Double-arm micromanipulation surgical robot

Abstract

The invention relates to the technical field of robots, and provides a double-arm micromanipulation surgical robot which comprises two mechanical arms, a manipulator and a control system. Each mechanical arm comprises a positioning and attitude determining mechanism and a remote center of motion (RCM mechanism); the RCM mechanism comprises a rotating assembly, a pitching assembly and a feeding assembly, the rotating assembly is arranged on the positioning and attitude determining mechanism, the pitching assembly is arranged on the rotating assembly, the feeding assembly is arranged on the pitching assembly, the positioning and attitude determining mechanism is used for adjusting the attitude of the RCM mechanism, and the rotating assembly is used for rotating the pitching assembly and the feeding assembly. The pitching assembly is used for adjusting the pitching angle of the feeding assembly. According to the double-arm micromanipulation surgical robot provided by the invention, the two mechanical arms are integrated, and each mechanical arm is provided with the precise positioning and attitude determining mechanism and the RCM mechanism, so that flexible double-arm cooperative operation is provided on the basis of high precision and high stability, and limitation in a traditional surgery is remarkably overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a dual-arm micromanipulation surgical robot. Background Art

[0002] Retinal diseases are one of the main causes of blindness, among which central subretinal hemorrhage of the macula, hereditary retinopathy, and retinal artery / vein occlusion are the most common blinding diseases. In clinical treatment, subretinal injection and intravascular injection have become the main treatment methods. These minimally invasive surgeries usually need to be performed under a microscope, and doctors need to accurately inject drugs into specific parts of the retina through delicate operations. However, traditional microsurgery faces many challenges, especially the physiological tremor of the doctor's hands. Studies have shown that the root mean square value of the tremor amplitude of the doctor's hands during high-precision operations can reach 182 µm, while the diameter of retinal blood vessels is only 50-150 µm. This tiny tremor will significantly affect the accuracy and safety of the operation, increase surgical risks, and reduce the treatment effect.

[0003] Existing surgical robots have demonstrated excellent assistance capabilities in some areas, but in ophthalmic microsurgery, especially retinal injection operations, there is still a lack of solutions that can provide high precision, stability and flexibility at the same time. Existing equipment often cannot effectively suppress the slight tremors of the doctor's hands and cannot meet the precise operation requirements under the small diameter of retinal blood vessels. Summary of the invention

[0004] The present invention provides a dual-arm micromanipulation surgical robot to solve the problem of lack of a solution that can provide high precision, stability and flexibility at the same time in ophthalmic microsurgery, especially retinal injection operation.

[0005] The present invention provides a dual-arm micromanipulation surgical robot, comprising: Two robotic arms; each of the robotic arms comprises: a positioning and posture determination mechanism and an RCM mechanism; The RCM mechanism includes a rotating assembly, a pitching assembly and a feeding assembly. The rotating assembly is arranged on the positioning and posture determination mechanism, the pitching assembly is arranged on the rotating assembly, and the feeding assembly is arranged on the pitching assembly. The positioning and posture determination mechanism is used to adjust the position of the RCM mechanism, the rotating assembly is used to rotate the pitch assembly and the feed assembly, and the pitch assembly is used to adjust the pitch angle of the feed assembly; the pitch assembly is provided with a parallelogram connecting rod; Wherein, the feeding assembly includes a first driving member, a first slider, a second slider, an injection member, and a driving rope; the driving end of the first driving member is transmission-connected to the first slider, the driving rope is arranged in the parallelogram linkage, the driving rope is connected to the first slider on one side of the parallelogram linkage, the driving rope is connected to the second slider on the other side of the parallelogram linkage, and the second slider is connected to the injection member.

[0006] According to a dual-arm micromanipulation surgical robot provided by the present invention, the rotating assembly comprises: a rotating bracket and a second driving member; The driving end of the second driving member passes through the rotating bracket and is connected to the pitch assembly, so that the pitch assembly and the feed assembly rotate along the axis of the second driving member.

[0007] According to a dual-arm micromanipulation surgical robot provided by the present invention, the pitch assembly comprises: a main support arm, a first vertical support rod, a second vertical support rod, a first horizontal support rod, a third driving member, and a crank slider structure; The third driving member and the crank slider structure are arranged in the main support arm, the driving end of the third driving member is transmission-connected to the crank slider structure, the first horizontal support rod is hinged to the feed assembly, the first vertical support rod is hinged to the feed assembly, the first horizontal support rod and the main support arm, and the second vertical support rod is hinged to the first horizontal support rod and the crank slider structure, so that when the third driving member drives the crank slider structure to move, the pitch angle of the feed assembly is adjusted by the first vertical support rod, the second vertical support rod and the first horizontal support rod. According to a dual-arm micromanipulation surgical robot provided by the present invention, the crank slider structure includes: a third slider, a driving rod and a connecting crossbar; The driving end of the third driving member is transmission-connected to the third slider, the two ends of the connecting cross bar are respectively hinged to the third slider and the driving rod, and the driving rod is connected to the second vertical supporting rod.

[0008] According to a dual-arm micromanipulation surgical robot provided by the present invention, the positioning and posture determination mechanism comprises: a Z-axis rotation component, a Y-axis component, an X-axis cantilever component, a first rotation axis component and a second rotation axis component; The Z-axis rotation component is arranged on the first rotation axis component, and the first rotation axis component is used to drive the Z-axis rotation component to rotate along the Z axis. The Y-axis component is arranged on the Z-axis rotation component, and the Z-axis rotation component is used to adjust the position of the Y-axis component along the Z-axis direction. The X-axis cantilever component is arranged on the Y-axis component, and the Y-axis component is used to adjust the position of the X-axis cantilever component along the Y-axis direction. The second rotation axis component is arranged on the X-axis cantilever component, and the X-axis cantilever component is used to adjust the position of the second rotation axis component along the X-axis direction; the RCM mechanism is arranged on the second rotation axis component, and the second rotation axis component is used to drive the RCM mechanism to rotate along the Z axis.

[0009] According to a dual-arm micromanipulation surgical robot provided by the present invention, the Z-axis rotation assembly comprises: a Z-axis support arm and a fourth driving member; The Z-axis support arm extends along the Z-axis direction and is arranged on the first rotating shaft assembly. The fourth driving member is arranged behind the Z-axis support arm. The driving end of the fourth driving member is transmission-connected to the Y-axis assembly. The fourth driving member is used to drive the Y-axis assembly to move along the Z-axis direction.

[0010] According to a dual-arm micromanipulation surgical robot provided by the present invention, the Y-axis assembly comprises: an upper mover, a lower mover, a first support arm structure and a second support arm structure; The upper mover and the lower mover are arranged on the Z-axis support arm at intervals, and are both connected to the fourth driving member in transmission, and the fourth driving member is used to drive the upper mover and the lower mover to move synchronously or asynchronously along the Z-axis support arm, the upper mover is hinged to the X-axis cantilever assembly through the first support arm structure, and the lower mover is hinged to the X-axis cantilever assembly through the second support arm structure; When the upper mover and the lower mover approach or move away from each other, the upper mover and the lower mover drive the X-axis cantilever assembly to move outward or inward along the Y-axis through the first arm structure and the second arm structure; when the upper mover and the lower mover move synchronously, the X-axis cantilever assembly is stationary on the Y-axis.

[0011] According to a dual-arm micromanipulation surgical robot provided by the present invention, the X-axis cantilever assembly comprises: an X-axis base, an X-axis mover and a fifth driving member; The upper mover is hinged to the X-axis base through the first arm structure, and the lower mover is hinged to the X-axis base through the second arm structure. A guide rail extending along the X-axis direction is formed on the X-axis base, and the X-axis mover is slidably arranged in the guide rail. The second rotating axis assembly is arranged on the X-axis mover, and the driving end of the fifth driving member is transmission-connected to the X-axis mover.

[0012] According to a dual-arm micromanipulation surgical robot provided by the present invention, the second rotating axis assembly comprises: a support and a rotating motor arranged in the support; The driving end of the rotating motor is connected to the RCM mechanism to drive the RCM mechanism to rotate along the Z axis.

[0013] A dual-arm micromanipulation surgical robot provided by the present invention further comprises: A base, the positioning and posture determination mechanisms in the two robotic arms are respectively arranged on the base, and a control mechanism is provided in the base, and the control mechanism is electrically connected to the positioning and posture determination mechanism and the RCM mechanism.

[0014] The dual-arm micromanipulation surgical robot provided by the present invention integrates two mechanical arms, each of which is equipped with a precise positioning and posture determination mechanism and an RCM mechanism, thereby providing flexible dual-arm collaborative operation on the basis of high precision and high stability, and significantly overcoming the limitations of traditional surgery.

[0015] The specific beneficial effects are as follows: Through the precise coordination of the positioning and posture determination mechanism and the RCM mechanism, the present invention can ensure the operation accuracy during the operation. The rotation component, the pitch component and the feeding component in the RCM mechanism work together, so that the injection piece can reach the specific part of the retina with extremely high accuracy, effectively reducing the operation error and improving the treatment effect.

[0016] The design of the RCM mechanism makes the operation more stable during surgery. Through the transmission mechanism of the parallelogram link and the drive rope, the movement of the feeding assembly is more stable, effectively suppressing the slight tremor of the doctor's hand and ensuring the stability and safety of the operation.

[0017] The dual-arm solution of the present invention enables multiple operations to be performed simultaneously during surgery, improving surgical efficiency. The two arms can cooperate flexibly to complete complex microsurgery operations, such as treating different areas of the retina at the same time, further improving the accuracy and safety of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 A schematic structural diagram of a dual-arm micromanipulation surgical robot provided in an embodiment of the present invention.

[0020] Figure 2A schematic diagram of a positioning and attitude determination mechanism provided in an embodiment of the present invention.

[0021] Figure 3 A schematic diagram of a Y-axis assembly provided in an embodiment of the present invention.

[0022] Figure 4 Schematic diagram of an X-axis cantilever assembly provided in an embodiment of the present invention.

[0023] Figure 5 A schematic diagram of the RCM mechanism provided in an embodiment of the present invention.

[0024] Figure 6 A schematic diagram of the degrees of freedom of the RCM mechanism provided in an embodiment of the present invention.

[0025] Figure 7 A schematic diagram of the internal cross-section of an RCM mechanism provided in an embodiment of the present invention.

[0026] Figure 8 A schematic diagram of a pitch assembly in an RCM mechanism provided in an embodiment of the present invention.

[0027] Fig. 9 A schematic diagram of a feed assembly in an RCM mechanism provided in an embodiment of the present invention.

[0028] Reference numerals: 1. Robotic arm; 11. Positioning and posture determination mechanism; 111. Z-axis rotation assembly; 1111. Z-axis support arm; 1112. Fourth driving member; 112. Y-axis assembly; 1121. Upper mover; 1122. Lower mover; 1123. Support arm A; 11231. Upper rotation axis A; 11232. Lower rotation axis A; 1124. Support arm B; 11241. Lower rotation axis B; 1125. Support arm E; 112 51. upper rotating shaft E; 11252. lower rotating shaft E; 1126. support arm C; 11261. upper rotating shaft C; 1127. support arm D; 11271. upper rotating shaft D; 11272. lower rotating shaft D; 1128. upper support; 1129. lower support; 113. X-axis cantilever assembly; 1131. X-axis base; 1132. X-axis mover; 1133. fifth driving member; 114. first rotating shaft 1. The second rotating shaft assembly; 1151. The rotating motor; 1152. The support; 12. The RCM mechanism; 121. The rotating assembly; 1211. The rotating bracket; 1212. The second driving member; 122. The pitch assembly; 1221. The main arm; 1222. The first vertical support rod; 1223. The second vertical support rod; 1224. The first horizontal support rod; 1225. The third driving member; 1226. The third slider; 1227. The driving rod; 1228. The connecting cross rod; 1229. The screw; 1230. The driving shaft; 123. The feeding assembly; 1231. The first driving member; 1232. The first slider; 1233. The second slider; 1234. The injection piece; 1235. The driving rope; 1236. The parallelogram connecting rod; 1237. The support frame; 1238. The fastening screw; 2. The base. DETAILED DESCRIPTION

[0029] 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.

[0030] Combine the following Figure 1-Figure 9 The present invention describes a dual-arm micromanipulation surgical robot.

[0031] The embodiment of the present invention provides a dual-arm micromanipulation surgical robot, such as Figures 1 to 9As shown, the dual-arm micromanipulation surgical robot comprises: two robotic arms 1; each of the robotic arms 1 comprises: a positioning and posture determination mechanism 11 and an RCM mechanism 12 (Remote Center of Motion); the RCM mechanism 12 comprises a rotating assembly 121, a pitching assembly 122 and a feeding assembly 123, the rotating assembly 121 is arranged on the positioning and posture determination mechanism 11, the pitching assembly 122 is arranged on the rotating assembly 121, and the feeding assembly 123 is arranged on the pitching assembly 122, the positioning and posture determination mechanism 11 is used to adjust the posture of the RCM mechanism 12, the rotating assembly 121 is used to rotate the pitching assembly 122 and the feeding assembly 123, and the pitching assembly 122 is used to adjust the pitch angle of the feeding assembly 123; the pitching assembly 122 is provided with a parallelogram connecting rod 12 36; wherein, the feed assembly 123 includes a first driving member 1231, a first slider 1232, a second slider 1233, an injection member 1234, and a driving rope 1235; the driving end of the first driving member 1231 is transmission-connected to the first slider 1232, the driving rope 1235 is arranged in a parallelogram connecting rod 1236, the driving rope 1235 is connected to the first slider 1232 on one side of the parallelogram connecting rod 1236, the driving rope 1235 is connected to the second slider 1233 on the other side of the parallelogram connecting rod 1236, and the second slider 1233 is connected to the injection member 1234.

[0032] In this embodiment, the positioning and posture determination mechanism 11 is responsible for adjusting the overall position and posture of the RCM mechanism 12. The rotating assembly 121 is installed on the positioning and posture determination mechanism 11, and is used to rotate the pitch assembly 122 and the feed assembly 123, and provide a rotational motion on the horizontal plane. The pitch assembly 122 is installed on the rotating assembly 121, and is used to adjust the pitch angle of the feed assembly 123, that is, the angle of inclination up and down. The first driving member 1231 is a feed screw motor, which is responsible for providing power. The first slider 1232 is installed on the screw of the feed screw motor and moves with the rotation of the screw. The parallelogram connecting rod 1236 is provided with a guide rail for the first slider 1232 and the second slider 1233 to slide. The driving rope 1235 passes through the interior of the parallelogram connecting rod 1236, one end of which is connected to the first slider 1232, and the other end is connected to the second slider 1233. The function of the driving rope 1235 is to drive the second slider 1233 to move through its pulling force when the first slider 1232 moves. The injection piece 1234 is disposed in the support frame 1237. The second slider 1233 is connected to the injection piece 1234 and moves with the pulling of the driving rope 1235 to achieve the feeding action. The injection piece 1234 usually includes an injection needle tube and is used for puncture and drug injection at a precise position.

[0033] During operation, when the first driving member 1231 (feeding screw motor) rotates, the first slider 1232 moves along the screw. The movement of the first slider 1232 pulls the second slider 1233 through the driving rope 1235. Since the driving rope 1235 passes through the parallelogram connecting rod 1236, this design ensures that the second slider 1233 can move in a predetermined direction. The movement of the second slider 1233 drives the injection member 1234 connected thereto, realizing the precise feeding and puncture of the injection member 1234. After reaching the predetermined position, the drug can be injected through the injection needle on the injection member 1234.

[0034] The dual-arm micromanipulation surgical robot provided by the present invention integrates two robotic arms 1, each of which is equipped with a precise positioning and posture determination mechanism 11 and a mechanism, thereby providing flexible dual-arm collaborative operation on the basis of high precision and high stability, significantly overcoming the limitations of traditional surgery.

[0035] In some embodiments, Figures 5 to 7 As shown, the rotating assembly 121 includes: a rotating bracket 1211 and a second driving member 1212. The driving end of the second driving member 1212 passes through the rotating bracket 1211 and is connected to the pitch assembly 122, so that the pitch assembly 122 and the feeding assembly 123 rotate along the axis of the second driving member 1212.

[0036] In this embodiment, the rotating bracket 1211 provides a mounting platform for the second driving member 1212 and the pitch assembly 122 connected thereto. The second driving member 1212 can be a motor or a similar driving device, and its driving end passes through the rotating bracket 1211 and is connected to the pitch assembly 122. When the second driving member 1212 is started, it drives the pitch assembly 122 and the feeding assembly 123 to rotate along the axis of the second driving member 1212.

[0037] Through this design of the rotating component 121, the surgical robot can flexibly adjust the rotation angles of the pitch component 122 and the feed component 123 to adapt to different surgical sites and operation requirements.

[0038] In some embodiments, Figures 4 to 8As shown, the pitch assembly 122 includes: a main support arm 1221, a first vertical support rod 1222, a second vertical support rod 1223, a first horizontal support rod 1224, a third driving member 1225, and a crank slider structure; the third driving member 1225 and the crank slider structure are arranged in the main support arm 1221, the driving end of the third driving member 1225 is transmission-connected to the crank slider structure, the first horizontal support rod 1224 is hinged to the feed assembly 123, the first vertical support rod 1222 is hinged to the feed assembly 123, the first horizontal support rod 1224 and the main support arm 1221, the second vertical support rod 1223 is hinged to the first horizontal support rod 1224 and the crank slider structure, so that when the third driving member 1225 drives the crank slider structure to move, the pitch angle of the feed assembly 123 is adjusted by the first vertical support rod 1222, the second vertical support rod 1223 and the first horizontal support rod 1224.

[0039] In this embodiment, the main arm 1221 serves as the main structure of the pitch assembly 122, and the main arm 1221 provides a foundation for installation and support of other components. The top, middle and bottom of the first vertical support rod 1222 are respectively hinged to the feed assembly 123, the first horizontal support rod 1224 and the main arm 1221. The second vertical support rod 1223 is hinged to the first horizontal support rod 1224 and the crank slider structure. When the third driving member 1225 drives the crank slider structure to move, the second vertical support rod 1223 will move accordingly, and further affect the pitch angle of the feed assembly 123 through the hinge relationship with the first horizontal support rod 1224. The first horizontal support rod 1224 is hinged to the feed assembly 123, and is connected to the first vertical support rod 1222 and the second vertical support rod 1223. As an important connecting component in the pitch assembly 122, it realizes the adjustment of the pitch angle of the feed assembly 123 through the hinge relationship with other components.

[0040] The third driving member 1225 is usually a driving device similar to a motor or a lead screw (with a screw 1229), which is responsible for providing the power required for the pitch action. The driving end of the third driving member 1225 is connected to the crank slider structure in a transmission manner. When the third driving member 1225 is started, it drives the crank slider structure to move. The crank slider structure is a commonly used mechanical transmission device that can convert rotational motion into linear motion or swing. In the pitch assembly 122, the crank slider structure converts the rotational motion of the third driving member 1225 into the swing or linear motion required for the pitch action through a transmission connection with the third driving member 1225.

[0041] When the third driving member 1225 drives the crank slider structure to move, the movement of the crank slider structure will act on the feed assembly 123 through the hinge relationship between the second vertical support rod 1223 and the first horizontal support rod 1224, as well as the hinge relationship between the first vertical support rod 1222 and the feed assembly 123, and the first horizontal support rod 1224 and the main support arm 1221, thereby adjusting its pitch angle.

[0042] In some embodiments, Figures 5 to 8 As shown, the crank slider structure includes: a third slider 1226, a driving rod 1227 and a connecting cross bar 1228; the driving end of the third driving member 1225 is transmission-connected to the third slider 1226, and the two ends of the connecting cross bar 1228 are respectively hinged to the third slider 1226 and the driving rod 1227, and the driving rod 1227 is connected to the second vertical support rod 1223 through a driving shaft 1230.

[0043] In this embodiment, the driving rod 1227 is used to transmit force or movement. The driving rod 1227 is connected to the second vertical support rod 1223. The movement of the driving rod 1227 will affect the position or state of the second vertical support rod 1223. The two ends of the connecting cross bar 1228 are respectively hinged to the third slider 1226 and the driving rod 1227. The connecting cross bar 1228, the third slider 1226 and the driving rod 1227 can rotate relative to each other.

[0044] When the third driving member 1225 drives the third slider 1226 to move, the connecting cross bar 1228 transmits this movement to the driving rod 1227 due to the hinge effect. Since the driving rod 1227 is connected to the second vertical support rod 1223, this movement will eventually be transmitted to the second vertical support rod 1223, and the second vertical support rod 1223 rotates relative to the first cross support rod 1224. At the same time, the first vertical support rod 1222 rotates relative to the first cross support rod 1224, and they act together on the feeding assembly 123 to adjust the pitch angle.

[0045] Based on the above embodiments, in some embodiments, such as Figures 1 to 5As shown, the two robot arms 1 each include a positioning and posture determination mechanism 11 and a RCM mechanism 12 . The positioning and posture determination mechanism 11 includes: a Z-axis rotation component 111, a Y-axis component 112, an X-axis cantilever component 113, a first rotation axis component 114 and a second rotation axis component 115; the Z-axis rotation component 111 is arranged on the first rotation axis component 114, and the first rotation axis component 114 is used to drive the Z-axis rotation component 111 to rotate along the Z-axis; the Y-axis component 112 is arranged on the Z-axis rotation component 111, and the Z-axis rotation component 111 is used to adjust the position of the Y-axis component 112 along the Z-axis direction; the X-axis cantilever component 113 is arranged on the Y-axis component 112, and the Y-axis component 112 is used to adjust the position of the X-axis cantilever component 113 along the Y-axis direction; the second rotation axis component 115 is arranged on the X-axis cantilever component 113, and the X-axis cantilever component 113 is used to adjust the position of the second rotation axis component 115 along the X-axis direction; the RCM mechanism 12 is arranged on the second rotation axis component 115, and the second rotation axis component 115 is used to drive the RCM mechanism 12 to rotate along the Z-axis.

[0046] In this embodiment, the Z-axis rotation assembly 111 moves on the Z-axis (usually the vertical axis) of the entire mechanism. The first rotation axis assembly 114 is responsible for driving the Z-axis rotation assembly 111 to rotate along the Z-axis. The Y-axis assembly 112 is arranged on the Z-axis rotation assembly 111, which allows the mechanism to move on the Y-axis (one of the horizontal axes). The X-axis cantilever assembly 113 is arranged on the Y-axis assembly 112, which is responsible for translational movement along the X-axis (another horizontal axis). Through the translation of the X-axis and Y-axis, the position of the RCM mechanism 12 in the horizontal plane can be accurately adjusted so that it can accurately reach the surgical site. The second rotation axis assembly 115 is arranged at the end of the X-axis cantilever assembly 113, which allows the RCM mechanism 12 (remote motion center mechanism) to perform additional rotation along the Z-axis. This rotation is usually used to fine-tune the angle of the RCM mechanism 12 to ensure that its end effector (such as the injection piece 1234) can contact the surgical site at the best angle.

[0047] In some embodiments, Figures 1 to 3 As shown, the Z-axis rotation assembly 111 includes: a Z-axis support arm 1111 and a fourth driving member 1112; the Z-axis support arm 1111 extends along the Z-axis direction and is arranged on the first rotation axis assembly 114, the fourth driving member 1112 is arranged behind the Z-axis support arm 1111, the driving end of the fourth driving member 1112 is transmission-connected to the Y-axis assembly 112, and the fourth driving member 1112 is used to drive the Y-axis assembly 112 to move along the Z-axis direction.

[0048] In this embodiment, the Z-axis support arm 1111 extends along the Z-axis (usually the vertical axis). It is firmly set on the first rotating shaft assembly 114 as a basis for supporting the Y-axis assembly 112 and other subsequent components. The fourth driving member 1112 is set on the Z-axis support arm 1111 (or a suitable position, depending on the design), and its main function is to drive the Y-axis assembly 112 to move along the Z-axis direction. The fourth driving member 1112 usually includes a motor or other type of power source, as well as necessary transmission mechanisms (such as gears, screws, belts, etc.) to ensure that the Y-axis assembly 112 can move linearly along the Z-axis smoothly and accurately.

[0049] In some embodiments, Figures 1 to 4 As shown, the Y-axis assembly 112 includes: an upper mover 1121, a lower mover 1122, a first support arm structure and a second support arm structure; the upper mover 1121 and the lower mover 1122 are arranged on the Z-axis support arm 1111 at intervals, and are both connected to the fourth driving member 1112 in transmission connection, and the fourth driving member 1112 is used to drive the upper mover 1121 and the lower mover 1122 to move synchronously or asynchronously along the Z-axis support arm 1111, and the upper mover 1121 is connected to the X-axis through the first support arm structure. The cantilever assembly 113 is hinged, and the lower mover 1122 is hinged to the X-axis cantilever assembly 113 through the second arm structure; when the upper mover 1121 and the lower mover 1122 approach or move away from each other, the upper mover 1121 and the lower mover 1122 drive the X-axis cantilever assembly 113 to move outward or inward along the Y-axis through the first arm structure and the second arm structure; when the upper mover 1121 and the lower mover 1122 move synchronously, the X-axis cantilever assembly 113 is stationary on the Y-axis.

[0050] In this embodiment, the first arm structure and the second arm structure respectively connect the upper mover 1121 and the lower mover 1122 to the X-axis cantilever assembly 113. The upper mover 1121 is provided with an upper support 1128, and the lower mover 1122 is provided with a lower support 1129.

[0051] The first arm structure includes arm A1123, arm B1124 and arm E1125, which are parallel to each other and have their two ends respectively hinged to the upper mover 1121 and the X-axis cantilever assembly 113. The second arm structure includes arm C1126 and arm D1127, which also have their two ends respectively hinged to the lower mover 1122 and the X-axis cantilever assembly 113.

[0052] The support arm A1123 is provided with an upper rotating shaft A11231 and a lower rotating shaft A11232. The support arm B1124 is provided with an upper rotating shaft B and a lower rotating shaft B11241. The support arm C1126 is provided with an upper rotating shaft C11261 and a lower rotating shaft C. The support arm D1127 is provided with an upper rotating shaft D11271 and a lower rotating shaft D11272. The support arm E1125 is provided with an upper rotating shaft E11251 and a lower rotating shaft E11252.

[0053] An upper rotating shaft A11231 and a lower rotating shaft A11232 are provided on the support arm A1123. These two rotating shafts are respectively used for articulation with the upper mover and the X-axis cantilever assembly, so that the support arm A1123 can rotate in two directions. An upper rotating shaft B and a lower rotating shaft B11241 are provided on the support arm B1124. Similar to the support arm A1123, the support arm B1124 is also articulated with the upper mover and the X-axis cantilever assembly through these two rotating shafts. An upper rotating shaft E11251 and a lower rotating shaft E11252 are provided on the support arm E1125. These two rotating shafts are also used for articulation with the upper mover and the X-axis cantilever assembly, which enhances the stability and flexibility of the first support arm structure. An upper rotating shaft C11261 and a lower rotating shaft C are provided on the support arm C1126. The two rotating shafts are respectively used for articulation with the lower mover 1122 and the X-axis cantilever assembly, so that the support arm C1126 can rotate in two directions. The support arm D1127 is provided with an upper rotating shaft D11271 and a lower rotating shaft D11272. Similar to the support arm C1126, the support arm D1127 is also articulated with the lower mover 1122 and the X-axis cantilever assembly through the two rotating shafts.

[0054] When the upper mover 1121 and the lower mover 1122 approach each other, driven by the upper mover 1121 and the lower mover 1122, the arm A1123, the arm B1124, the arm E1125, the arm C1126 and the arm D1127 drive the X-axis cantilever assembly 113 to move outward along the Y-axis; when the upper mover 1121 and the lower mover 1122 move away from each other, driven by the upper mover 1121 and the lower mover 1122, the arm A1123, the arm B1124, the arm E1125, the arm C1126 and the arm D1127 drive the X-axis cantilever assembly 113 to move inward along the Y-axis. When the upper mover 1121 and the lower mover 1122 move synchronously, since the relative positions of the upper mover 1121 and the lower mover 1122 remain unchanged, the X-axis cantilever assembly 113 remains stationary in the Y-axis direction.

[0055] In some embodiments, Figure 4As shown, the X-axis cantilever assembly 113 includes: an X-axis base 1131, an X-axis mover 1132 and a fifth driving member 1133; the upper mover 1121 is hinged to the X-axis base 1131 through a first arm structure, the lower mover 1122 is hinged to the X-axis base 1131 through a second arm structure, a guide rail extending along the X-axis direction is formed on the X-axis base 1131, the X-axis mover 1132 is slidably arranged in the guide rail, the second rotating axis assembly 115 is arranged on the X-axis mover 1132, and the driving end of the fifth driving member 1133 is transmission-connected to the X-axis mover 1132.

[0056] In this embodiment, a guide rail extending along the X-axis direction is formed on the X-axis base 1131. This guide rail provides a stable path for the sliding of the X-axis mover 1132. The X-axis mover 1132 is slidably arranged in the guide rail of the X-axis base 1131. The driving end of the fifth driving member 1133 is transmission-connected to the X-axis mover 1132. The fifth driving member 1133 is responsible for driving the X-axis mover 1132 to move along the X-axis direction in the guide rail. By accurately controlling the output of the fifth driving member 1133, accurate movement of the X-axis mover 1132 in the X-axis direction can be achieved. The second rotating axis assembly 115 can move with the movement of the X-axis mover 1132 in the X-axis direction, thereby increasing the flexibility and operating range of the robot arm 1 in three-dimensional space.

[0057] like Figure 4 As shown, the second rotating shaft assembly 115 includes: a support 1152 and a rotating motor 1151 disposed in the support 1152; a driving end of the rotating motor 1151 is connected to the RCM mechanism 12 to drive the RCM mechanism 12 to rotate along the Z axis.

[0058] The support 1152 is a hollow structure, and the support 1152 provides a stable support for the rotating motor 1151. The rotating motor 1151 is arranged in the support 1152, and its driving end is connected to the RCM mechanism 12 (remote center of motion mechanism). The rotating motor 1151 is responsible for driving the RCM mechanism 12 to perform a rotating motion. By precisely controlling the output of the rotating motor 1151, the RCM mechanism 12 can be precisely rotated in a desired direction.

[0059] In some embodiments, Figure 1 and Figure 2 As shown, the dual-arm micromanipulation surgical robot further includes a base 2 . The positioning and posture determination mechanisms 11 in the two mechanical arms 1 are respectively arranged on the base 2 , and a control mechanism is arranged in the base 2 . The control mechanism is electrically connected to the positioning and posture determination mechanisms 11 and the RCM mechanism 12 .

[0060] In this embodiment, the base 2 includes a robot control box and a robot housing: the robot control box is a closed structure for arranging key electronic components such as a motor driver, a power module, an industrial computer, and an I / O module. These components work together to achieve precise control and operation of the robot arm 1.

[0061] The motor driver is responsible for driving each motor (drive part) in the robot arm 1 to achieve precise movement and positioning of the robot arm 1. The power module provides a stable power supply for the entire system. As the control center of the system, the industrial computer is responsible for processing various input signals and issuing control instructions according to preset programs and algorithms. The I / O module realizes communication and data exchange between the system and external devices. The robot shell is used to cover the internal components such as the robot control box to prevent external factors such as dust and moisture from damaging the system. At the same time, it also plays a role in beautifying the appearance.

[0062] The upper base plate of the robot control box is used to fix the positioning and posture determination mechanism 11 and the RCM mechanism 12. These mechanisms are key components of the robot arm 1 and are responsible for achieving accurate positioning and posture adjustment of the robot arm 1. The lower base plate of the robot control box is used to fix to the ground or external structure. This ensures the stability and safety of the entire robot during the operation.

[0063] The control mechanism communicates and exchanges data with the positioning and posture determination mechanism 11 and the RCM mechanism 12 through electrical connection. This electrical connection may be a wired connection (such as a cable) or a wireless connection (such as Bluetooth, Wi-Fi, etc.).

[0064] In a specific embodiment, during the use of the dual-arm micro-operation surgical robot, the operator first needs to drag the dual-arm micro-operation surgical robot from the storage position to a suitable position near the patient. Install the injection needle into the injection piece 1234 and fix it by tightening the screw 1238. Activate all drive parts (motors) for zero point reset. This is to ensure that the robot is in the initial state before starting the operation, so that the subsequent operation steps can be accurately performed. During the zero point reset process, the operator needs to pay close attention to the state of the robot to ensure that all drive parts can be reset normally. The terminal RCM (remote center mechanism) point is controlled to coincide with the eye trocar point by positioning the posture determination mechanism 11. This step is the key to the surgical operation, and it is necessary to ensure that the RCM point can be accurately positioned at the trocar point to prepare for the subsequent puncture and injection operation. During the positioning process, the operator needs to pay close attention to the robot's motion trajectory and positioning accuracy to ensure that the RCM point can accurately coincide with the trocar point. Adjust the posture of the RCM mechanism 12 to ensure that the needle tip posture is consistent with the trocar posture. This step is to ensure that during the puncture process, the needle tip can smoothly pass through the trocar and enter the eye. When adjusting the RCM posture, the operator needs to carefully control the movement of the robot to ensure that the needle tip posture matches the trocar posture. Control the needle tip feeding movement to ensure that the needle tip smoothly passes through the trocar and enters the eye. By controlling the RCM mechanism 12, the terminal needle tip is accurately positioned to the target point in the intraocular blood vessels. During the adjustment process, the operator needs to carefully control the movement trajectory and positioning accuracy of the robot to ensure that the needle tip can be accurately positioned to the target point. Feed the delivery injection piece 1234 for precise puncture. Subsequently, the drug is injected into the injection syringe for injection.

[0065] 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 dual-arm micromanipulation surgical robot, characterized in that: include: Two robotic arms; each of the robotic arms comprises: a positioning and posture determination mechanism and an RCM mechanism; The RCM mechanism comprises a rotating assembly, a pitching assembly and a feeding assembly, wherein the rotating assembly is arranged on the positioning and posture determination mechanism, the pitching assembly is arranged on the rotating assembly, and the feeding assembly is arranged on the pitching assembly; The positioning and posture determination mechanism is used to adjust the posture of the RCM mechanism, the rotating assembly is used to rotate the pitch assembly and the feed assembly, and the pitch assembly is used to adjust the pitch angle of the feed assembly; the pitch assembly is provided with a parallelogram connecting rod; Wherein, the feeding assembly includes a first driving member, a first slider, a second slider, an injection member, and a driving rope; the driving end of the first driving member is transmission-connected to the first slider, the driving rope is arranged in the parallelogram linkage, the driving rope is connected to the first slider on one side of the parallelogram linkage, the driving rope is connected to the second slider on the other side of the parallelogram linkage, and the second slider is connected to the injection member.

2. The dual-arm micromanipulation surgical robot according to claim 1, characterized in that: The rotating assembly comprises: a rotating bracket and a second driving member; The driving end of the second driving member passes through the rotating bracket and is connected to the pitch assembly, so that the pitch assembly and the feed assembly rotate along the axis of the second driving member.

3. The dual-arm micromanipulation surgical robot according to claim 2, characterized in that: The pitch assembly comprises: a main support arm, a first vertical support rod, a second vertical support rod, a first horizontal support rod, a third driving member, and a crank slider structure; The third driving member and the crank slider structure are arranged in the main support arm, the driving end of the third driving member is transmission connected to the crank slider structure, the first cross support rod is hinged to the feed assembly, the first vertical support rod is hinged to the feed assembly, the first cross support rod and the main support arm, and the second vertical support rod is hinged to the first cross support rod and the crank slider structure, so that when the third driving member drives the crank slider structure to move, the pitch angle of the feed assembly is adjusted by the first vertical support rod, the second vertical support rod and the first cross support rod.

4. The dual-arm micromanipulation surgical robot according to claim 3, characterized in that: The crank slider structure comprises: a third slider, a driving rod and a connecting crossbar; The driving end of the third driving member is transmission-connected to the third slider, the two ends of the connecting cross bar are respectively hinged to the third slider and the driving rod, and the driving rod is connected to the second vertical supporting rod.

5. The dual-arm micromanipulation surgical robot according to claim 1, characterized in that: The positioning and posture determination mechanism comprises: a Z-axis rotation assembly, a Y-axis assembly, an X-axis cantilever assembly, a first rotation axis assembly and a second rotation axis assembly; The Z-axis rotation component is arranged on the first rotation axis component, and the first rotation axis component is used to drive the Z-axis rotation component to rotate along the Z axis. The Y-axis component is arranged on the Z-axis rotation component, and the Z-axis rotation component is used to adjust the position of the Y-axis component along the Z-axis direction. The X-axis cantilever component is arranged on the Y-axis component, and the Y-axis component is used to adjust the position of the X-axis cantilever component along the Y-axis direction. The second rotation axis component is arranged on the X-axis cantilever component, and the X-axis cantilever component is used to adjust the position of the second rotation axis component along the X-axis direction; the RCM mechanism is arranged on the second rotation axis component, and the second rotation axis component is used to drive the RCM mechanism to rotate along the Z axis.

6. The dual-arm micromanipulation surgical robot according to claim 5, characterized in that: The Z-axis rotation assembly includes: a Z-axis support arm and a fourth driving member; The Z-axis support arm extends along the Z-axis direction and is arranged on the first rotating shaft assembly. The fourth driving member is arranged behind the Z-axis support arm. The driving end of the fourth driving member is transmission-connected to the Y-axis assembly. The fourth driving member is used to drive the Y-axis assembly to move along the Z-axis direction.

7. The dual-arm micromanipulation surgical robot according to claim 6, characterized in that: The Y-axis assembly includes: an upper mover, a lower mover, a first support arm structure and a second support arm structure; The upper mover and the lower mover are arranged on the Z-axis support arm at intervals, and are both connected to the fourth driving member in transmission, and the fourth driving member is used to drive the upper mover and the lower mover to move synchronously or asynchronously along the Z-axis support arm, the upper mover is hinged to the X-axis cantilever assembly through the first support arm structure, and the lower mover is hinged to the X-axis cantilever assembly through the second support arm structure; When the upper mover and the lower mover approach or move away from each other, the upper mover and the lower mover drive the X-axis cantilever assembly to move outward or inward along the Y-axis through the first arm structure and the second arm structure; when the upper mover and the lower mover move synchronously, the X-axis cantilever assembly is stationary on the Y-axis.

8. The dual-arm micromanipulation surgical robot according to claim 7, characterized in that: The X-axis cantilever assembly comprises: an X-axis base, an X-axis mover and a fifth driving member; The upper mover is hinged to the X-axis base through the first arm structure, and the lower mover is hinged to the X-axis base through the second arm structure. A guide rail extending along the X-axis direction is formed on the X-axis base, and the X-axis mover is slidably arranged in the guide rail. The second rotating axis assembly is arranged on the X-axis mover, and the driving end of the fifth driving member is transmission-connected to the X-axis mover.

9. The dual-arm micromanipulation surgical robot according to claim 8, characterized in that: The second rotating shaft assembly includes: a support and a rotating motor disposed in the support; The driving end of the rotating motor is connected to the RCM mechanism to drive the RCM mechanism to rotate along the Z axis.

10. The dual-arm micromanipulation surgical robot according to any one of claims 1 to 9, characterized in that: Also includes: A base, the positioning and posture determination mechanisms in the two robotic arms are respectively arranged on the base, and a control mechanism is provided in the base, and the control mechanism is electrically connected to the positioning and posture determination mechanism and the RCM mechanism.

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