A dual-arm microsurgical operating robot

Abstract

The present invention relates to the technical field of robots, and provides a dual-arm microsurgical operation robot, comprising: two robotic arms; each robotic arm includes a positioning and orientation mechanism and a remote center of motion (RCM mechanism); the RCM mechanism includes a rotation assembly, a pitching assembly and a feeding assembly, the rotation assembly is arranged on the positioning and orientation mechanism, the pitching assembly is arranged on the rotation assembly, the feeding assembly is arranged on the pitching assembly, the positioning and orientation mechanism is used for adjusting the pose of the RCM mechanism, the rotation assembly is used for rotating the pitching assembly and the feeding assembly, and the pitching assembly is used for adjusting the pitching angle of the feeding assembly. The dual-arm microsurgical operation robot provided by the present invention integrates two robotic arms, and each robotic arm is equipped with a precise positioning and orientation mechanism and an RCM mechanism, achieving flexible dual-arm collaborative operation on the basis of high precision and high stability, and significantly overcoming the limitations in traditional surgeries.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a dual-arm microsurgical operation robot. Background Art

[0002] Retina-related diseases are one of the main causes of blindness. Among them, submacular hemorrhage of the central retina, hereditary retinopathy, and retinal artery / vein occlusion are the most common blinding diseases. In clinical treatment, subretinal injection and intravascular injection of the fundus 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 microsurgeries face many challenges, especially the physiological tremor problem of doctors' hands. Research shows that the root mean square value of the tremor amplitude of doctors' hands during high-precision operations can reach 182 µm, while the diameter of retinal blood vessels is only 50 - 150 µm. Such tiny tremors will significantly affect the accuracy and safety of the surgery, increase the surgical risk, and reduce the treatment effect.

[0003] Existing surgical robots have shown excellent auxiliary capabilities in some fields, but in ophthalmic microsurgery, especially in retinal injection operations, there is still a lack of solutions that can simultaneously provide high precision, stability, and flexibility. Existing devices often cannot effectively suppress the tiny tremors of doctors' hands and are difficult to meet the precise operation requirements under the tiny diameter of retinal blood vessels. Summary of the Invention

[0004] The present invention provides a dual-arm microsurgical operation robot to solve the problem that there is still a lack of solutions that can simultaneously provide high precision, stability, and flexibility in ophthalmic microsurgery, especially in retinal injection operations.

[0005] The present invention provides a dual-arm microsurgical operation robot, including:

[0006] Two robotic arms; each of the robotic arms includes: a positioning and orientation mechanism and an RCM mechanism;

[0007] The RCM mechanism includes a rotation component, a pitching component, and a feeding component. The rotation component is arranged on the positioning and orientation mechanism, the pitching component is arranged on the rotation component, and the feeding component is arranged on the pitching component.

[0008] The positioning and orientation mechanism is used to adjust the position of the RCM mechanism, the rotation component is used to rotate the pitching component and the feeding component, and the pitching component is used to adjust the pitching angle of the feeding component; the pitching component is provided with a parallelogram link.

[0009] Among them, the feeding component 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 in transmission connection with the first slider, the driving rope is arranged in the parallelogram link, one side of the driving rope in the parallelogram link is connected with the first slider, the other side of the driving rope in the parallelogram link is connected with the second slider, and the second slider is connected with the injection member.

[0010] A double-arm microscopic operation surgical robot provided by the present invention, the rotation component includes: a rotation bracket and a second driving member;

[0011] The driving end of the second driving member passes through the rotation bracket and is connected with the pitching component, so that the pitching component and the feeding component rotate along the axis of the second driving member.

[0012] A double-arm microscopic operation surgical robot provided by the present invention, the pitching component includes: 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;

[0013] 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 in transmission connection with the crank-slider structure, the first horizontal support rod is hinged with the feeding component, the first vertical support rod is hinged with the feeding component, the first horizontal support rod and the main support arm, and the second vertical support rod is hinged with the first horizontal support rod and the crank-slider structure, so as to adjust the pitching angle of the feeding component through the first vertical support rod, the second vertical support rod and the first horizontal support rod when the third driving member drives the crank-slider structure to move. A double-arm microscopic operation surgical robot provided by the present invention, the crank-slider structure includes: a third slider, a driving rod and a connecting cross bar;

[0014] The driving end of the third driving member is in transmission connection with the third slider, both ends of the connecting cross bar are respectively hinged with the third slider and the driving rod, and the driving rod is connected with the second vertical support rod.

[0015] A double-arm microscopic operation surgical robot provided by the present invention, the positioning and pose mechanism includes: 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;

[0016] The Z-axis rotation assembly is arranged on the first rotation axis assembly. The first rotation axis assembly is used to drive the Z-axis rotation assembly to rotate along the Z-axis. The Y-axis assembly is arranged on the Z-axis rotation assembly. The Z-axis rotation assembly is used to adjust the position of the Y-axis assembly in the Z-axis direction. The X-axis cantilever assembly is arranged on the Y-axis assembly. The Y-axis assembly is used to adjust the position of the X-axis cantilever assembly in the Y-axis direction. The second rotation axis assembly is arranged on the X-axis cantilever assembly. The X-axis cantilever assembly is used to adjust the position of the second rotation axis assembly in the X-axis direction. The RCM mechanism is arranged on the second rotation axis assembly. The second rotation axis assembly is used to drive the RCM mechanism to rotate along the Z-axis.

[0017] According to a double-arm microscopic operation surgical robot provided by the present invention, the Z-axis rotation assembly includes: a Z-axis support arm and a fourth driving member;

[0018] The Z-axis support arm extends along the Z-axis direction and is arranged on the first rotation axis assembly. The fourth driving member is arranged behind the Z-axis support arm. The driving end of the fourth driving member is in transmission connection with the Y-axis assembly. The fourth driving member is used to drive the Y-axis assembly to move in the Z-axis direction.

[0019] According to a double-arm microscopic operation surgical robot provided by the present invention, the Y-axis assembly includes: an upper mover, a lower mover, a first arm structure, and a second arm structure;

[0020] The upper mover and the lower mover are arranged on the Z-axis support arm at intervals and are both in transmission connection with the fourth driving member. 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 arm structure. The lower mover is hinged to the X-axis cantilever assembly through the second arm structure;

[0021] 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 in the Y-axis.

[0022] According to a double-arm microscopic operation surgical robot provided by the present invention, the X-axis cantilever assembly includes: an X-axis base, an X-axis mover, and a fifth driving member;

[0023] The upper mover is hinged to the X-axis base through the first arm structure, the lower mover is hinged to the X-axis base through the second arm structure, a guide rail extending in the X-axis direction is formed on the X-axis base, the X-axis mover is slidably arranged in the guide rail, the second rotating shaft assembly is arranged on the X-axis mover, and the driving end of the fifth driving member is in transmission connection with the X-axis mover.

[0024] A double-arm microsurgical operation robot provided by the present invention, the second rotating shaft assembly includes: a support and a rotating motor arranged in the support;

[0025] The driving end of the rotating motor is connected to the RCM mechanism to drive the RCM mechanism to rotate along the Z axis.

[0026] A double-arm microsurgical operation robot provided by the present invention further includes:

[0027] A base, the positioning and pose determination mechanisms in the two manipulators are respectively arranged on the base, a control mechanism is arranged in the base, and the control mechanism is electrically connected to the positioning and pose determination mechanism and the RCM mechanism.

[0028] The double-arm microsurgical operation robot provided by the present invention integrates two manipulators, and each manipulator is equipped with a precise positioning and pose determination mechanism and an RCM mechanism, realizing flexible double-arm cooperative operation on the basis of high precision and high stability, and significantly overcoming the limitations in traditional surgeries.

[0029] The specific beneficial effects are as follows: Through the precise cooperation of the positioning and pose determination mechanism and the RCM mechanism, the present invention can ensure the operation accuracy during the surgical process. The rotating assembly, pitching assembly and feeding assembly in the RCM mechanism work together, enabling the injection part to reach a specific part of the retina with extremely high precision, effectively reducing the surgical error and improving the treatment effect.

[0030] The design of the RCM mechanism makes the operation during the surgical process more stable. Through the transmission mechanism of the parallelogram link and the driving rope, the movement of the feeding assembly is smoother, effectively suppressing the minute tremors of the doctor's hand and ensuring the stability and safety of the surgery.

[0031] The double-arm solution of the present invention enables multiple operations to be carried out simultaneously during the surgical process, improving the surgical efficiency. The two arms can cooperate flexibly to complete complex microsurgical operations, such as simultaneously treating different regions of the retina, further enhancing the precision and safety of the surgery. Description of the Drawings

[0032] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0033] Figure 1 Schematic diagram of the structure of the double-arm microsurgical operation robot provided by the embodiment of the present invention.

[0034] Figure 2 Schematic diagram of the positioning and orientation mechanism provided by the embodiment of the present invention.

[0035] Figure 3 Schematic diagram of the Y-axis assembly provided by the embodiment of the present invention.

[0036] Figure 4 Schematic diagram of the X-axis cantilever assembly provided by the embodiment of the present invention.

[0037] Figure 5 Schematic diagram of the RCM mechanism provided by the embodiment of the present invention.

[0038] Figure 6 Schematic diagram of the degrees of freedom of the RCM mechanism provided by the embodiment of the present invention.

[0039] Figure 7 Schematic diagram of the internal cross-section of the RCM mechanism provided by the embodiment of the present invention.

[0040] Figure 8 Schematic diagram of the pitching assembly in the RCM mechanism provided by the embodiment of the present invention.

[0041] Figure 9 Schematic diagram of the feeding assembly in the RCM mechanism provided by the embodiment of the present invention.

[0042] Reference numerals:

[0043] 1. Robotic arm; 11. Positioning and pose adjustment 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. Arm A; 11231. Upper rotating shaft A; 11232. Lower rotating shaft A; 1124. Arm B; 11241. Lower rotating shaft B; 1125. Arm E; 11251. Upper rotating shaft E; 11252. Lower rotating shaft E; 1126. Arm C; 11261. Upper rotating shaft C; 1127. 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 assembly; 115. Second rotating shaft assembly; 1151. Rotating motor; 1152. Support; 12. RCM mechanism; 121. Rotating assembly; 1211. Rotating bracket; 1212. Second driving member; 122. Pitching assembly; 1221. Main support arm; 1222. First vertical support rod; 1223. Second vertical support rod; 1224. First horizontal support rod; 1225. Third driving member; 1226. Third slider; 1227. Driving rod; 1228. Connecting cross bar; 1229. Screw; 1230. Driving shaft; 123. Feeding assembly; 1231. First driving member; 1232. First slider; 1233. Second slider; 1234. Injecting member; 1235. Driving rope; 1236. Parallelogram link; 1237. Support frame; 1238. Fastening pin; 2. Base. Detailed implementation manners

[0044] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0045] The following combines Figures 1-9 to describe the dual-arm microscopic operation surgical robot provided by the present invention.

[0046] An embodiment of the present invention provides a dual-arm microscopic operation surgical robot, as Figures 1 to 9As shown in the figure, the two-arm micromanipulation surgical robot includes: two robotic arms 1; each of the robotic arms 1 includes: a positioning and orientation mechanism 11 and an RCM mechanism 12 (Remote Center of Motion); the RCM mechanism 12 includes a rotation assembly 121, a pitching assembly 122 and a feeding assembly 123. The rotation assembly 121 is arranged on the positioning and orientation mechanism 11, the pitching assembly 122 is arranged on the rotation assembly 121, and the feeding assembly 123 is arranged on the pitching assembly 122. The positioning and orientation mechanism 11 is used to adjust the position and orientation of the RCM mechanism 12. The rotation assembly 121 is used to rotate the pitching assembly 122 and the feeding assembly 123. The pitching assembly 122 is used to adjust the pitching angle of the feeding assembly 123; the pitching assembly 122 is provided with a parallelogram link 1236; wherein, the feeding 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 in transmission connection with the first slider 1232. The driving rope 1235 is arranged in the parallelogram link 1236. One side of the driving rope 1235 in the parallelogram link 1236 is connected to the first slider 1232, and the other side of the driving rope 1235 in the parallelogram link 1236 is connected to the second slider 1233. The second slider 1233 is connected to the injection member 1234.

[0047] In this embodiment, the positioning and orientation mechanism 11 is responsible for adjusting the overall position and orientation of the RCM mechanism 12. The rotation assembly 121 is installed on the positioning and orientation mechanism 11 and is used to rotate the pitching assembly 122 and the feeding assembly 123 to provide a rotational movement on the horizontal plane. The pitching assembly 122 is installed on the rotation assembly 121 and is used to adjust the pitching angle of the feeding assembly 123, that is, the angle of tilting up and down. The first driving member 1231 is a feeding lead screw motor and is responsible for providing power. The first slider 1232 is installed on the lead screw of the feeding lead screw motor and moves as the lead screw rotates. The parallelogram link 1236 is provided with guide rails for the first slider 1232 and the second slider 1233 to slide. The driving rope 1235 passes through the inside of the parallelogram link 1236, one end 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 member 1234 is arranged in the support frame 1237. The second slider 1233 is connected to the injection member 1234 and moves as the driving rope 1235 is pulled to achieve a feeding action. The injection member 1234 usually includes an injection needle tube, and the injection member 1234 is used for puncture and drug injection at a precise position.

[0048] During operation, when the first driving member 1231 (feed 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 link 1236, this design ensures that the second slider 1233 can move along a predetermined direction. The movement of the second slider 1233 drives the injection member 1234 connected thereto, achieving the precise feeding and puncturing of the injection member 1234. After reaching the predetermined position, the drug can be injected through the injection needle tube on the injection member 1234.

[0049] The dual-arm microscopic operation surgical robot provided by the present invention integrates two robotic arms 1, and each robotic arm 1 is equipped with a precise positioning and pose mechanism 11 and mechanism, achieving flexible dual-arm collaborative operation on the basis of high precision and high stability, and significantly overcoming the limitations in traditional surgeries.

[0050] In some embodiments, such as Figures 5 to 7 shown, the rotation assembly 121 includes: a rotation bracket 1211 and a second driving member 1212. The driving end of the second driving member 1212 passes through the rotation bracket 1211 and is connected to the pitching assembly 122, so that the pitching assembly 122 and the feeding assembly 123 rotate along the axis of the second driving member 1212.

[0051] In this embodiment, the rotation bracket 1211 provides an installation platform for the second driving member 1212 and the pitching assembly 122 connected thereto. The second driving member 1212 can adopt a motor or a similar driving device, and its driving end passes through the rotation bracket 1211 and is connected to the pitching assembly 122. When the second driving member 1212 is started, it drives the pitching assembly 122 and the feeding assembly 123 to rotate together along the axis of the second driving member 1212.

[0052] Through this design of the rotation assembly 121, the surgical robot can flexibly adjust the rotation angles of the pitching assembly 122 and the feeding assembly 123 to adapt to different surgical sites and operation requirements.

[0053] In some embodiments, such as Figures 4 to 8As shown in the figure, the pitching 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 in transmission connection with the crank-slider structure, the first horizontal support rod 1224 is hinged to the feeding assembly 123, the first vertical support rod 1222 is hinged to the feeding assembly 123, the first horizontal support rod 1224 and the main support arm 1221, and the second vertical support rod 1223 is hinged to the first horizontal support rod 1224 and the crank-slider structure, so as to adjust the pitching angle of the feeding assembly 123 through the first vertical support rod 1222, the second vertical support rod 1223 and the first horizontal support rod 1224 when the third driving member 1225 drives the crank-slider structure to move.

[0054] In this embodiment, the main support arm 1221 serves as the main structure of the pitching assembly 122, and the main support arm 1221 provides a basis for the installation and support of other components. The top, middle and bottom of the first vertical support rod 1222 are respectively hinged to the feeding 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. 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 pitching angle of the feeding assembly 123 through the hinged relationship with the first horizontal support rod 1224. The first horizontal support rod 1224 is hinged to the feeding 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 pitching assembly 122, it jointly realizes the adjustment of the pitching angle of the feeding assembly 123 through the hinged relationship with other components.

[0055] The third driving member 1225 is usually a driving device similar to a motor or a lead screw (provided with a screw rod 1229), and it is responsible for providing the power required for the pitching action. The driving end of the third driving member 1225 is in transmission connection with the crank-slider structure. When the third driving member 1225 is started, it will drive the crank-slider structure to move. The crank-slider structure is a commonly used mechanical transmission device, which can convert rotational motion into linear motion or swinging motion. In the pitching assembly 122, the crank-slider structure converts the rotational motion of the third driving member 1225 into the swinging or linear motion required for the pitching action through the transmission connection with the third driving member 1225.

[0056] When the third driving member 1225 drives the crank-slider structure to move, the movement of the crank-slider structure will act on the feeding assembly 123 through the hinged relationship between the second vertical support rod 1223 and the first horizontal support rod 1224, and the hinged relationships between the first vertical support rod 1222 and the feeding assembly 123, the first horizontal support rod 1224 and the main support arm 1221, so as to adjust its pitching angle.

[0057] In some embodiments, such as Figures 5 to 8 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 in transmission connection with the third slider 1226, and both 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.

[0058] 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. Both ends of the connecting cross bar 1228 are respectively hinged to the third slider 1226 and the driving rod 1227. Relative rotation can occur between the connecting cross bar 1228, the third slider 1226 and the driving rod 1227.

[0059] When the third driving member 1225 drives the third slider 1226 to move, the connecting cross bar 1228 will transmit this movement to the driving rod 1227 due to the hinged action. Since the driving rod 1227 is connected to the second vertical support rod 1223, this movement will ultimately be transmitted to the second vertical support rod 1223. The second vertical support rod 1223 rotates relative to the first horizontal support rod 1224. At the same time, the first vertical support rod 1222 rotates relative to the first horizontal support rod 1224, and they jointly act on the feeding assembly 123 to adjust the pitching angle.

[0060] Based on the above embodiments, in some embodiments, such as Figures 1 to 5As shown, both robotic arms 1 each include a positioning and orientation mechanism 11 and an RCM mechanism 12. The positioning and orientation mechanism 11 includes: a Z-axis rotation assembly 111, a Y-axis assembly 112, an X-axis cantilever assembly 113, a first rotation axis assembly 114, and a second rotation axis assembly 115; the Z-axis rotation assembly 111 is disposed on the first rotation axis assembly 114, and the first rotation axis assembly 114 is configured to drive the Z-axis rotation assembly 111 to rotate along the Z-axis. The Y-axis assembly 112 is disposed on the Z-axis rotation assembly 111, and the Z-axis rotation assembly 111 is used to adjust the position of the Y-axis assembly 112 along the Z-axis. The X-axis cantilever assembly 113 is disposed on the Y-axis assembly 112, and the Y-axis assembly 112 is used to adjust the position of the X-axis cantilever assembly 113 along the Y-axis. The second rotation axis assembly 115 is disposed on the X-axis cantilever assembly 113, and the X-axis cantilever assembly 113 is used to adjust the position of the second rotation axis assembly 115 along the X-axis; the RCM mechanism 12 is disposed on the second rotation axis assembly 115, and the second rotation axis assembly 115 is configured to drive the RCM mechanism 12 to rotate along the Z-axis.

[0061] In this embodiment, the Z-axis rotation assembly 111 moves along 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 disposed on the Z-axis rotation assembly 111, which allows the mechanism to move along the Y-axis (one of the horizontal axes). The X-axis cantilever assembly 113 is disposed on the Y-axis assembly 112, which is responsible for translational movement along the X-axis (the other horizontal axis). By translating along the X-axis and Y-axis, the position of the RCM mechanism 12 on the horizontal plane can be precisely adjusted so that it can accurately reach the surgical site. The second rotation axis assembly 115 is disposed at the end of the X-axis cantilever assembly 113, which allows the RCM mechanism 12 (remote center of motion mechanism) to perform additional rotation along the Z-axis. This rotation is typically used to fine-tune the angle of the RCM mechanism 12 to ensure that its end effector (such as the injection part 1234) can contact the surgical site at the optimal angle.

[0062] In some embodiments, as Figures 1 to 3 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 disposed on the first rotation axis assembly 114. The fourth driving member 1112 is disposed behind the Z-axis support arm 1111, and the driving end of the fourth driving member 1112 is in transmission connection with the Y-axis assembly 112. The fourth driving member 1112 is used to drive the Y-axis assembly 112 to move along the Z-axis direction.

[0063] In this embodiment, the Z-axis support arm 1111 extends along the Z-axis (typically the vertical axis). It is securely mounted on the first rotating shaft assembly 114, serving as a base for supporting the Y-axis assembly 112 and other subsequent components. A fourth drive member 1112 is mounted on the Z-axis support arm 1111 (or at an appropriate location, depending on the design). Its primary function is to drive the Y-axis assembly 112 to move along the Z-axis. The fourth drive member 1112 typically includes a motor or other type of power source, as well as the necessary transmission mechanisms (e.g., gears, screws, belts, etc.) to ensure that the Y-axis assembly 112 can smoothly and accurately move linearly along the Z-axis.

[0064] In some embodiments, as 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 spaced apart on the Z-axis support arm 1111, 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 support arm 1111 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 support 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 support arm structure and the second support 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.

[0065] 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.

[0066] The first arm structure includes arm A 1123, arm B 1124, and arm E 1125. Arms A 1123, B 1124, and E 1125 are parallel to each other and hinged at their ends to the upper mover 1121 and the X-axis cantilever assembly 113. The second arm structure includes arm C 1126 and arm D 1127, which are also hinged at their ends to the lower mover 1122 and the X-axis cantilever assembly 113.

[0067] 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.

[0068] The support arm A1123 is provided with an upper rotating shaft A11231 and a lower rotating shaft A11232. These two rotating shafts are respectively used for hinging with the upper mover and the X-axis cantilever assembly, so that the support arm A1123 can rotate in two directions. The support arm B1124 is provided with an upper rotating shaft B and a lower rotating shaft B11241. Similar to the support arm A1123, the support arm B1124 is also hinged with the upper mover and the X-axis cantilever assembly through these two rotating shafts. The support arm E1125 is provided with an upper rotating shaft E11251 and a lower rotating shaft E11252. These two rotating shafts are also used for hinging with the upper mover and the X-axis cantilever assembly, enhancing the stability and flexibility of the first support arm structure. The support arm C1126 is provided with an upper rotating shaft C11261 and a lower rotating shaft C. These two rotating shafts are respectively used for hinging 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 hinged with the lower mover 1122 and the X-axis cantilever assembly through these two rotating shafts.

[0069] 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 support arms A1123, B1124, E1125, C1126 and 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 support arms A1123, B1124, E1125, C1126 and 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.

[0070] In some embodiments, such as 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 in the X-axis direction is formed on the X-axis base 1131, the X-axis mover 1132 is slidably disposed in the guide rail, the second rotating shaft assembly 115 is disposed on the X-axis mover 1132, and the driving end of the fifth driving member 1133 is in transmission connection with the X-axis mover 1132.

[0071] In this embodiment, a guide rail extending in 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 disposed in the guide rail of the X-axis base 1131. The driving end of the fifth driving member 1133 is in transmission connection with the X-axis mover 1132. The fifth driving member 1133 is responsible for driving the X-axis mover 1132 to move in the X-axis direction within the guide rail. By precisely controlling the output of the fifth driving member 1133, precise movement of the X-axis mover 1132 in the X-axis direction can be achieved. The second rotating shaft assembly 115 can move along with the movement of the X-axis mover 1132 in the X-axis direction, thereby increasing the flexibility and operating range of the robotic arm 1 in three-dimensional space.

[0072] As Figure 4 shown, the second rotating shaft assembly 115 includes: a support 1152 and a rotating motor 1151 disposed in the support 1152; the 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.

[0073] Wherein, the support 1152 is a hollow structure, and the support 1152 provides stable support for the rotating motor 1151. The rotating motor 1151 is disposed 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 rotational motion. By precisely controlling the output of the rotating motor 1151, precise rotation of the RCM mechanism 12 in the required direction can be achieved.

[0074] In some embodiments, as Figure 1 and Figure 2 shown, the dual-arm microsurgical operating robot further includes: a base 2. The positioning and orientation mechanisms 11 in the two robotic arms 1 are respectively disposed on the base 2, a control mechanism is provided in the base 2, and the control mechanism is electrically connected to the positioning and orientation mechanism 11 and the RCM mechanism 12.

[0075] 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 motor drivers, power modules, industrial computers, and I / O modules. These components work together to achieve precise control and operation of the robotic arm 1.

[0076] The motor driver is responsible for driving each motor (driving component) in the robotic arm 1 to achieve precise movement and positioning of the robotic arm 1. The power module provides a stable power supply for the entire system. The industrial computer, as the control center of the system, 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 housing is used to cover 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.

[0077] The upper bottom plate of the robot control box is used to fix the positioning and orientation mechanism 11 and the RCM mechanism 12. These mechanisms are key components of the robotic arm 1 and are responsible for achieving precise positioning and attitude adjustment of the robotic arm 1. The lower bottom plate of the robot control box is used to fix to the ground or an external structure. This ensures the stability and safety of the entire robot during the operation.

[0078] The control mechanism communicates and exchanges data with the positioning and orientation mechanism 11 and the RCM mechanism 12 through electrical connections. Such electrical connections may be wired connections (such as cables) or wireless connections (such as Bluetooth, Wi-Fi, etc.).

[0079] In a specific embodiment, during the process of using the dual-arm microsurgical robot, first, the operator needs to drag the dual-arm microsurgical robot from the storage position to a suitable position near the patient. Install the syringe into the injection part 1234 and fix it with the fastening pin 1238. Activate all the driving parts (motors) for zero reset. This is to ensure that the robot is in the initial state before starting the operation, so as to accurately execute the subsequent operation steps. During the zero reset process, the operator needs to closely monitor the state of the robot to ensure that all driving parts can be normally reset. Control the end RCM (Remote Center Mechanism) point to coincide with the eye trocar point through the positioning and orientation mechanism 11. This step is crucial for the surgical operation and it is necessary to ensure that the RCM point can be accurately positioned to the trocar point to prepare for the subsequent puncture and drug injection operations. During the positioning process, the operator needs to closely monitor the movement trajectory and positioning accuracy of the robot to ensure that the RCM point can accurately coincide with the trocar point. Adjust the attitude of the RCM mechanism 12 to ensure that the needle tip attitude is consistent with the trocar attitude. This step is to ensure that during the puncture process, the needle tip can smoothly enter the eye through the trocar. When adjusting the RCM attitude, the operator needs to carefully control the movement of the robot to ensure the matching degree between the needle tip attitude and the trocar attitude. Control the feeding movement of the needle tip to ensure that the needle tip smoothly enters the eye through the trocar. Control the end needle tip to be accurately positioned to the target point in the intraocular blood vessel through the RCM mechanism 12. 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 and deliver the injection part 1234 for precise puncture. Subsequently, the drug is injected into the syringe for injection.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A two-armed micromanipulation surgical robot, characterized in that, Including: Two robotic arms; each of the robotic arms includes: a positioning and orientation mechanism and an RCM mechanism; The RCM mechanism includes a rotation assembly, a pitching assembly, and a feeding assembly. The rotation assembly is disposed on the positioning and orientation mechanism, the pitching assembly is disposed on the rotation assembly, and the feeding assembly is disposed on the pitching assembly; The positioning and orientation mechanism is used to adjust the position and orientation of the RCM mechanism. The rotation assembly is used to rotate the pitching assembly and the feeding assembly. The pitching assembly is used to adjust the pitching angle of the feeding assembly; The pitching assembly is provided with a parallelogram link; 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 in transmission connection with the first slider, the driving rope is disposed in the parallelogram link, one side of the driving rope in the parallelogram link is connected to the first slider, the other side of the driving rope in the parallelogram link is connected to the second slider, and the second slider is connected to the injection member; The positioning and orientation mechanism includes: 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 assembly is disposed on the first rotation axis assembly, the first rotation axis assembly is used to drive the Z-axis rotation assembly to rotate along the Z-axis, the Y-axis assembly is disposed on the Z-axis rotation assembly, the Z-axis rotation assembly is used to adjust the position of the Y-axis assembly along the Z-axis direction, the X-axis cantilever assembly is disposed on the Y-axis assembly, the Y-axis assembly is used to adjust the position of the X-axis cantilever assembly along the Y-axis direction, the second rotation axis assembly is disposed on the X-axis cantilever assembly, the X-axis cantilever assembly is used to adjust the position of the second rotation axis assembly along the X-axis direction; The RCM mechanism is disposed on the second rotation axis assembly, and the second rotation axis assembly is used to drive the RCM mechanism to rotate along the Z-axis.

2. The dual-arm micromanipulation surgical robot according to claim 1, characterized in that: The rotation assembly includes: a rotation bracket and a second driving member; The driving end of the second driving member passes through the rotation bracket and is connected to the pitching assembly, so that the pitching assembly and the feeding 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 pitching assembly includes: 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 disposed in the main support arm. The driving end of the third driving member is in transmission connection with the crank-slider structure. The first horizontal support rod is hinged to the feeding assembly. The first vertical support rod is hinged to the feeding assembly, the first horizontal support rod, and the main support arm. The second vertical support rod is hinged to the first horizontal support rod and the crank-slider structure, so as to adjust the pitching angle of the feeding assembly through the first vertical support rod, the second vertical support rod, and the first horizontal support rod when the third driving member drives the crank-slider structure to move.

4. The two-arm micromanipulation surgical robot according to claim 3, characterized in that, The crank-slider structure includes: a third slider, a driving rod, and a connecting cross bar; The driving end of the third driving member is in transmission connection with the third slider. 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 support rod.

5. The dual-arm micromanipulation surgical robot according to claim 1, characterized in that: The Z-axis rotating 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 in transmission connection with the Y-axis assembly, and the fourth driving member is used to drive the Y-axis assembly to move along the Z-axis direction.

6. The two-arm micromanipulation surgical robot according to claim 5, wherein The Y-axis assembly includes: an upper mover, a lower mover, a first arm structure and a second arm structure; The upper mover and the lower mover are arranged on the Z-axis support arm at intervals and are both in transmission connection with the fourth driving member. 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 arm structure, and the lower mover is hinged to the X-axis cantilever assembly through the second 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 in the Y-axis direction.

7. The two-arm microscopic operation surgical robot according to claim 6, wherein, The X-axis cantilever assembly includes: 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 shaft assembly is arranged on the X-axis mover, and the driving end of the fifth driving member is in transmission connection with the X-axis mover.

8. The dual-arm micromanipulation surgical robot according to claim 7, characterized in that: The second rotating shaft assembly includes: 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.

9. The dual-arm microsurgical operation robot according to any one of claims 1-8, characterized in that, Further included is: a base. The positioning and orientation mechanisms in the two robotic arms are respectively arranged on the base. A control mechanism is arranged in the base, and the control mechanism is electrically connected to the positioning and orientation mechanism and the RCM mechanism.

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