Multi-degree-of-freedom operating mechanism for flexible control of surgical robot and surgical robot

Abstract

The invention belongs to the technical field of medical equipment, and relates to a multi-degree-of-freedom operating mechanism for flexible control of a surgical robot. In the multi-degree-of-freedom operating mechanism, a planar five-connecting-rod mechanism is used for detecting the left-right swing amplitude and the displacement in the front-back direction of a small arm; the yaw connecting rod module is arranged on a motor at the free tail end of the plane five-connecting-rod mechanism and used for detecting swinging of the wrist in the horizontal direction. The pitching connecting rod module is connected and fixed to the tail ends of the two sides of the yaw connecting rod module through the joint module and used for detecting swing of the wrist in the vertical direction. A head shaft of the rolling connecting rod is fixed in a bearing at the tail end of the pitching connecting rod module and used for detecting the rotating angle of the hand around the forearm. Through precise motion capture and multi-degree-of-freedom design, an operator can visually and comfortably control the surgical robot, natural cooperative motion of surgical instruments and the hands of the operator is provided, human engineering is met, and the intuition and flexibility of surgical operation are improved.

Description

Technical Field

[0001] The present invention belongs to the field of surgical robots, and relates to an upper arm motion acquisition mechanism. More specifically, it relates to a multi-degree-of-freedom operating mechanism and a surgical robot for flexible manipulation of a surgical robot, which can be used in a dual-channel redundant surgical robot system based on an endoscope. Background Art

[0002] In recent years, natural orifice transluminal endoscopic surgery (NOTES) as a minimally invasive surgical method has been widely used in clinical practice due to its advantages such as reducing trauma, accelerating recovery, and reducing the risk of infection. In NOTES surgery, a surgical robot based on an endoscope plays a crucial role. The improvement of its accuracy and efficiency is inseparable from the use of the master-slave control mode. In this mode, the operator precisely controls the robot to execute movements through the master control device. Therefore, the performance of the system is limited by the quality of the master control device. If its design does not conform to ergonomics, it will directly affect the overall performance. Therefore, developing a control device that is both efficient and ergonomic is of great significance for improving the overall performance of surgical robots.

[0003] Currently, traditional control devices mostly adopt a 6-degree-of-freedom design, while an endoscopic robot usually only requires 3 to 5 degrees of freedom in NOTES surgery. By simplifying the degrees of freedom, not only can the system structure and stability be optimized, but also the operation flexibility and response speed of the robot can be improved. In addition, existing consoles are mostly interactive designs, with the console and the operator arranged separately. This layout occupies a large area and has a poor intuitive experience, and it is difficult for the operator to obtain immediate feedback. The exoskeleton wearable design can effectively solve this problem and improve the intuitiveness and flexibility of operation.

[0004] Currently, most exoskeleton wearable surgical robots adopt two structures: series and parallel. The series structure has a simple and flexible design, is suitable for small loads, and provides higher precision and flexibility. The parallel structure is suitable for large loads, but has poor flexibility.

[0005] Therefore, there is an urgent need for a new mechanism to collect upper arm movements. Summary of the Invention

[0006] In view of the above deficiencies or improvement requirements of the prior art, the present invention provides a multi-degree-of-freedom operating mechanism for flexible manipulation of a surgical robot, aiming to better meet the requirements of an endoscopic surgical robot and improve the flexibility and accuracy of the system.

[0007] To achieve the above object, according to one aspect of the present invention, there is provided a multi-degree-of-freedom operating mechanism for flexible manipulation of a surgical robot, including:

[0008] A planar five-bar linkage mechanism, a yaw linkage module, a pitch linkage module, and a roll link;

[0009] In the OXYZ coordinate system:

[0010] The planar five-bar linkage mechanism performs translational motion in the YOZ plane and rotational motion about the X-axis, and is used to detect the left and right swing amplitude and the displacement in the front and rear directions of the forearm. Its free end is equipped with a motor that rotates about the X-axis;

[0011] The yaw link module is provided on the motor at the free end of the planar five-bar linkage mechanism and is used to detect the swing of the wrist in the horizontal direction;

[0012] The pitch link module is connected and fixed to both ends of the yaw link module through the joint module, and performs rotational motion about the Z-axis through the connection of the joint module, and is used to detect the swing of the wrist in the vertical direction;

[0013] The head shaft of the rolling link is fixed in the bearing at the end of the pitch link module and performs rotational motion about the Y-axis, and is used to detect the angle of rotation of the hand around the forearm;

[0014] Among them, the planar five-bar linkage mechanism, the yaw link module, the pitch link module, and the rolling link are arranged in series; the planar five-bar linkage mechanism, the yaw link module, and the pitch link module all adopt a parallel link structure inside; the rotation axes of the yaw link module, the pitch link module, and the rolling link intersect at one point.

[0015] Furthermore, the planar five-bar linkage mechanism includes:

[0016] The planar five-bar linkage mechanism includes a base, a motor and a rotating shaft module, a first link, a link joint connection module, a second link, a third link, a fourth link, and a second motor;

[0017] The base is used to be fixed on the console;

[0018] The motor and the rotating shaft module include two first motors, and the two first motors are fixed on the base;

[0019] The fixed ends of the first link and the fourth link are respectively fixed on the rotating shafts of the two first motors;

[0020] One end of the second link and the third link is hinged on the same link joint connection module, and the other ends are respectively hinged on the free ends of the first link and the fourth link through a link joint connection module;

[0021] The second motor is fixed at the common hinged end of the second link and the third link.

[0022] Furthermore, it includes two bases;

[0023] The motor and rotating shaft module includes two motor rotating shafts and two first motors. Each first motor is fixed to the console through a base, and is used to measure the two active joint angles θ1 at the root of the planar five-bar linkage and provide the active force;

[0024] Each motor rotating shaft is correspondingly installed on a first motor. The fixed ends of the first link and the fourth link are respectively fixed to a motor rotating shaft; the fourth link and the first link are mirror structures of each other;

[0025] The second motor is fixed on the link joint connection module where the second link and the third link are jointly hinged.

[0026] Further, the first link includes an upper link, a link connecting member, and a lower link;

[0027] One end of the upper link and the lower link is connected through the link connecting member and is fixed to the rotating shaft of a first motor; the other end is hinged to the second link through a link joint connection module.

[0028] Further, at least one of the upper link and the lower link is a hollow I-beam structure.

[0029] Further, the yaw link module includes a yaw link base, a yaw link body, and a third motor; the yaw link base is installed on the second motor, and two yaw link bodies are symmetrically installed on the yaw link base;

[0030] Wherein,

[0031] A third motor is installed at the end of each of the two yaw link bodies;

[0032] Or, it further includes a yaw joint. A third motor is installed at the end of one yaw link body, and a yaw joint is installed at the end of the other yaw link body.

[0033] Further, the yaw link body is a hollow I-beam structure.

[0034] Further, the pitch link module includes an adjustable length link module, a pitch link connecting member, a connecting bearing, and a fourth motor;

[0035] One end of the two adjustable length link modules is fixed to the same pitch link connecting member; the other ends are respectively installed on the two third motors, or the other ends are respectively installed on the third motor and the yaw joint;

[0036] The connecting bearing is installed on one side of the pitch link connecting member to provide the rotational freedom between the pitch link module and the rolling link;

[0037] The rolling link is installed on the connecting bearing;

[0038] The fourth motor is fixed on the other side of the pitching link connecting member, and the rotating shaft of the fourth motor is connected to the rolling link.

[0039] According to another aspect of the present invention, there is provided an endoscope multi-degree-of-freedom surgical robot, including the multi-degree-of-freedom operating mechanism as described in any one of the preceding items.

[0040] Generally speaking, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

[0041] 1. In the present invention, for the motion acquisition part of the wrist joint, a series-parallel fusion structure is adopted to reduce redundancy and at the same time provide a more concise and flexible control method. Through the series-parallel fusion structure, the degree-of-freedom design is simplified, the system structure and stability are optimized, the flexibility and response speed of the robot operation are improved, the motion acquisition is made more accurate and efficient, and it helps to improve the accuracy and efficiency of surgical operations.

[0042] 2. The exoskeleton wearable design is adopted to make the operation more intuitive and flexible, reduce the floor area, improve the intuitive experience, enable the operator to obtain instant feedback, and enhance the intuitiveness and controllability of surgical operations.

[0043] 3. Each module is arranged in series, and the links inside a single module are arranged in parallel, which enhances the stability of the overall structure and ensures the reliability and accuracy of motion acquisition.

[0044] 4. The operating device and system of the present invention are widely applicable to various endoscope surgical robots, and particularly have significant application value in minimally invasive surgical operations that require high precision and flexible operation.

[0045] 5. The present invention can control the two-arm robot carried on the endoscope by collecting the motion of the operator's upper arm, so as to overcome the deficiencies of the prior art such as redundant degrees of freedom, complex structure, poor stability, and large floor area, poor intuitive experience, and difficulty in obtaining instant feedback caused by the separate arrangement of the console and the operator, and solve the problems that the prior art cannot accurately and flexibly capture the motion of the operator's upper arm joint, affecting the accuracy and efficiency of surgical operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a schematic structural diagram and an exploded diagram of an upper arm motion acquisition mechanism provided by the present invention;

[0047] Figure 2 is a schematic diagram of the overall mechanism and its corresponding dynamic schematic diagram;

[0048] Figure 3 is Figure 1 the exploded diagram of the planar five-link in

[0049] Figure 4 (a) and (b) in Figure 3 are the exploded views of the base and the link joint connection module in

[0050] Figure 5 is Figure 1 the exploded view of the yaw link module in

[0051] Figure 6 is Figure 5 the exploded view of the yaw joint in

[0052] Figure 7 is Figure 1 the exploded view of the pitch link module in

[0053] Figure 8 is Figure 1 the exploded view of the adjustable length link module in

[0054] In all the drawings, the same reference numerals are used to denote the same elements or structures, where:

[0055] 1 - Planar five - link mechanism,

[0056] 11 - Base, 111 - Thrust bearing, 112 - Thrust bearing seat, 113 - Deep groove ball bearing set, 114 - Bearing base, 12 - Motor and rotating shaft module, 121 - Motor rotating shaft, 122 - First motor; 13 - First link, 131 - Upper link, 132 - Link connecting piece, 133 - Lower link; 14 - Link joint connection module, 141 - Set screw, 142 - Flange bearing, 143 - Thrust bearing, 144 - Anti - slip nut; 15 - Second link, 16 - Third link, 17 - Fourth link, 18 - Second motor;

[0057] 2 - Yaw link module,

[0058] 21 - Yaw link base, 22 - Yaw link body, 23 - Yaw joint seat, 24 - Yaw joint, 241 - Fixed nut, 242 - Joint bearing, 243 - Joint body, 244 - Joint rotating shaft, 25 - Third motor;

[0059] 3 - Pitch link module,

[0060] 31 - Adjustable length link module, 311 - Proximal fixed rod, 312 - Telescopic connecting piece, 313 - Distal telescopic rod, 314 - Torsion disc, 315 - Fixed knob, 32 - Pitch link connecting piece, 33 - Connecting bearing, 34 - Fourth motor;

[0061] 4 - Rolling link. Detailed implementation mode

[0062] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0063] The present invention provides a multi-degree-of-freedom operating mechanism for flexible manipulation of a surgical robot, including: a planar five-bar linkage mechanism for capturing and tracking the movement of the manipulator's forearm in a plane and having a two-degree-of-freedom movement ability; a yaw motion acquisition module for tracking the movement of the manipulator's hand in the yaw direction; a pitch motion acquisition module for tracking the movement of the manipulator's hand in the pitch direction; a rotational motion acquisition module for sensing and following the rotational movement of the manipulator's finger; and the modules are connected by an adaptability structure and can work together to capture the movement of the manipulator's hand in multiple degrees of freedom in space.

[0064] Preferably, the planar five-bar linkage mechanism, the yaw motion module, the pitch motion module and the rotational motion module can all be independently adjusted and can respectively and real-time collect the motion signals of each degree of freedom related to the manipulation.

[0065] Preferably, the planar five-bar linkage mechanism includes: a base unit for stably mounting on an operating table; a power transmission unit for driving multiple linkages in the planar five-bar linkage mechanism and controlling their movements; and a multi-degree-of-freedom motion mechanism capable of achieving precise angle control and enhancing the overall stability of the mechanism.

[0066] Preferably, the base unit includes a positioning component for ensuring the stable fixation of the mechanism and at the same time reducing the mechanical error generated by the movement.

[0067] Preferably, the motion connection module includes a plurality of joint connection components, and the joint connection components provide anti-overturning ability and reduce the friction in the movement through an optimized structural design.

[0068] Preferably, the yaw motion acquisition module includes: a yaw control module for collecting and tracking the movement of the manipulator's hand in the yaw direction; and the yaw module can provide a precise rotational degree of freedom in space to adapt to the movement requirements of the operator.

[0069] Preferably, the yaw module provides a stable rotational degree of freedom through an adjustable joint structure to ensure the precise capture of the action.

[0070] Preferably, the pitch motion acquisition module includes: a motion component with adjustable length for precisely adjusting the motion range and adapting to different operation requirements; the pitch module can follow and acquire the motion of the operator's hand in the pitch direction.

[0071] Preferably, the motion component with adjustable length can quickly adapt to the needs of different operators through a simple adjustment mechanism, ensuring operation comfort.

[0072] Preferably, the pitch motion module captures the motion in the pitch direction by adjusting the motor angle to ensure precise tracking of the hand motion.

[0073] Preferably, the motion acquisition mechanism includes multiple sensing components and a control module for real-time monitoring of the operator's actions and transmitting data to the robot control system to achieve precise control of the surgical robot.

[0074] More specifically, the present invention can be used to acquire the motion of the operator's upper arm joint during the surgical process of an endoscopic surgical robot. The multi-degree-of-freedom operating mechanism includes a planar five-bar linkage mechanism, a yaw link module, a pitch link module, and a rolling link. The planar five-bar linkage mechanism serves as the base and is fixed to the operation table by bolts. A motor is provided at its end, and four threaded holes are provided on the motor for fixing the yaw link module; the yaw link module is provided with through holes and is fixed to the end of the planar five-bar linkage by bolts. The pitch link module is connected and fixed to both sides of the yaw link module through joint modules. The head shaft of the rolling link is fixed to the bearing at the end of the pitch link module. Each module is arranged in series, and the links inside a single module are arranged in parallel to enhance the overall structural stability.

[0075] The multi-degree-of-freedom operating mechanism has 5 degrees of freedom. After equivalence, a mechanism schematic diagram and the corresponding kinematic coordinate system can be obtained (such as Figure 2) for describing the pose transformation of each link, especially the end, relative to the coordinate origin. Among them, the planar five-link mechanism includes a base, a motor and a rotating shaft module, a first link, a link joint connection module, a second link, a third link, a fourth link, a second motor and other components. The base is used to fix the motion acquisition mechanism. The motor and rotating shaft module includes a motor rotating shaft and a first motor, which are used to measure the two active joint angles at the root of the planar five-link and provide active force. The first link adopts a structure similar to a truss to enhance stability and evenly transmit the overturning moment. The link adopts a hollow I-beam structure to reduce weight. The yaw link module includes a yaw link base, a yaw link body, a yaw joint seat, a yaw joint, a third motor and other components. The yaw link body adopts a hollow I-beam structure to reduce weight. The yaw joint includes a fixing nut, a joint bearing, a joint body, and a joint rotating shaft, realizing the rotational freedom of the joint rotating shaft around its axis. The pitch link module includes an adjustable-length link module, a pitch link connector, a connecting bearing, a fourth motor and other components. The adjustable-length link module adopts a structure similar to a lead screw, and adjusts the link length by rotating a torsion disc to adapt to the hand sizes of different operators and ensure the comfort of operation.

[0076] A more specific embodiment is provided below to illustrate the present invention in more detail:

[0077] Please refer to Figure 1 , the present invention provides a motion acquisition mechanism for collecting the joint movements of an operator's upper arm during an endoscopic surgical robot operation. The motion acquisition mechanism includes a planar five-link mechanism 1, a yaw link module 2, a pitch link module 3 and a rolling link 4. In this embodiment, the planar five-link 1 is fixed to the operating table by bolts and serves as the base of the motion acquisition mechanism. The end of the planar five-link mechanism 1 is equipped with a motor, and there are four threaded holes on the motor. The yaw link module 2 is provided with through holes and is fixed to the end of the planar five-link 1 by bolts. The pitch link module 3 is connected and fixed to both sides of the yaw link module 2 through a joint module. The head shaft of the rolling link 4 is fixed to the bearing at the end of the pitch link module 3. The various modules are arranged in series, and the links inside a single module are arranged in parallel to enhance the stability of the overall structure.

[0078] Please refer to Figure 2, This figure is a schematic diagram of the motion of the mechanism, showing the equivalent degrees of freedom of the mechanism: The planar five-bar linkage 1 has five joints. Due to the constraint of the linkages, the motion can be equivalently considered as two main degrees of freedom. The first degree of freedom is the rotational degree of freedom about an axis, corresponding to θ1 shown in the figure, which is used to detect the left and right swing amplitude of the forearm; the second degree of freedom is the translational degree of freedom in the front-back direction, corresponding to d2 shown in the figure, which is used to detect the displacement of the forearm in the front-back direction; the yaw link module 2 corresponds to θ3 shown in the figure, which is used to detect the swing of the wrist in the horizontal direction; the pitch link module 3 corresponds to θ4 shown in the figure, which is used to detect the swing of the wrist in the vertical direction; the roll link 4 corresponds to θ5 shown in the figure, which is used to detect the angle of the hand rotating around the forearm.

[0079] Please refer to Figure 3 , The planar five-bar linkage mechanism 1 includes a base 11, a motor and a rotating shaft module 12, a first link 13, a link joint connection module 14, a second link 15, a third link 16, a fourth link 17, and a second motor 18. The base 11 is used to fix the motion acquisition mechanism on the console; the motor and rotating shaft module 12 includes a motor rotating shaft 121 and a first motor 122. The first motor 122 is fixed to the console by bolts and is used to measure the angles of two active joints at the root of the planar five-bar linkage and provide the active force; the motor rotating shaft 121 is installed on the first motor 122 by bolts, and its shaft body is provided with through holes for fixing the first link 13 and the fourth link 17 to the motor rotating shaft 121. The first link 13 includes an upper link 131, a link connection member 132, and a lower link 133. The links are arranged in an upper and lower stacked manner to form a structure similar to a truss. This design not only enhances the structural stability but also evenly transmits the overturning moment received by the links to the motor rotating shaft 121 to avoid structural deformation. In addition, the links adopt a hollow I-beam structure to reduce weight. One end of the third link 16 is provided with a through hole for fixing the second motor 18. The fourth link 17 and the first link 13 adopt a mirror structure design.

[0080] Please refer to Figure 4 of (a), the base 11 includes a thrust bearing 111, a thrust bearing seat 112, a deep groove ball bearing group 113, and a bearing base 114. The thrust bearing 111 is in surface contact with the first link 13 and the fourth link 17 and is used to transmit the pressure generated by gravity and deformation, and at the same time reduce the friction generated during the rotation of the joint; the thrust bearing seat 112 is used to position the thrust bearing 111; the deep groove ball bearing group 113 is used to transmit the overturning force generated by the cantilever beam effect and is used for the positioning of the motor and rotating shaft module 12; the bottom of the bearing base 114 is provided with a through hole group, which is fixed to the tabletop by bolts, the top through hole group is used to fix the thrust bearing seat 112, and the central through hole is used to fix the deep groove ball bearing group 113. Please refer to Figure 4In (b) thereof, the connecting rod joint connection module 14 includes a dowel bolt 141, a flange bearing 142, a thrust bearing 143 and an anti-slip nut 145. The flange bearing 142 is fixed to the outer connecting rod by interference fit for separating the relative movement between the connecting rods and between the connecting rod and the bolt. The thrust bearing 143 is clamped between the connecting rods to provide anti-overturning ability and reduce the friction after fastening.

[0081] Please refer to Figure 1 and Figure 3 , the first motor 122 of the planar five-bar linkage 1 includes two fixed motors, which can be regarded as single-degree-of-freedom fixed joints. According to the characteristics of the five-bar linkage mechanism, the end of the planar five-bar linkage 1 has two degrees of freedom and can move freely in the plane, and the position and attitude of the end can be determined by the kinematics of the planar five-bar linkage. When the operator's finger holds the rolling connecting rod 4 and the rotating shafts of the second motor 18, the third motor 25 and the fourth motor 34 are fixed, the movement of the operator's forearm on the plane can be regarded as the movement of the planar five-bar linkage 1. Specifically, the forward and backward telescopic movement and the left and right deflection movement of the operator's forearm respectively correspond to the angular changes of the two motors in the first motor 122, so as to realize the follow-up capture of the movement of the operator's forearm.

[0082] Please refer to Figure 5 , the yaw connecting rod module 2 includes a yaw connecting rod base 21, a yaw connecting rod main body 22, a yaw joint seat 23, a yaw joint 24 and a third motor 25. A through hole is provided in the middle of the yaw connecting rod base 21 for connecting with the second motor 18 to realize the connection between the planar five-bar linkage 1 and the yaw connecting rod module 2. Threaded holes are provided on both sides of the yaw connecting rod base 21 for installing the yaw connecting rod main body 22. The yaw connecting rod main body 22 adopts a hollow I-beam structure to reduce the weight and is designed with a symmetrical structure. The mirror through hole on the other side is used for installing the yaw joint seat 23. The yaw joint seat 23 is provided with a through hole for fixing the yaw joint 24 and the third motor 25.

[0083] Please refer to Figure 6 , the yaw joint 24 includes a fixing nut 241, a joint bearing 242, a joint main body 243 and a joint rotating shaft 244. The joint main body 243 is fixed to the yaw joint seat 23. A pair of joint bearings 242 are respectively installed on both sides of the joint main body 243, and the joint rotating shaft 244 passes through the joint bearings 242. The joint rotating shaft 244 is fixed to the joint main body 243 by the fixing nut 241, so as to realize the rotational degree of freedom of the joint rotating shaft 244 around its axis.

[0084] Please refer to Figure 1 and Figure 3, after the yaw link module 2 is fixed to the second motor 18 at the end of the planar five-link mechanism 1, it has a yaw freedom of rotation about the vertical axis. When the operator holds the rolling link 4 with the fingers and the wrist joint coincides with the vertical rotation axis, the coaxial rotation of the operator's wrist and the yaw link module 2 can be achieved, so as to realize the motion capture of the operator's hand in the yaw direction.

[0085] Please refer to Figure 7 , the pitch link module 3 includes an adjustable-length link module 31, a pitch link connector 32, a connecting bearing 33, and a fourth motor 34. The adjustable-length link module 31 is provided with through holes and is fixed to the joint rotating shaft 244 and the second motor 25 by bolts; the other end of the adjustable-length link module 31 is provided with threaded holes, which are connected with the through holes on both sides of the pitch link connector 32 by bolts to form an overall structure of two pairs of adjustable-length link modules 31 and pitch link connectors 32; the connecting bearing 33 is installed on one side of the pitch link connector 32 to provide the rotational freedom between the pitch link module 3 and the rolling link 4; the fourth motor 34 is fixed to the other side of the pitch link connector 32 by bolts.

[0086] Please refer to Figure 8 , the adjustable-length link module 31 includes a proximal fixed rod 311, a telescopic connector 312, a distal telescopic rod 313, a torsion disc 314, and a fixing knob 315. The proximal fixed rod 311 is provided with through holes and is fixed to the yaw joint 24 and the third motor 25 by bolts. Threaded holes are provided on the adjacent surfaces of the proximal fixed rod 311 and the distal telescopic rod 313, and these threaded holes cooperate with the threaded torsion disc 314 to form a structure similar to a lead screw. By rotating the torsion disc 314, the distance between the proximal fixed rod 311 and the distal telescopic rod 313 is adjusted; the telescopic connector 312 is used for limiting and enhancing the stability between the two links, and at the same time positioning the torsion disc 314; the fixing knob 315 is used to lock and fix the torsion disc 314, so as to lock the length of the adjustable-length link module 31. The overall variable-length design is intended to adapt to the hand sizes of operators of different ages and genders and ensure comfort during operation.

[0087] Please refer to Figure 1 and Figure 7 , after the pitch link module 3 is fixed to the third motor 25 of the yaw link module 2, it has a pitch freedom of rotation about the rotating shaft of the third motor 25. When the operator holds the rolling link 4 with the fingers and the length of the link is adjusted, and the wrist joint coincides with the motor rotating shaft, the coaxial rotation of the operator's wrist and the pitch link module 3 can be achieved, so as to realize the motion capture of the operator's hand in the pitch direction.

[0088] In the present invention, the planar five-bar linkage mechanism provides two degrees of freedom in a plane through multiple linkage modules, and can capture the telescopic and deflection movements of the manipulator's forearm on the plane; the yaw linkage mechanism and the pitch linkage mechanism achieve the capture of the manipulator's hand movements in the yaw and pitch directions through the structure where three rotating shafts intersect at one point; the rolling linkage serves as the part where the manipulator's fingers interact with the mechanism and can follow the rotational movement of the fingers. Through precise motion capture and multi-degree-of-freedom design, the multi-degree-of-freedom operating mechanism of the present invention enables the operator to intuitively and comfortably control the surgical robot, provides natural coordinated movement between the surgical instrument and the operator's hand, conforms to ergonomics, and improves the intuitiveness and flexibility of surgical operations.

[0089] It is easy for those skilled in the art to understand that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom operating mechanism for flexible manipulation of a surgical robot, characterized in that Comprising: A planar five-bar linkage mechanism (1), a yaw link module (2), a pitch link module (3), and a rolling link (4); In the OXYZ coordinate system: The planar five-bar linkage mechanism (1) performs translational motion in the YOZ plane and rotational motion about the X-axis, and is used to detect the left-right swing amplitude and the displacement in the front-rear direction of the forearm. Its free end is equipped with a motor that rotates about the X-axis; The yaw link module (2) is provided on the motor at the free end of the planar five-bar linkage mechanism (1) and is used to detect the swing of the wrist in the horizontal direction; The pitch link module (3) is connected and fixed to both ends of the yaw link module (2) through joint modules, and performs rotational motion about the Z-axis through the connection of the joint modules, and is used to detect the swing of the wrist in the vertical direction; The head shaft of the rolling link (4) is fixed in the bearing at the end of the pitch link module (3) and performs rotational motion about the Y-axis, and is used to detect the angle of rotation of the hand around the forearm; Among them, the planar five-bar linkage mechanism (1), the yaw link module (2), the pitch link module (3), and the rolling link (4) are arranged in series; the planar five-bar linkage mechanism (1), the yaw link module (2), and the pitch link module (3) all adopt a parallel link structure inside; the rotation axes of the yaw link module (2), the pitch link module (3), and the rolling link (4) intersect at one point.

2. The multi-degree-of-freedom operating mechanism for flexible manipulation of a surgical robot according to claim 1, wherein The said planar five-bar linkage mechanism includes: The planar five-bar linkage mechanism (1) includes a base (11), a motor and a rotating shaft module (12), a first link (13), a link joint connection module (14), a second link (15), a third link (16), a fourth link (17), and a second motor (18); The base (11) is used to be fixed on the console; The motor and rotating shaft module (12) includes two first motors, and the two first motors are fixed on the base (11); The fixed ends of the first link (13) and the fourth link (17) are respectively fixed on the rotating shafts of the two first motors (122); One end of the second link (15) and the third link (16) is hinged on the same link joint connection module (14), and the other end is respectively hinged on the free ends of the first link (13) and the fourth link (17) through a link joint connection module (14); The second motor (18) is fixed at the common hinged end of the second link (15) and the third link (16).

3. The multi-degree-of-freedom operating mechanism for flexible manipulation of a surgical robot according to claim 2, wherein, Including two bases (11); The motor and rotating shaft module (12) includes two motor rotating shafts (121) and two first motors (122). Each first motor (122) is fixed on the console through a base (11) and is used to measure the two active joint angles θ1 at the root of the planar five-bar linkage and provide active force; Each motor rotating shaft (121) is correspondingly installed on a first motor (122), and the fixed ends of the first link (13) and the fourth link (17) are respectively fixed on a motor rotating shaft (121); the fourth link (17) and the first link (13) are mirror structures of each other; The second motor (18) is fixed on a link joint connection module (14) where the second link (15) and the third link (16) are jointly hinged.

4. The multi-degree-of-freedom operating mechanism for flexible manipulation of a surgical robot according to claim 2 or 3, characterized in that, The first link (13) includes an upper link (131), a link connecting member (132), and a lower link (133); One end of the upper link (131) and the lower link (133) is connected by the link connecting member (132) and is fixed on the rotating shaft of a first motor (122) through the link connecting member (132); the other end is hinged to the second link (15) through a link joint connection module (14).

5. The multi-degree-of-freedom operating mechanism for flexible control of a surgical robot according to claim 4, wherein At least one of the upper link (131) and the lower link (133) is a hollow I-beam structure.

6. The multi-degree-of-freedom operating mechanism for flexible manipulation of a surgical robot according to claim 1, wherein The yaw link module (2) includes a yaw link base (21), a yaw link body (22), and a third motor (25); the yaw link base (21) is installed on the second motor (18), and two yaw link bodies (22) are symmetrically installed on the yaw link base (21); Wherein, A third motor (25) is installed at the end of each of the two yaw link bodies (22); Or, a yaw joint (24) is further included, a third motor (25) is installed at the end of one yaw link body (22), and a yaw joint (24) is installed at the end of the other yaw link body (22).

7. The multi-degree-of-freedom operating mechanism for flexible manipulation of a surgical robot according to claim 6, characterized in that, The yaw link body (22) is a hollow I-beam structure.

8. The multi-degree-of-freedom operating mechanism for flexible manipulation of a surgical robot according to claim 6, characterized in that, The pitch link module (3) includes an adjustable-length link module (31), a pitch link connecting member (32), a connecting bearing (33), and a fourth motor (34); One end of two adjustable-length link modules (31) is fixed on the same pitch link connecting member (32); the other ends are respectively installed on two third motors (25), or the other ends are respectively installed on a third motor (25) and a yaw joint (24); The connecting bearing (33) is installed on one side of the pitch link connecting member (32) to provide the rotational freedom between the pitch link module (3) and the rolling link (4); The rolling link (4) is installed on the connecting bearing (33); The fourth motor (34) is fixed on the other side of the pitch link connecting member (32), and the rotating shaft of the fourth motor (34) is connected to the rolling link (4).

9. An endoscope multi-degree-of-freedom surgical robot, characterized in that It includes the multi-degree-of-freedom operating mechanism according to any one of claims 1 to 8.

Images