8).

9. A debugging method for a telecentric fixed point structure of a surgical robot, characterized in that: The telecentric fixed point structure for a surgical robot as claimed in any one of claims 1 to 8 comprises: Obtaining the deviation between the center of the sphere (102) of the adjustable instrument (10) and a theoretical telecentric fixed point; If the deviation is not within the preset deviation range, the tension of the second transmission steel belt set (5) and the third transmission steel belt set (8) is adjusted so that the deviation is within the preset deviation range.

10. The debugging method for the telecentric fixed point structure of a surgical robot according to claim 9, characterized in that: If the deviation is not within the preset deviation range, adjusting the tension of the second transmission steel belt set (5) and the third transmission steel belt set (8) so that the deviation is within the preset deviation range comprises: Measuring the deviation between the center of the sphere (102) and the theoretical telecentric fixed point in a first direction and a second direction, wherein the first direction is a direction parallel to the third transmission joint (14) and the second direction is a direction parallel to the second transmission joint (13); Determine whether at least one of the deviation in the first direction and the deviation in the second direction is not within a preset deviation range; If so, the steel belt to be adjusted corresponding to the deviation in the first direction and / or the deviation in the second direction is adjusted so that the deviation in the first direction and the deviation in the second direction are both within a preset deviation range, wherein the steel belt to be adjusted corresponding to the deviation in the first direction is the third transmission steel belt group (8), and the steel belt to be adjusted corresponding to the deviation in the second direction is the second transmission steel belt group (5).

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