Surgery assisting robot based on continuum configuration and control method

Abstract

The invention relates to an operation assisting robot based on continuum configuration and a control method, and belongs to the technical field of operation assisting equipment. The operation assisting robot comprises a supporting mechanism, a motion positioning mechanism, a mounting mechanism and a mechanical executing mechanism; the supporting mechanism is composed of a horizontal supporting frame, a vertical supporting frame and an inverted-T-shaped frame. The motion positioning mechanism comprises a holder and a sliding table mechanism; the mounting mechanism utilizes a hydraulic telescopic device I and a rotating motor I to flexibly adjust the height and the rotating angle of an upper fixing table and a lower fixing table; the mechanical execution mechanism realizes the unfolding of the movable large arm and the movable small arm and the accurate adjustment of the tail end posture through a rotating motor II, a driving motor I, a driving motor II, a driving motor III and an adjusting motor; the control method comprises the steps of positioning initialization, installation mechanism adjustment, mechanical execution mechanism unfolding, execution device fine adjustment, surgical operation execution and dynamic feedback and correction, high precision and flexibility of operation are achieved, and the defects that master-slave hand mapping is difficult, and surgical flexibility is limited are effectively overcome.

Description

Technical Field

[0001] The present invention belongs to the technical field of surgical assisting equipment, and in particular relates to a surgical assisting robot based on a continuum configuration. Background Art

[0002] With the rapid development of minimally invasive surgical technology, surgical assistance robots have become an important tool for improving surgical precision and reducing surgeon fatigue. Existing minimally invasive surgical robots mostly adopt a master-slave architecture, where the master manipulator is linked to the slave manipulator through force feedback to achieve precise operations. However, current commercial master manipulators are mostly based on rigid rod structure designs. Although they can provide force feedback with a certain degree of freedom, their high kinematic coupling and complex transmission structure make them difficult to adapt to the flexible motion requirements of continuum surgical robots. In addition, the master-slave heterogeneous mapping between existing master manipulators and continuum slaves has a degree of freedom mismatch problem, resulting in limited operational flexibility and insufficient control accuracy. In particular, jitter or posture calibration deviations are prone to occur in complex surgical scenarios.

[0003] The prior art discloses a master operator and surgical robot for a continuum surgical robot, with publication number CN111449758A, comprising a base, a horizontal deflection mechanism, a vertical deflection mechanism, a feed mechanism, a data acquisition mechanism, and a hand-held mechanism. Each mechanism is driven by a motor and equipped with an encoder and a proximity switch to achieve multi-degree-of-freedom motion and origin calibration. The data acquisition mechanism is used to obtain position change information and feed it back to the controller to control the slave hand movement, meet the control requirements of the continuum surgical robot, and provide multi-degree-of-freedom force feedback. However, when working in coordination with the slave operator, there are problems with degree-of-freedom mapping and limited flexibility, and it relies on multi-stage synchronous belts and guide rod transmission, resulting in high motion coupling and easy accumulation of errors. Summary of the Invention

[0004] The technical problem solved by the present invention is to overcome the defects in the prior art and provide a surgical assistance robot based on a continuum configuration.

[0005] The technical solution adopted in the present invention is as follows:

[0006] The surgical assistance robot based on continuum configuration described in the present invention includes a support mechanism, a motion positioning mechanism, a mounting mechanism and a mechanical actuator. The motion positioning mechanism is arranged above the support mechanism. The motion positioning mechanism includes a pan-tilt platform. The mounting mechanism is connected to the motion positioning mechanism through the pan-tilt platform. A rotating guide platform is provided at the bottom of the mounting mechanism, and the mechanical actuator is connected to the bottom of the rotating guide platform.

[0007] The supporting mechanism includes several horizontal supporting frames, several vertical supporting frames and several inverted T-shaped frames. The vertical supporting frames are arranged below the horizontal supporting frames. The horizontal supporting frames include long supporting plates used in pairs and short supporting plates used in pairs. The inverted T-shaped frame is arranged between the two vertical supporting frames. The horizontal part of the inverted T-shaped frame is parallel to the short supporting plate. The vertical part of the inverted T-shaped frame is arranged between the short supporting plate and the horizontal part of the inverted T-shaped frame. The motion positioning mechanism is arranged above the horizontal supporting frame.

[0008] The motion positioning mechanism includes several slide mechanisms, which are arranged on the long support plate and the short support plate. The slide mechanism includes a stepper motor, a coupling I, a bearing seat I, a threaded rod, a bearing seat II and a slide. The rotating end of the stepper motor is connected to the coupling I, the coupling I is connected to the bearing in the bearing seat I, the bearing in the bearing seat I is connected to one end of the threaded rod, and the other end of the threaded rod is connected to the bearing in the bearing seat II. The slide is arranged between the bearing seat I and the bearing seat II and is sleeved on the outside of the threaded rod. The two slides on the long support plate are connected by the displacement rod I, and the two slides on the short support plate are connected by the displacement rod II. The displacement rod I and the displacement rod II both pass horizontally through the inside of the pan-tilt head through a through hole, and the vertical height of the displacement rod II is higher than that of the displacement rod I.

[0009] The mounting mechanism includes an upper fixed platform, a hydraulic telescopic device 1, several fixed rods, a lower fixed platform, a rotating motor 1 and a rotating guide platform. The top end of the fixed rod abuts the bottom of the upper fixed platform, the bottom end of the fixed rod abuts the top of the lower fixed platform, the fixed rod passes through the interior of the pan-tilt platform through a through hole, the hydraulic telescopic device 1 is arranged above the pan-tilt platform, the top end of the hydraulic telescopic device 1 abuts the bottom center of the upper fixed platform, the bottom of the lower fixed platform is connected to the rotating guide platform, the rotating motor 1 is arranged above the lower fixed platform, and the rotating end of the rotating motor 1 is connected to the rotating guide platform.

[0010] The mechanical actuator includes several movable manipulators, which include a fixed column, a movable upper arm, a movable lower arm and an actuator. A rotating motor II is provided inside the fixed column, and a upper arm mounting frame is connected to the bottom of the fixed column. The upper arm mounting frame includes arc-shaped mounting plates symmetrical on both sides, and a drive motor I is also provided between the arc-shaped mounting plates. The movable upper arm includes a symmetrically used upper arm support plate, one end of the upper arm support plate is movably connected to the outside of the arc-shaped mounting plate and is connected to the rotating end of the drive motor I. A drive motor II is provided between the upper arm support plates, and the upper arm support plate is connected to the movable lower arm through the drive motor II.

[0011] The movable forearm includes a symmetrically used forearm support plate, a rotating connecting block is provided at one end of the forearm support plate, a fixing hole is provided on the rotating connecting block, the fixing hole is fixedly connected to the rotating end of the drive motor II, an forearm adjustment plate is provided between the forearm support plates, a rotating hole is provided inside the forearm adjustment plate, a rotating shaft is provided in the rotating hole, one end of the rotating shaft is connected to a coupling II, and the coupling II is connected to the drive motor III, a number of adjustment motors are provided on the forearm support plate, the rotating end of the adjustment motor is connected to an adjustment gear, grooves are provided on both sides of the forearm adjustment plate close to the forearm support plate, racks are provided in the grooves, the racks are meshed with the adjustment gears, and the outer side of the forearm support plate is sleeved with a shell guard plate.

[0012] The actuator includes a front support plate, a rear support plate, a base plate and a protective cover. A lower slide rail is provided on the base plate, a displacement block is provided on the lower slide rail, an upper slide rail is provided above the displacement block, and a hydraulic telescopic device II is provided on the rear support plate. The hydraulic telescopic device II is fixedly connected to one side of the displacement block, and the other side of the displacement block is fixedly connected to the actuator. The bottom of the base plate is connected to the fixed block II, and the fixed block II is connected to the electrically driven rotating short shaft. The electrically driven rotating short shaft is also provided with a fixed block I, and the fixed block I is fixedly connected to the rotating shaft.

[0013] The execution equipment includes a main operator, a slave operator and an auxiliary operator, and the auxiliary operator is a gripper.

[0014] It also includes a controller, an encoder, a motion positioning switch, a rotary switch, a movable upper arm adjustment switch, a movable lower arm adjustment switch and an actuator adjustment switch. The controller is electrically connected to the encoder, the motion positioning switch, the rotary switch, the movable upper arm adjustment switch, the movable lower arm adjustment switch and the actuator adjustment switch; the controller is also electrically connected to the stepper motor, the rotating motor I, the hydraulic telescopic device I, the rotating motor II, the drive motor I, the drive motor II, the drive motor III, the adjustment motor, the hydraulic telescopic device II and the electrically driven rotating short shaft. The rotating motor I, the rotating motor II, the drive motor I, the drive motor II, the drive motor III, the adjustment motor and the electrically driven rotating short shaft are all electrically connected to the encoder.

[0015] The control method of a surgical assisting robot based on a continuum configuration according to the present invention comprises the following steps:

[0016] S1: Positioning initialization: The controller starts the motion positioning mechanism, controls the stepper motor to drive the threaded rod to rotate, moves the slide along the slide mechanism on the long support plate and the short support plate, and adjusts the position of the pan / tilt head through the displacement rods I and II;

[0017] S2: Mounting mechanism adjustment: adjust the height of the upper and lower fixed platforms through the hydraulic telescopic device I, and simultaneously start the rotary motor I to drive the rotary guide platform to rotate around the vertical axis to complete the position calibration of the mounting mechanism;

[0018] S3: The mechanical actuator deploys, controls the rotary motor II to drive the fixed column to rotate, and adjusts the deployment angles of the movable arm and the movable arm through the drive motor I and drive motor II respectively, so that the actuator reaches the target operating area;

[0019] S4: Fine-tune the actuator by adjusting the motor to drive the adjustment gear and the rack to mesh, adjust the telescopic length of the arm adjustment plate, and control the drive motor III to drive the rotating shaft through the coupling II to achieve the end posture adjustment of the actuator;

[0020] S5: The surgical operation is performed. The hydraulic telescopic device II is activated to drive the displacement block to move along the lower and upper rails. The master and slave operators and the clamping claws are controlled to complete the clamping, cutting or suturing actions. The rotation angle of the actuator is adjusted in real time by the electrically driven rotating short shaft.

[0021] S6: Dynamic feedback and correction: The encoder collects the rotation data of the rotating motor I, rotating motor II, drive motor I, drive motor II, drive motor III, regulating motor and electric drive rotating short shaft in real time, and feeds it back to the controller for closed-loop control to correct the position and movement accuracy of the actuator.

[0022] The present invention has the following beneficial effects:

[0023] 1. The combination of the horizontal support frame and the inverted T-shaped frame can effectively enhance the overall support. Through the symmetrical layout of the long support plate and the short support plate, combined with the vertical and horizontal cross supports of the inverted T-shaped frame, a rigid frame is formed, which significantly enhances the overall stability and reduces vibration interference. The combination of the vertical support frame and the inverted T-shaped frame can optimize the load distribution, avoid local stress concentration, and improve the reliability of long-term operation.

[0024] 2. The slide mechanism uses a stepper motor to directly drive the threaded rod to drive the slide, eliminating the cumulative error of traditional synchronous belt transmission, improving positioning accuracy and response speed. At the same time, the vertical height difference between displacement rod II and displacement rod I is used to achieve multi-degree-of-freedom position adjustment of the gimbal, expanding the operating space.

[0025] 3. The hydraulic telescopic device I cooperates with the rotary guide table to adjust the height of the upper and lower fixed tables quickly through hydraulic telescopic adjustment. Combined with the rotary motor I driving the 360° continuous rotation of the rotary guide table, rapid posture calibration of the mechanical actuator is achieved, effectively shortening the calibration time.

[0026] 4. The movable arm drives the adjustment gear to mesh with the rack through the adjustment motor to accurately control the telescopic length of the arm adjustment plate. At the same time, the drive motor III drives the rotating shaft through the coupling II to achieve multi-dimensional adjustment of the end posture of the actuator.

[0027] 5. The electric-driven rotating short shaft and the hydraulic telescopic device II move along the slide rail through the hydraulically driven displacement block, and the electric-driven rotating short shaft is combined to adjust the rotation angle of the actuator in real time to achieve more precise motion control and meet high-precision requirements.

[0028] 6. Encoder full-link data acquisition and controller closed-loop correction The encoder monitors the motor motion parameters in real time, combines with the controller to dynamically calculate the position error, and feeds it back to the motor and hydraulic device for trajectory smoothing optimization, eliminating jitter and lag, and ensuring continuous and stable movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention from a first perspective;

[0030] Figure 2 This is a schematic diagram of the overall structure of the present invention from a second perspective;

[0031] Figure 3 Schematic diagram of the support mechanism;

[0032] Figure 4 Schematic diagram of the motion positioning mechanism;

[0033] Figure 5 Schematic diagram of the sliding mechanism;

[0034] Figure 6 This is the main view of the slide mechanism;

[0035] Figure 7 Schematic diagram of the installation mechanism;

[0036] Figure 8 It is a schematic diagram of the mechanical actuator;

[0037] Figure 9 Schematic diagram of the structure of the movable manipulator;

[0038] Figure 10 This is a schematic diagram of the decomposed structure of the movable forearm;

[0039] Figure 11 This is a schematic diagram of the decomposition structure of the execution device.

[0040] 1. Support mechanism; 2. Motion positioning mechanism; 3. Mounting mechanism; 4. Mechanical actuator; 5. PTZ; 6. Rotating guide platform; 7. Horizontal support frame; 8. Vertical support frame; 9. Inverted T-shaped frame; 10. Long support plate; 11. Short support plate; 12. Slide mechanism; 13. Stepper motor; 14. Coupling I; 15. Bearing seat I; 16. Threaded rod; 17. Bearing seat II; 18. Slide; 19. Displacement rod I; 20. Displacement rod II; 21. Upper fixed platform; 22. Hydraulic telescopic device I; 23. Fixed rod; 24. Lower fixed platform; 25. Rotating motor I; 26. Fixed column; 27. Movable big arm; 28. Movable small arm; 29. Actuator; 3 0. Rotating motor II; 31. Arc-shaped mounting plate; 32. Driving motor I; 33. Upper arm support plate; 34. Driving motor II; 35. Lower arm support plate; 36. Rotating connecting block; 37. Fixing hole; 38. Lower arm adjustment plate; 39. Rotating hole; 40. Rotating shaft; 41. Coupling II; 42. Driving motor III; 43. Adjusting motor; 44. Adjusting gear; 45. Rack; 46. Housing guard plate; 47. Front support plate; 48. Rear support plate; 49. Bottom plate; 50. Protective cover; 51. Lower slide rail; 52. Displacement block; 53. Upper slide rail; 54. Hydraulic telescopic device II; 55. Fixed block II; 56. Electric drive rotating short shaft; 57. Fixed block I. DETAILED DESCRIPTION

[0041] Example 1:

[0042] like Figures 1 to 11 As shown, the surgical assistance robot based on the continuum configuration described in the present invention includes a supporting mechanism 1, a motion positioning mechanism 2, a mounting mechanism 3 and a mechanical actuator 4. The motion positioning mechanism 2 is arranged above the supporting mechanism 1, and the motion positioning mechanism 2 includes a pan-tilt platform 5. The mounting mechanism 3 is connected to the motion positioning mechanism 2 through the pan-tilt platform 5. A rotating guide platform 6 is provided at the bottom of the mounting mechanism 3, and the mechanical actuator 4 is connected to the bottom of the rotating guide platform 6.

[0043] The support mechanism 1 includes several horizontal support frames 7, several vertical support frames 8 and several inverted T-shaped frames 9. The vertical support frames 8 are arranged below the horizontal support frames 7. The horizontal support frames 7 include long support plates 10 used in pairs and short support plates 11 used in pairs. The inverted T-shaped frames 9 are arranged between the two vertical support frames 8. The horizontal part of the inverted T-shaped frame 9 is parallel to the short support plate 11. The vertical part of the inverted T-shaped frame 9 is arranged between the short support plate 11 and the horizontal part of the inverted T-shaped frame 9. The motion positioning mechanism 2 is arranged above the horizontal support frame 7.

[0044] The motion positioning mechanism 2 includes several slide mechanisms 12, which are arranged on the long support plate 10 and the short support plate 11. The slide mechanism 12 includes a stepping motor 13, a coupling I14, a bearing seat I15, a threaded rod 16, a bearing seat II 17 and a slide 18. The rotating end of the stepping motor 13 is connected to the coupling I14, the coupling I14 is connected to the bearing in the bearing seat I15, the bearing in the bearing seat I15 is connected to one end of the threaded rod 16, and the other end of the threaded rod 16 is connected to the bearing in the bearing seat II 17. The slide 18 is arranged between the bearing seat I15 and the bearing seat II 17 and is sleeved on the outside of the threaded rod 16. The two slides 18 on the long support plate 10 are connected by a displacement rod I19, and the two slides 18 on the short support plate 11 are connected by a displacement rod II 20. The displacement rod I19 and the displacement rod II 20 both pass through the inside of the pan-tilt head horizontally through the through hole. The displacement rod II The vertical height of 20 is higher than that of displacement rod I19.

[0045] The mounting mechanism 3 includes an upper fixed platform 21, a hydraulic telescopic device 1 22, a plurality of fixed rods 23, a lower fixed platform 24, a rotating motor 1 25 and a rotating guide platform 6. The top end of the fixed rod 23 abuts against the bottom of the upper fixed platform 21, and the bottom end of the fixed rod 23 abuts against the top of the lower fixed platform 24. The fixed rod 23 passes through the interior of the pan-tilt platform 5 through a through hole. The hydraulic telescopic device 1 22 is arranged above the pan-tilt platform 5, and the top end of the hydraulic telescopic device 1 22 abuts against the bottom center of the upper fixed platform 21. The bottom of the lower fixed platform 24 is connected to the rotating guide platform 6. The rotating motor 1 25 is arranged above the lower fixed platform 24, and the rotating end of the rotating motor 1 25 is connected to the rotating guide platform 6.

[0046] The mechanical actuator 4 includes several movable manipulators, which include a fixed column 26, a movable upper arm 27, a movable lower arm 28 and an actuator 29. A rotating motor II 30 is provided inside the fixed column 26, and the bottom of the fixed column 26 is connected to a boom mounting frame. The boom mounting frame includes arc-shaped mounting plates 31 symmetrical on both sides, and a drive motor I 32 is also provided between the arc-shaped mounting plates 31. The movable upper arm 27 includes a symmetrically used upper arm support plate 33, one end of the upper arm support plate 33 is movably connected to the outside of the arc-shaped mounting plate 31 and is connected to the rotating end of the drive motor I 32. A drive motor II 34 is provided between the upper arm support plates 33, and the upper arm support plate 33 is connected to the movable lower arm 28 through the drive motor II 34.

[0047] The movable forearm 28 includes a forearm support plate 35 used symmetrically, and a rotating connecting block 36 is provided at one end of the forearm support plate 35, and a fixing hole 37 is provided on the rotating connecting block 36, and the fixing hole 37 is fixedly connected to the rotating end of the drive motor II 34. A forearm adjustment plate 38 is provided between the forearm support plates 35, and a rotating hole 39 is provided inside the forearm adjustment plate 38, and a rotating shaft 40 is provided in the rotating hole 39, and one end of the rotating shaft 40 is connected to a coupling II 41, and the coupling II 41 is connected to the drive motor III 42. Several adjusting motors 43 are provided on the forearm support plate 35, and the rotating end of the adjusting motor 43 is connected to an adjusting gear 44. The forearm adjustment plate 38 is provided with grooves on both sides near the forearm support plate 35, and a rack 45 is provided in the groove, which engages with the adjusting gear 44, and the outer side of the forearm support plate 35 is sleeved with a shell guard plate 46.

[0048] The actuator 29 includes a front support plate 47, a rear support plate 48, a base plate 49 and a protective cover 50. The base plate 49 is provided with a lower slide rail 51, and the lower slide rail 51 is provided with a displacement block 52. An upper slide rail 53 is provided above the displacement block 52. The rear support plate 48 is provided with a hydraulic telescopic device II 54, which is fixedly connected to one side of the displacement block 52, and the other side of the displacement block 52 is fixedly connected to an actuator device. The bottom of the base plate 49 is connected to a fixed block II 55, and the fixed block II 55 is connected to an electrically driven rotating short shaft 56. The electrically driven rotating short shaft 56 is also provided with a fixed block I 57, and the fixed block I 57 is fixedly connected to the rotating shaft 40.

[0049] The execution equipment includes a main operator, a slave operator and an auxiliary operator, and the auxiliary operator is a gripper.

[0050] It also includes a controller, an encoder, a motion positioning switch, a rotary switch, a movable upper arm adjustment switch, a movable lower arm adjustment switch and an actuator adjustment switch. The controller is electrically connected to the encoder, the motion positioning switch, the rotary switch, the movable upper arm adjustment switch, the movable lower arm adjustment switch and the actuator adjustment switch; the controller is also electrically connected to the stepping motor 13, the rotating motor I25, the hydraulic telescopic device I 22, the rotating motor II 30, the drive motor I 32, the drive motor II 34, the drive motor III 42, the adjustment motor 43, the hydraulic telescopic device II 54 and the electrically driven rotating short shaft 56, and the rotating motor I 25, the rotating motor II 30, the drive motor I 32, the drive motor II 34, the drive motor III 42, the adjustment motor 43 and the electrically driven rotating short shaft 56 are all electrically connected to the encoder.

[0051] Specifically, the support mechanism 1 consists of a pair of long and short support plates 10 and 11 bolted together to form a horizontal support frame 7. A vertical support frame 8 is welded to the underside of the horizontal support frame 7, and an inverted T-shaped frame 9 is installed between the two vertical support frames 8. The horizontal portion of the inverted T-shaped frame 9 is parallel to the short support plates 11, and the vertical portion of the inverted T-shaped frame 9 is embedded between the short support plates 11 and the horizontal portion of the inverted T-shaped frame 9, forming a stable three-dimensional rigid frame. The long and short support plates 10 and 11 are made of aluminum alloy with a thickness of 15 mm, ensuring an overall bending strength of no less than 500 MPa.

[0052] Specifically, the slide mechanism 12 is fixed to the long support plate 10 and the short support plate 11 by bolts. The stepper motor 13 adopts a model 57HS22 motor with a rated torque of 2.5N·m. It is connected to the threaded rod 16 through a coupling I14. The threaded rod has a lead of 5mm and a diameter of 12mm. The two ends of the threaded rod 16 are supported by the bearing seat I 15 and the bearing seat II 17 respectively. The slide 18 adopts a ball screw pair to be sleeved on the outside of the threaded rod 16. The displacement rod I19 and the displacement rod II 20 are respectively connected to the slide 18 on the long support plate 10 and the short support plate 11, and horizontally pass through the interior of the pan-tilt head 5 through the through hole. The installation height of the displacement rod II 20 is 30mm higher than that of the displacement rod I19, which realizes the independent movable adjustment of the pan-tilt head 5 on the X / Y axis, and the positioning accuracy can reach ±0.1mm.

[0053] Specifically, the hydraulic telescopic device 1 22 is vertically mounted on the top of the pan-tilt head 5, with its telescopic end abutting the center of the upper fixed platform 21. The hydraulic telescopic device 1 22 has a stroke of 200 mm and a thrust of 500 N. The fixed rod 23 runs through the interior of the pan-tilt head 5, connecting the upper fixed platform 21 and the lower fixed platform 24. The fixed rod 1 has a diameter of 20 mm and is made of carbon fiber. The rotating motor 1 25 uses a 60BLD motor with a rated speed of 100 r / min. The rotating motor 1 25 is installed above the lower fixed platform 24 to drive the rotating guide platform 6 to rotate 360° continuously. By adjusting the telescopic amount of the hydraulic telescopic device 1 22 (step accuracy of 0.5 mm) and the rotation angle of the rotating motor 125 (resolution 0.01°) through the controller, the posture calibration of the mounting mechanism 3 can be completed within 10 seconds.

[0054] Specifically, the fixed column 26 of the movable manipulator is driven by a rotary motor II 30, model 42BLD, with a torque of 1.2 N·m. Drive motor I 32 and drive motor II 34 control the deployment angles of the movable upper arm 27 and lower arm 28, respectively, with deployment angles ranging from 0° to 150°. Adjustment motor 43, a microstepping drive motor with a step angle of 0.036°, drives adjustment gear 44, which meshes with rack 45, driving the lower arm adjustment plate 38 to extend and retract. Drive motor III 42 drives rotary shaft 40 via coupling II 41, achieving ±90° pitch adjustment and ±180° yaw adjustment at the end of actuator 29.

[0055] Specifically, the hydraulic expansion and contraction device II 54 drives the displacement block 52 along the lower and upper rails 51 and 53, driving the gripper, the master operator, and the slave operator to perform fine movements. The electrically driven rotating stub shaft 56, via the fixed block I 57, is linked to the rotating shaft 40, adjusting the rotation angle of the actuator 29 in real time.

[0056] Specifically, the controller uses an STM32H7 microcontroller. It uses an encoder to collect real-time motor rotation data at a sampling frequency of 1kHz and calculates position error, with an error compensation of ≤0.01mm. If the actuator 29 is detected to deviate from the preset trajectory, the controller immediately adjusts the parameters to achieve a smooth and optimized trajectory, ensuring continuous and safe operation.

[0057] Example 2:

[0058] The control method of a surgical assisting robot based on a continuum configuration according to the present invention comprises the following steps:

[0059] S1: Positioning initialization: The controller starts the motion positioning mechanism 2, controls the stepper motor 13 to drive the threaded rod 16 to rotate, and moves the slide 18 along the slide mechanism 12 on the long support plate 10 and the short support plate 11, and adjusts the position of the pan / tilt head 5 through the displacement rods I19 and II 20;

[0060] S2: Mounting mechanism adjustment: adjust the height of the upper fixed platform 21 and the lower fixed platform 24 through the hydraulic telescopic device 1 22, and simultaneously start the rotary motor 1 25 to drive the rotary guide platform 6 to rotate around the vertical axis to complete the position calibration of the mounting mechanism 3;

[0061] S3: The mechanical actuator deploys, controlling the rotary motor II 30 to rotate the fixed column 26, and adjusting the deployment angles of the movable arm 27 and the movable arm 28 via the drive motor I 32 and the drive motor II 34, respectively, so that the actuator 29 reaches the target operating area;

[0062] S4: Fine adjustment of the actuator: the adjustment motor 43 drives the adjustment gear 44 to engage with the rack 45 to adjust the telescopic length of the arm adjustment plate 38. At the same time, the drive motor III 42 is controlled to drive the rotating shaft 40 through the coupling II 41 to achieve the end posture adjustment of the actuator 29.

[0063] S5: The surgical operation is performed. The hydraulic telescopic device II 54 is activated to drive the displacement block 52 to move along the lower slide rail 51 and the upper slide rail 53. The master operator, the slave operator and the clamping claws are controlled to complete the clamping, cutting or suturing action. The rotation angle of the actuator 29 is adjusted in real time by the electrically driven rotating short shaft 56.

[0064] S6: Dynamic feedback and correction: The encoder collects the rotation data of the rotating motor I 25, the rotating motor II 30, the drive motor I 32, the drive motor II 34, the drive motor III 42, the regulating motor 43 and the electrically driven rotating short shaft 56 in real time, and feeds it back to the controller for closed-loop control to correct the position and movement accuracy of the actuator 29.

[0065] Specifically, during positioning initialization, the controller activates the motion positioning mechanism 2, controlling the stepper motor 13 to rotate the threaded rod 16, causing the slide 18 to move along the slide mechanism 12 on the long support plate 10 and the short support plate 11. Displacement rods I 19 and II 20 synchronously adjust the position of the pan-tilt platform 5, moving it 150 mm along the X-axis and 80 mm along the Y-axis, ultimately positioning the pan-tilt platform 5 directly above the patient with a positioning error of ≤0.1 mm.

[0066] Specifically, the installation mechanism is adjusted by adjusting the height of the upper fixed platform 21 and the lower fixed platform 24 through the hydraulic telescopic device I 22, and at the same time starting the rotary motor I 25 to drive the rotary guide platform 6 to rotate 180° around the vertical axis, so that the initial position of the mechanical actuator 4 is aligned with the approach direction of the surgical instrument.

[0067] Specifically, the mechanical actuator is deployed: the rotary motor II 30 is controlled to drive the fixed column 26 to rotate to the target angle, and the drive motor I 32 is used to adjust the deployment angle of the movable arm 27 to 90°, and the drive motor II 34 is used to adjust the deployment angle of the movable arm 28 to 60°, so that the clamping claw of the actuator 29 can accurately reach the operating area.

[0068] Specifically, the actuator is fine-tuned: the adjustment motor 43 drives the adjustment gear 44 to engage with the rack 45, adjusting the telescopic length of the forearm adjustment plate 38 to 25 mm; at the same time, the drive motor III 42 drives the rotating shaft 40 through the coupling II 41, so that the end of the actuator 29 presents a fine posture with a pitch angle of -30° and a deflection angle of +60°, which is adapted to the clamping requirements of surgical tools.

[0069] Specifically, the surgical operation is performed by starting the hydraulic telescopic device II 54 to drive the displacement block 52 to move 12 mm along the lower slide rail 51 and the upper slide rail 53, controlling the main operator to complete the clamping, and adjusting the rotation angle of the actuator 29 in real time through the electrically driven rotating short shaft to achieve precise alignment and suturing.

[0070] Specifically, dynamic feedback and correction: The encoder collects real-time motor rotation data at a frequency of 1kHz and feeds it back to the controller. When an angular deviation is detected in the actuator 29, the controller immediately adjusts and completes the trajectory correction to ensure continuous and stable movement.

Claims

1. A surgical assistance robot based on a continuum configuration, comprising a support mechanism (1), characterized in that: The invention also includes a motion positioning mechanism (2), a mounting mechanism (3) and a mechanical actuator (4), wherein the motion positioning mechanism (2) is arranged above the supporting mechanism (1), the motion positioning mechanism (2) includes a pan-tilt platform (5), the mounting mechanism (3) is connected to the motion positioning mechanism (2) via the pan-tilt platform (5), a rotating guide platform (6) is provided at the bottom of the mounting mechanism (3), and the mechanical actuator (4) is connected to the bottom of the rotating guide platform (6).

2. The surgical assistance robot based on a continuum configuration according to claim 1, characterized in that: The support mechanism (1) comprises a plurality of horizontal support frames (7), a plurality of vertical support frames (8) and a plurality of inverted T-shaped frames (9); the vertical support frames (8) are arranged below the horizontal support frames (7); the horizontal support frames (7) comprise long support plates (10) used in pairs and short support plates (11) used in pairs; the inverted T-shaped frames (9) are arranged between the two vertical support frames (8); the horizontal portion of the inverted T-shaped frames (9) is parallel to the short support plates (11); the vertical portion of the inverted T-shaped frames (9) is arranged between the short support plates (11) and the horizontal portion of the inverted T-shaped frames; and the motion positioning mechanism (2) is arranged above the horizontal support frames (7).

3. The surgical assistance robot based on a continuum configuration according to claim 2, characterized in that: The motion positioning mechanism (2) includes a plurality of slide mechanisms (12), the slide mechanisms (12) are arranged on the long support plate (10) and the short support plate (11), the slide mechanisms (12) include a stepper motor (13), a coupling I (14), a bearing seat I (15), a threaded rod (16), a bearing seat II (17) and a slide (18), the rotating end of the stepper motor (13) is connected to the coupling I (14), the coupling I (14) is connected to the bearing in the bearing seat I (15), the bearing in the bearing seat I (15) is connected to one end of the threaded rod (16), and the threaded rod (16) is connected to the rotating end of the stepper motor (13). ) is connected to the bearing in the bearing seat II (17), the slide (18) is arranged between the bearing seat I (15) and the bearing seat II (17) and is sleeved on the outer side of the threaded rod (16), the two slides (18) on the long support plate (10) are connected by the displacement rod I (19), and the two slides (18) on the short support plate (11) are connected by the displacement rod II (20), the displacement rod I (19) and the displacement rod II (20) both pass through the inside of the pan-tilt head (5) horizontally through the through hole, and the vertical height of the displacement rod II (20) is higher than the displacement rod I (19).

4. The surgical assistance robot based on a continuum configuration according to claim 3, characterized in that: The mounting mechanism (3) comprises an upper fixed platform (21), a hydraulic telescopic device 1 (22), a plurality of fixed rods (23), a lower fixed platform (24), a rotating motor 1 (25) and a rotating guide platform (6), wherein the top end of the fixed rod (23) abuts against the bottom of the upper fixed platform (21), the bottom end of the fixed rod (23) abuts against the top of the lower fixed platform (24), the fixed rod (23) passes through the interior of the pan-tilt platform (5) through a through hole, the hydraulic telescopic device 1 (22) is arranged above the pan-tilt platform (5), the top end of the hydraulic telescopic device 1 (22) abuts against the bottom center of the upper fixed platform (21), the bottom of the lower fixed platform (24) is connected to the rotating guide platform (6), the rotating motor 1 (25) is arranged above the lower fixed platform (24), and the rotating end of the rotating motor 1 (25) is connected to the rotating guide platform (6).

5. The surgical assistance robot based on a continuum configuration according to claim 4, characterized in that: The mechanical actuator includes a plurality of movable manipulators, the movable manipulators including a fixed column (26), a movable upper arm (27), a movable lower arm (28) and an actuator (29), a rotating motor II (30) is provided inside the fixed column (26), the bottom of the fixed column (26) is connected to a large arm mounting frame, the large arm mounting frame includes arc-shaped mounting plates (31) symmetrical on both sides, a driving motor I (32) is also provided between the arc-shaped mounting plates (31), the movable upper arm (27) includes a symmetrically used upper arm support plate (33), one end of the upper arm support plate (33) is movably connected to the outer side of the arc-shaped mounting plate (31) and connected to the rotating end of the driving motor I (32), a driving motor II (34) is provided between the upper arm support plates (33), and the upper arm support plate (33) is connected to the movable lower arm (28) through the driving motor II (34).

6. The surgical assistance robot based on a continuum configuration according to claim 5, characterized in that: The movable small arm (28) includes a small arm support plate (35) used symmetrically, one end of the small arm support plate (35) is provided with a rotating connection block (36), the rotating connection block (36) is provided with a fixing hole (37), the fixing hole (37) is fixedly connected to the rotating end of the drive motor II (34), a small arm adjustment plate (38) is provided between the small arm support plates (35), a rotating hole (39) is provided inside the small arm adjustment plate (38), a rotating shaft (40) is provided in the rotating hole (39), and the rotating shaft (40) is provided in the rotating shaft ) is connected to one end of a coupling II (41), the coupling II (41) is connected to a drive motor III (42), a plurality of adjustment motors (43) are provided on the arm support plate (35), the rotating end of the adjustment motor (43) is connected to an adjustment gear (44), the arm adjustment plate (38) is provided with grooves on both sides close to the arm support plate (35), a rack (45) is provided in the groove, the rack (45) is meshed with the adjustment gear (44), and the outer side of the arm support plate (35) is sleeved with a shell guard (46).

7. The surgical assistance robot based on a continuum configuration according to claim 6, characterized in that: The actuator (29) comprises a front support plate (47), a rear support plate (48), a bottom plate (49) and a protective cover (50); a lower slide rail (51) is provided on the bottom plate (49); a displacement block (52) is provided on the lower slide rail (51); an upper slide rail (53) is provided above the displacement block (52); a hydraulic telescopic device II (54) is provided on the rear support plate (48); the hydraulic telescopic device II (54) is fixedly connected to one side of the displacement block (52); the other side of the displacement block (52) is fixedly connected to an actuator; the bottom of the bottom plate (49) is connected to a fixed block II (55); the fixed block II (55) is connected to an electrically driven rotating short shaft (56); a fixed block I (57) is further provided on the electrically driven rotating short shaft (56); the fixed block I (57) is fixedly connected to the rotating shaft (40).

8. The surgical assistance robot based on a continuum configuration according to claim 7, characterized in that: The execution device includes a main operating hand, a slave operating hand and an auxiliary operating hand, and the auxiliary operating hand is a clamping claw.

9. The surgical assistance robot based on a continuum configuration according to claim 8, characterized in that: The invention also includes a controller, an encoder, a motion positioning switch, a rotary switch, a movable arm adjustment switch, a movable arm adjustment switch and an actuator adjustment switch, wherein the controller is electrically connected to the encoder, the motion positioning switch, the rotary switch, the movable arm adjustment switch, the movable arm adjustment switch and the actuator adjustment switch; the controller is also electrically connected to the stepping motor (13), the rotating motor I (25), the hydraulic telescopic device I (22), the rotating motor II (30), the driving motor I (32), the driving motor II (34), the driving motor III (42), the adjustment motor (43), the hydraulic telescopic device II (54) and the electric drive rotating short shaft (56), and the rotating motor I (25), the rotating motor II (30), the driving motor I (32), the driving motor II (34), the driving motor III (42), the adjustment motor (43) and the electric drive rotating short shaft (56) are all electrically connected to the encoder.

10. A surgical assistance robot control method based on continuum configuration, characterized in that: The surgical assisting robot based on the continuum configuration according to any one of claims 1 to 9 comprises the following steps: S1: Positioning initialization, the controller starts the motion positioning mechanism (2), controls the stepper motor (13) to drive the threaded rod (16) to rotate, so that the slide (18) moves along the slide mechanism (12) on the long support plate (10) and the short support plate (11), and adjusts the position of the pan / tilt platform (5) through the displacement rod I (19) and the displacement rod II (20); S2: Mounting mechanism adjustment: adjust the height of the upper fixed platform (21) and the lower fixed platform (24) through the hydraulic telescopic device I (22), and at the same time start the rotating motor I (25) to drive the rotating guide platform (6) to rotate around the vertical axis to complete the posture calibration of the mounting mechanism (3); S3: The mechanical actuator is deployed, and the rotary motor II (30) is controlled to drive the fixed column (26) to rotate, and the deployment angles of the movable arm (27) and the movable arm (28) are adjusted respectively by the drive motor I (32) and the drive motor II (34), so that the actuator (29) reaches the target operation area; S4: Fine adjustment of the actuator, by driving the adjusting gear (44) to engage with the rack (45) through the adjusting motor (43), adjusting the telescopic length of the arm adjustment plate (38), and at the same time controlling the driving motor III (42) to drive the rotating shaft (40) through the coupling II (41), thereby achieving the terminal posture adjustment of the actuator (29); S5: The surgical operation is performed, the hydraulic telescopic device II (54) is started to drive the displacement block (52) to move along the lower slide rail (51) and the upper slide rail (53), the master operator, the slave operator and the clamping claw are controlled to complete the clamping, cutting or suturing action, and the rotation angle of the actuator (29) is adjusted in real time by the electric drive rotating short shaft (56); S6: Dynamic feedback and correction, the encoder collects the rotation data of the rotating motor I (25), rotating motor II (30), driving motor I (32), driving motor II (34), driving motor III (42), regulating motor (43) and electrically driven rotating short shaft (56) in real time, and feeds it back to the controller for closed-loop control to correct the position and movement accuracy of the actuator (29).

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