Surgical robot capable of performing telecentric motion
Through the combined structure of the first stent and the second stent, combined with the linear drive mechanism and the gear meshing, the stability and complexity of the existing surgical instruments or endoscopic telecentric movement mechanism are solved, and simple and stable telecentric movement is achieved.
Patent Information
- Application Number
- CN202510802308.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-16
- Publication Date
- 2025-08-01
AI Technical Summary
The telecentric motor mechanisms of existing surgical instruments or endoscopy have problems such as poor structural stability, insufficient degrees of freedom and complex structural settings.
Using a combined structure of the first bracket and the second bracket, the linear and swing movement of the surgical instrument or endoscope is realized through the meshing of the linear driving mechanism and the gear. The rotational movement is ensured by the coordination of the first bracket and the ring gear. The structure is simple and stable.
The telecentric movement of surgical instruments or endoscopy is achieved, with a simple and reasonable structure, high stability, small footprint, and convenient movement, ensuring stability and reliability during the operation.
Smart Images
Figure CN120392307A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of surgical robots, and in particular to a surgical robot capable of performing telecentric motion. Background Art
[0002] The statements in this part only provide background technical information related to the present invention and do not necessarily constitute prior art.
[0003] Minimally invasive surgery relies on surgical instruments and endoscopes to perform surgical tasks. Due to the limitation of the body surface, it is required that the surgical instruments perform fixed-point motion around the body surface incision. The fixed-point motion of the surgical instruments and the endoscope at the body surface incision becomes telecentric motion. Telecentric motion usually requires that the surgical instruments or the endoscope can perform linear motion, rotational motion around its own axis, and rotation around the body surface incision. Currently, the motion of the surgical instruments or the endoscope is mainly driven by a spherical mechanism, an arc track mechanism, a shaft drive mechanism, and a compound parallel four-bar mechanism. Among these mechanisms, the spherical mechanism is structured as a near-spherical structure to support the surgical instruments or the endoscope, and the overall setting is relatively complex, that is, a complex structure needs to be set outside the body surface. The complex structure occupies a large area and there is also the problem of inconvenient movement; the geometric center point of the arc track mechanism is the telecentric point, but the setting of the driving power source has not been solved yet, and there is also the problem of poor structural stability; in the shaft drive mechanism, the power source drives the L-shaped member to rotate, and the L-shaped member drives the surgical instruments or the endoscope to rotate. In this way, only the rotational motion around its own axis can be achieved; the compound parallel four-bar mechanism forms a drive mechanism through two sets of combined four-bar linkages, which can drive the surgical instruments or the endoscope to swing, but cannot drive the surgical instruments or the endoscope to rotate around its own axis. A rotating mechanism is set at the input end of the overall structure, and the overall structure setting is relatively complex.
[0004] Therefore, that is to say, although the existing mechanisms for driving surgical instruments or endoscopes can achieve telecentric motion relative to the body surface incision, there are still three contradictions in terms of structural stability, ensuring overall multi-freedom degrees, and simple structural setting. Summary of the Invention
[0005] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a surgical robot capable of performing telecentric motion, with a simple and reasonable structure, high stability, and realizing the telecentric motion of surgical instruments or endoscopes.
[0006] To achieve the above purpose, the present invention is realized through the following technical solutions: A surgical robot capable of performing telecentric motion, comprising a first bracket. The first bracket is provided with a first opening. The first bracket can rotate around its central axis. The first bracket rotatably supports a second bracket. One side of the second bracket is located at the side of the first opening. The second bracket can swing relative to the first bracket around the connection between the second bracket and the first bracket. The second bracket is provided with a second opening. A surgical instrument or an endoscope is arranged through the second opening. A point on the extension line of the central axis of the surgical instrument or the endoscope, which is far from the first bracket, is used as a telecentric point. The second bracket is provided with a linear drive mechanism, and the linear drive mechanism can drive the surgical instrument or the endoscope to perform linear motion along the axis direction of the second opening. The surgical instrument or the endoscope can pass through the first opening.
[0007] For a surgical robot capable of performing telecentric motion as described above, the first bracket is provided with a first power source. A gear ring is arranged on one side of the first bracket, and the gear ring is fixed. The gear ring is provided with a third opening, and the third opening is coaxially arranged with the first opening. The first power source is connected to a first gear, and the first gear meshes with the gear ring. The first power source drives the first gear to move along the gear ring to drive the first bracket to rotate relative to the gear ring.
[0008] For a surgical robot capable of performing telecentric motion as described above, the first bracket is an annular ring, and the inner diameters of the first opening and the third opening are the same; A convex part is arranged on the side of the gear ring facing the first bracket, and a concave part is arranged on the first bracket. The convex part supports the concave part of the first bracket through a bearing.
[0009] For a surgical robot capable of performing telecentric motion as described above, the second bracket is provided with a second power source. The second power source is connected to a second gear, and the second gear meshes with a third gear. The third gear is fixed so that the second bracket can swing relative to the first bracket; The third gear is fixed at the second bracket, and the distance between the second gear and the gear ring is greater than the distance between the third gear and the gear ring.
[0010] For a surgical robot capable of performing telecentric motion as described above, the second bracket is L-shaped. One side of the second bracket is rotatably connected to the first bracket, and the other side of the second bracket is arranged at an interval distance from the first bracket; When the side of the second bracket far from the first bracket is parallel to the first bracket, the second opening is coaxially arranged with the first opening.
[0011] For a surgical robot capable of performing telecentric motion as described above, the surgical instrument or the endoscope is arranged through the second opening of the second bracket. The linear drive mechanism includes a third power source arranged at the second bracket, and the third power source can drive the surgical instrument or the endoscope to perform linear motion.
[0012] A surgical robot capable of performing telecentric motion as described above, wherein the third driving source is connected to a fourth gear, the fourth gear meshes with a fifth gear, the fifth gear is fixed to the side of the second opening of the second bracket, the fifth gear is an annular gear, and a surgical instrument or an endoscope passes through the hollow of the fifth gear and is movably connected to the fifth gear. The second bracket is provided with a slider, and the slider is snapped into a chute of the surgical instrument or the endoscope. The chute is arranged along the length direction of the endoscope so that the surgical instrument or the endoscope can perform linear motion; The second bracket is provided with a support block, the support block is connected to the slider, and the support block is vertically connected to the slider; the second bracket is annular at the second opening, and the size of the second bracket increases on the side where the second opening is located.
[0013] A surgical robot capable of performing telecentric motion as described above, wherein the first bracket is circumferentially provided with a notch, the toothed ring is installed at the notch, and a gear seat is arranged on one side of the first bracket to support the third gear. The third gear is a semi-annular toothed ring; The second bracket includes a first mounting plate for supporting the second gear. The first mounting plate is swingable around the gear seat. The first mounting plate is connected to a clamping plate, and the clamping plate is connected to the first bracket. The linear driving mechanism is installed at the clamping plate.
[0014] A surgical robot capable of performing telecentric motion as described above, wherein the second bracket further includes a second mounting plate. The second mounting plate is connected to the clamping plate, the second mounting plate is disposed opposite to the first mounting plate, the second mounting plate is rotatably connected to a fixing plate, the fixing plate is fixed to the first bracket, and the clamping plate is provided with a slot to form the second opening. The linear driving mechanism is installed through the slot.
[0015] A surgical robot capable of performing telecentric motion as described above, wherein the linear driving mechanism includes a guide rail seat for supporting the guide rail. The guide rail is connected to a slider seat. The slider seat is provided with a through hole, and the surgical instrument or the endoscope passes through the through hole of the slider seat. A first fastener connects the surgical instrument or the endoscope to the slider seat. The slider seat is slidably connected to the guide rail, and a second fastener passes through the slider seat and abuts against the guide rail seat.
[0016] The beneficial effects of the present invention described above are as follows: 1) In the surgical robot of the present invention, it includes a first bracket and a second bracket. The second bracket supports the surgical instrument or endoscope, and the linear driving mechanism can drive the surgical instrument or endoscope to perform linear motion relative to the second bracket. The second bracket can swing relative to the first bracket, driving the surgical instrument or endoscope to swing relative to the telecentric point. The first bracket drives the second bracket, that is, drives the surgical instrument or endoscope to rotate. The overall structure is simple and reasonable, does not occupy a large space, is convenient to move, and the first bracket supports the second bracket, with relatively high structural stability, ensuring the stability and reliability of the surgical robot during the working process as a whole.
[0017] 2) On one side of the first bracket in the present invention, a gear ring is provided and fixed. A first power source is provided at the first bracket, and the first power source is connected to a first gear. The first gear meshes with the gear ring. Thus, the first gear moves circumferentially along the gear ring. Since the gear ring is fixed, it drives the first bracket to rotate relative to the gear ring. Moreover, the gear ring and the first bracket cooperate through convex and concave parts to ensure the stability of the first bracket relative to the gear ring during rotation.
[0018] 3) In the present invention, the structure of the second bracket is reasonably arranged. A second power source is provided on one side of the second bracket, and the other side of the second bracket is used to install the surgical instrument or endoscope. By making full use of the structural characteristics of the second bracket, a second gear and a third gear are installed. Since the third gear is fixed, when the second gear is driven to rotate, it drives the second bracket to swing relative to the first bracket.
[0019] 4) In the present invention, a fourth gear and a fifth gear are reasonably arranged at the second bracket. The fifth gear is passed through by the surgical instrument or endoscope and is movably connected to the fifth gear. The fourth gear can rotate. Since a slider is provided on the second bracket and the slider is inserted into the chute of the surgical instrument or endoscope, the surgical instrument or endoscope cannot rotate together with the fifth gear and can only perform linear motion. Compared with directly setting a direct driving mechanism, it occupies a smaller area and effectively ensures the transmission accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.
[0021] Figure 1 is a schematic diagram of a surgical robot capable of performing telecentric motion in Embodiment 1 of the present invention Figure 1 .
[0022] Figure 2 is a schematic diagram of a surgical robot capable of performing telecentric motion in Embodiment 1 of the present invention Figure 2 .
[0023] Figure 3 It is a schematic cross-sectional view of the mating part between the gear ring and the first bracket in a surgical robot capable of performing centric motion in the first embodiment of the present invention.
[0024] Figure 4 It is a schematic diagram of a surgical robot capable of performing centric motion in the second embodiment of the present invention.
[0025] Figure 5 It is a schematic diagram of a surgical robot capable of performing centric motion in the third embodiment of the present invention Figure 1 。
[0026] Figure 6 It is a schematic diagram of a surgical robot capable of performing centric motion in the third embodiment of the present invention Figure 2 。
[0027] Figure 7 It is a schematic diagram of a surgical robot capable of performing centric motion in the third embodiment of the present invention Figure 3 。
[0028] In the figure: The distances or sizes between each part are exaggerated for showing the positions of each part, and the schematic diagram is only for illustration.
[0029] Wherein: 1. Gear ring, 2. First bracket, 3. Convex part, 4. Bearing, 5. First motor, 6. First gear, 7. Second gear, 8. Third gear, 9. Second bracket, 10. Fourth gear, 11. Fifth gear, 12. Surgical instrument or endoscope, 13. Slide block, 14. Support block, 15. Chute, 16. Mounting plate, 17. Second motor, 18. Bracket seat, 19. Guide rail seat, 20. Gear seat, 21. Guide rail, 22. First mounting plate, 23. Clamping plate, 24. Second mounting plate, 25. Slide block seat, 26. Second fastener, 27. Fixed plate. Detailed implementation manners
[0030] It should be noted that the following detailed descriptions are all exemplary and are intended to provide further explanations of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those of ordinary skill in the technical field to which the present invention belongs.
[0031] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the present invention clearly states otherwise, the singular forms are also intended to include the plural forms. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or their combinations; As introduced in the background art, there are three contradictions in the prior art mechanism for driving surgical instruments or endoscopes to perform a telecentric motion, namely structural stability, ensuring overall multi-degree of freedom, and simple structural arrangement. To solve the above technical problems, the present invention proposes a surgical robot capable of performing a telecentric motion.
[0032] Embodiment 1 In a typical embodiment of the present invention, with reference to Figure 1 、 Figure 2 as shown, a surgical robot capable of performing a telecentric motion includes a first bracket 2. The first bracket 2 is provided with a first opening. The first bracket can rotate around its central axis. The first bracket 2 rotatably supports a second bracket 9. One side of the second bracket 9 is located at the side of the first opening. The second bracket 9 can swing relative to the first bracket 2 around the connection between the second bracket 9 and the first bracket 2. The second bracket 9 is provided with a second opening. A surgical instrument or an endoscope 12 is disposed through the second opening. A point on the extension line of the central axis of the surgical instrument or the endoscope 12 far from the first bracket is used as a telecentric point. The second bracket 9 is provided with a linear drive mechanism. The linear drive mechanism can drive the surgical instrument or the endoscope 12 to perform a linear motion along the axis direction of the second opening. The surgical instrument or the endoscope 12 can pass through the first opening.
[0033] With reference to Figure 2 as shown, the first bracket 2 is an annular member. A first power source is provided at the first bracket 2. The first power source selects a first motor 5. The first motor 5 is fixed to the side of the first bracket 2. A gear ring 1 is provided on one side of the first bracket 2. During use, the gear ring 1 is fixed. The gear ring 1 is provided with a third opening. The third opening is coaxially arranged with the first opening. Thus, the gear ring 1 is an annular gear ring. The inner diameter of the gear ring 1 is the same as or different from the inner diameter of the first bracket 2. The inner diameters of the first opening and the third opening are larger than the outer diameter of the surgical instrument or the endoscope. The first power source is connected to a first gear. The first gear meshes with the gear ring. When the first power source works, it drives the first gear to move circumferentially along the gear ring 1, thereby driving the first bracket 2 to perform a rotational motion relative to the gear ring 1.
[0034] Considering the rotational motion of the first bracket 2 relative to the gear ring, with reference to Figure 3 as shown, a convex portion 3 is provided on the side of the gear ring 1 facing the first bracket 2. A concave portion is provided on the first bracket 2. The convex portion supports the concave portion of the first bracket 2 through a bearing 4. The convex portion 3 is an annular convex portion, and the concave portion is an annular concave portion. Thus, it is ensured that the first bracket and the gear ring are rotatably connected, and the stability during the rotation of the first bracket relative to the gear ring is ensured.
[0035] In this embodiment, the second bracket 9 is L-shaped. One side of the second bracket 9 is rotatably connected to the first bracket 2, and the other side of the second bracket 9 is spaced from the first bracket such that one side of the second bracket is located on one side of the first bracket 2. The second bracket 9 is specifically an L-shaped plate-like member. The second bracket 9 is annular at the second opening, and the size of the annular portion of the second bracket 9 is increased so that the second opening is provided through the annular portion of the second bracket 9, and the surgical instrument or the endoscope 12 is arranged through the second opening. A point on the extension line of the central axis of the surgical instrument or the endoscope away from the first bracket is used as the telecentric point. The increased size here is beneficial to ensuring the strength of the second bracket 9 and at the same time providing space for the setting of the third driving source to ensure the linear movement of the surgical instrument or the endoscope.
[0036] During the rotation of the first bracket 2 relative to the gear ring 1, the second bracket 9 is driven to rotate together. The second bracket 9 is provided with a second power source. The second power source selects a second motor. The output shaft of the second power source passes through the second bracket 9 and is connected to the second gear 7. The second gear 7 is exposed on the side of the second bracket 9. The second gear 7 meshes with the third gear 8. The third gear 8 is fixed to the side of the second bracket 9. The outer diameter of the third gear 8 is larger than the outer diameter of the second gear 7. When the second power source works, it drives the second gear 7 to rotate, and the second bracket swings relative to the first bracket through the movement of the second gear 7 relative to the third gear 8.
[0037] In addition, considering the reasonable layout of the structure, the distance between the second gear 7 and the gear ring 1 is greater than the distance between the third gear 8 and the gear ring 1. The second power source is spaced from the first bracket 2 to avoid interference between the second bracket 9 and the first bracket during the swinging process of the second bracket 9.
[0038] It is easy to understand that when the side of the second bracket 9 away from the first bracket 2 is parallel to the first bracket 2, the second opening is coaxially arranged with the first opening and the third opening to ensure the telecentric movement of the surgical instrument or the endoscope 12.
[0039] In this embodiment, the linear driving mechanism includes a third power source provided at the second bracket 9. The third power source is a third motor, and the third power source can drive the surgical instrument or the endoscope 12 to perform linear movement.
[0040] Specifically, the third driving source is connected to the fourth gear 10. The third driving source is fixed to one side of the second bracket 9 facing the first bracket. A spacing distance is set between the third driving source and the first bracket 2 to avoid interference between the second bracket 9 and the first bracket 2 during the swinging process of the second bracket 9. The output shaft of the third driving source passes through the annular portion of the second bracket 9 and is connected to the fourth gear 10. The fourth gear 10 is located on the side of the second bracket away from the first bracket. The fourth gear 10 meshes with the fifth gear 11. The fifth gear 11 is fixed to the side of the second opening of the second bracket. The fifth gear 11 is an annular gear, and the diameter of the fifth gear 11 is larger than that of the fourth gear 10. Reference Figure 1 , Figure 2 As shown, the surgical instrument or endoscope 12 passes through the hollow portion of the fifth gear 11, the second opening of the second bracket, and is movably connected to the fifth gear 11. The second bracket 9 is provided with a slider 13. The slider 13 is located on the side of the surgical instrument or endoscope 12 away from the fourth gear 10. The slider 13 is snapped into the chute 15 of the surgical instrument or endoscope (the surgical instrument or endoscope can be provided with an outer sleeve, the outer sleeve is connected to the internal component, and the chute is provided on the side of the outer sleeve). The chute 15 is arranged along the length direction of the surgical instrument or endoscope 12 so that the surgical instrument or endoscope can perform linear motion. The positions of the fourth gear 10 and the slider 13 are reasonably set to make full use of the space and ensure the rationality of the structural arrangement. The third driving source drives the fourth gear to rotate, and then drives the fifth gear and the surgical instrument or endoscope as an integral structural member. However, because the slider is snapped into the chute, the surgical instrument or endoscope can only perform linear motion.
[0041] Among them, the surgical instrument or endoscope is an existing conventional structural member. The inner side of the surgical instrument or endoscope 12 and the fifth gear 11 can be movably connected by engaging with a concave-convex structure, that is, the surgical instrument or endoscope can be provided with another chute, and another slider is provided on the inner side of the fifth gear. This slider is also snapped into the chute, so as to further ensure that the surgical instrument or endoscope can only perform linear motion and ensure the stability of the surgical instrument or endoscope 12 during the motion process.
[0042] In this embodiment, the second bracket 9 is provided with a support block 14. The support block 14 is connected to the slider 13. The support block 14 is perpendicularly connected to the slider 13. The limitation of the support block 14 ensures the smooth setting of the slider. A spacing distance is set between the support block and the fifth gear, and a spacing distance is set between the slider and the fifth gear to avoid interference between the slider and the fifth gear.
[0043] Of course, in other examples, a protrusion can also be provided on the side of the surgical instrument or endoscope as a guide rail, and a groove is provided at the end of the slider to engage with the guide rail to ensure the linear motion of the surgical instrument or endoscope.
[0044] It is easily understood that, for the convenience of control, the first drive source, the second drive source, and the third drive source are respectively connected to the controller. The controller is a PLC controller or other types of controllers, and the controller realizes the separate control of each power source.
[0045] For the surgical robot provided in this embodiment, the gear ring 1 can be fixed to the operating table through a support, or fixed to the ground by other means. The first power source is reasonably arranged so that the first bracket 2 is rotatably connected to the gear ring. The gear ring is fixed at a height higher than the height set by the operator, so that the first bracket is also stably arranged. The second bracket 9 has an L-shaped structure. One side of the second bracket 9 is rotatably connected to the first bracket 2, and the other side of the second bracket is spaced from the first bracket to ensure the swinging space of the second bracket. The linear drive mechanism can drive the surgical instrument or the endoscope to perform a linear motion relative to the second bracket. The overall structure has high stability. After the surgical instrument or the endoscope can enter the body surface incision, it can perform linear motion, swinging motion, and rotational motion, that is, the surgical instrument or the endoscope can perform a remote center motion.
[0046] Embodiment Two Reference Figure 4 As shown in the figure, the difference between this embodiment and Embodiment One is as follows: An installation plate 16 is arranged on one side of the first bracket. A first motor 5 is arranged at the installation plate 16. The installation plate 16 is connected to the L-shaped second bracket 9. The second bracket is still L-shaped. The second bracket does not have a fifth gear. A bracket seat 18 is arranged at the end of the second bracket 9. The bracket seat 18 is located above the hollow part of the first bracket. A linear motion mechanism such as a lead screw mechanism can be supported at the bracket seat 18. An opening is arranged on the nut seat of the lead screw mechanism to be fixedly connected to the surgical instrument or the endoscope 12.
[0047] Embodiment Three Reference Figure 5 As shown in the figure, the difference between this embodiment and Embodiment One is as follows: A notch is arranged circumferentially on the first bracket 2, and the gear ring 1 is installed at the notch. The first bracket can also include an upper annular plate and a lower annular plate. The upper annular plate and the lower annular plate are arranged opposite to each other and connected to clamp and fix the gear ring 1. The first motor is fixed on the upper side of the first bracket. A gear seat 20 is arranged on the upper side of the first bracket 2 to support the third gear 8. The third gear 8 is arranged close to the first motor. In this embodiment, the third gear 8 is a semi-circular gear ring. The third gear is located above the gear seat. The shape of the upper side of the gear seat 20 fits the shape of the third gear. The gear seat 20 is eccentrically arranged relative to the upper annular plate. The gear seat 20 is perpendicular and fixedly connected to the upper annular plate. A convex part is arranged on the bottom surface of the gear seat 20 to enter the hollow part of the first bracket; Reference Figure 6As shown in the figure, the second bracket includes a first mounting plate 22 that supports the second power source. The output shaft of the second power source passes through the first mounting plate 22 and is connected to the second gear. Thus, the second motor 17 is disposed on the upper side of the first bracket. A spacing is provided between the second motor 17 and the first bracket to avoid interference. The central axis of the second motor is perpendicular to the central axis of the first bracket. The first mounting plate 22 is swingable around the gear seat 20. The first mounting plate is rotatably connected to the convex portion on the bottom surface of the gear seat 20 to ensure the movement range of the second bracket. The first mounting plate 22 is connected to the clamping plate 23. The linear drive mechanism is installed at the clamping plate. The second bracket further includes a second mounting plate 24. The second mounting plate 24 is disposed opposite to the first mounting plate 22. The clamping plate 23 is perpendicularly connected to both the first mounting plate and the second mounting plate 24. The second mounting plate 24 is rotatably connected to the fixing plate 27 to ensure the swing of the entire second bracket relative to the gear seat. The fixing plate 27 is fixed to the upper side of the first bracket. The fixing plate is L-shaped to ensure the rotatable connection between the second mounting plate 24 and the inner side of the fixing plate. The clamping plate 23 is provided with a card slot to form a second opening, and the linear drive mechanism is installed through the card slot.
[0048] Reference Figure 7 As shown in the figure, the linear drive mechanism includes a guide rail seat 19. The guide rail seat 19 supports the guide rail 21. The guide rail 21 is connected to the slider seat 25. The slider seat 25 is provided with a through hole. The surgical instrument or the endoscope 12 is disposed through the through hole of the slider seat 25. A first fastener such as a first bolt connects the surgical instrument or the endoscope 12 to the slider seat 25. The slider seat 25 is slidably connected to the guide rail 21. A second fastener 26 such as a second bolt passes through the slider seat 25 and abuts against the side portion of the guide rail seat 19. Loosening the second fastener 26 realizes the adjustment of the position of the slider seat relative to the guide rail seat.
[0049] Among them, the slider seat 25 includes two oppositely disposed support plates. The two support plates are connected by an L-shaped plate. The L-shaped plate is bent toward the guide rail seat. The L-shaped plate is provided with a threaded hole for the second fastener 26 to pass through.
[0050] For the overall structure provided in this embodiment, considering that there are many structural members provided in the second bracket, to ensure the overall rationality and make full use of the space, the first mounting plate, the clamping plate, and the second mounting plate are used as the second bracket to ensure the connection between the second bracket and the first bracket and also ensure the swing movement of the second bracket relative to the first bracket. Thus, the stability of the overall structure is improved.
[0051] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. A surgical robot capable of performing telecentric motion, characterized in that, It includes a first bracket. The first bracket is provided with a first opening. The first bracket can rotate around its central axis. The first bracket rotatably supports a second bracket. One side of the second bracket is located at the side of the first opening. The second bracket can swing relative to the first bracket around the connection between the second bracket and the first bracket. The second bracket is provided with a second opening. A surgical instrument or an endoscope is disposed through the second opening. A point on the extension line of the central axis of the surgical instrument or the endoscope, which is far from the first bracket, is used as the telecentric point. The second bracket is provided with a linear drive mechanism, and the linear drive mechanism can drive the surgical instrument or the endoscope to perform a linear motion along the axis direction of the second opening. The surgical instrument or the endoscope can pass through the first opening.
2. The surgical robot capable of performing telecentric motion according to claim 1, wherein The first bracket is provided with a first power source. A gear ring is provided on one side of the first bracket. The gear ring is fixed. The gear ring is provided with a third opening, and the third opening is coaxially arranged with the first opening. The first power source is connected to a first gear, and the first gear meshes with the gear ring. The first power source drives the first gear to move along the gear ring to drive the first bracket to rotate relative to the gear ring.
3. The surgical robot capable of performing telecentric motion according to claim 2, wherein The first bracket is an annular ring, and the inner diameters of the first opening and the third opening are the same; A convex portion is provided on the side of the gear ring facing the first bracket, and a concave portion is provided on the first bracket. The convex portion supports the concave portion of the first bracket through a bearing.
4. A surgical robot capable of performing telecentric motion according to claim 1, characterized in that, The second bracket is provided with a second power source. The second power source is connected to a second gear, and the second gear meshes with a third gear. The third gear is fixed so that the second bracket can swing relative to the first bracket; The third gear is fixed to the second bracket, and the distance between the second gear and the gear ring is greater than the distance between the third gear and the gear ring.
5. A surgical robot capable of performing telecentric motion according to claim 1, wherein The second bracket is L-shaped. One side of the second bracket is rotatably connected to the first bracket, and the other side of the second bracket is arranged at an interval from the first bracket; When the side of the second bracket far from the first bracket is parallel to the first bracket, the second opening is coaxially arranged with the first opening.
6. The surgical robot capable of performing a telecentric motion according to claim 1, characterized in that, The surgical instrument or the endoscope is disposed through the second opening of the second bracket. The linear drive mechanism includes a third power source disposed on the second bracket, and the third power source can drive the surgical instrument or the endoscope to perform a linear motion.
7. The surgical robot capable of performing telecentric motion according to claim 6, characterized in that, The third drive source is connected to a fourth gear, and the fourth gear meshes with a fifth gear. The fifth gear is fixed to the side of the second opening of the second bracket. The fifth gear is an annular gear. The surgical instrument or the endoscope passes through the hollow portion of the fifth gear and is movably connected to the fifth gear. The second bracket is provided with a slider, and the slider is engaged in a chute of the surgical instrument or the endoscope. The chute is arranged along the length direction of the endoscope so that the surgical instrument or the endoscope can perform a linear motion; The second bracket is provided with a support block, and the support block is connected to the slider. The support block is perpendicularly connected to the slider. The second bracket is annular at the second opening, and the size of the second bracket increases on the side where the second opening is located.
8. A surgical robot capable of performing telecentric motion according to claim 4, characterized in that, The first bracket is provided with a notch in the circumferential direction, the gear ring is installed at the notch, and a gear seat is provided on one side of the first bracket to support the third gear. The third gear is a semi-annular gear ring; The second bracket includes a first mounting plate for supporting the second gear. The first mounting plate is swingable around the gear seat. The first mounting plate is connected to a clamping plate, and the clamping plate is connected to the first bracket. The linear drive mechanism is mounted on the clamping plate.
9. The surgical robot capable of performing telecentric motion according to claim 8, characterized in that, The second bracket further includes a second mounting plate. The second mounting plate is connected to the clamping plate and is disposed opposite to the first mounting plate. The second mounting plate is rotatably connected to a fixing plate, and the fixing plate is fixed to the first bracket. The clamping plate is provided with a slot to form the second opening, and the linear drive mechanism is mounted through the slot.
10. A surgical robot capable of performing telecentric motion according to claim 8, characterized in that, The linear drive mechanism includes a guide rail seat for supporting the guide rail. The guide rail is connected to a slider seat. The slider seat is provided with a through hole, and the surgical instrument or the endoscope is disposed through the through hole of the slider seat. A first fastener connects the surgical instrument or the endoscope to the slider seat. The slider seat is slidably connected to the guide rail, and a second fastener passes through the slider seat and abuts against the guide rail seat.