Surgical Assist Robot Based on Continuum Configuration and Control Method

Abstract

The surgical assistive robot and control method based on a continuum configuration described in this invention belong to the field of surgical assistive equipment technology. It includes a support mechanism, a motion positioning mechanism, a mounting mechanism, and a mechanical execution mechanism. The support mechanism consists of a horizontal support frame, a vertical support frame, and an inverted T-shaped frame. The motion positioning mechanism includes a gimbal and a sliding table mechanism. The mounting mechanism utilizes a hydraulic telescopic device I and a rotary motor I to flexibly adjust the height and rotation angle of the upper and lower fixed platforms. The mechanical execution mechanism, through a rotary motor II, drive motor I, drive motor II, drive motor III, and an adjusting motor, achieves precise adjustment of the extension and end-effector posture of the movable upper and lower arms. The control method includes positioning initialization, mounting mechanism adjustment, mechanical execution mechanism deployment, execution device fine-tuning, surgical operation execution, and dynamic feedback and correction, achieving high precision and flexibility in operation and effectively overcoming the difficulties in master-slave hand mapping and the limitations on surgical flexibility.

Description

Technical Field

[0001] This invention belongs to the field of surgical assistance equipment technology, specifically relating to a surgical assistance robot based on a continuum configuration. Background Technology

[0002] With the rapid development of minimally invasive surgical techniques, surgical robots have become important tools for improving surgical precision and reducing surgeon fatigue. Most existing minimally invasive surgical robots adopt a master-slave architecture, where the master manipulator interacts with the slave manipulator via force feedback to achieve precise manipulation. However, current commercially available master manipulators are mostly based on rigid rod structures. While they provide a certain degree of freedom in force feedback, their high motion coupling and complex transmission structure make them difficult to adapt to the flexible motion requirements of continuum surgical robots. Furthermore, the existing master-slave heterogeneous mapping between the master manipulator and the continuum slave manipulator suffers from a degree-of-freedom mismatch, resulting in limited operational flexibility and insufficient control precision, especially prone to jitter or pose calibration deviations in complex surgical scenarios.

[0003] The prior art, disclosed in CN111449758A, describes a master manipulator and surgical robot for a continuum surgical robot. The master manipulator includes a base, a horizontal deflection mechanism, a vertical deflection mechanism, a feeding mechanism, a data acquisition mechanism, and a handheld mechanism. The various mechanisms are driven by motors and equipped with encoders and proximity switches to achieve multi-degree-of-freedom motion and origin calibration. The data acquisition mechanism is used to acquire position change information and feed it back to the controller to control the slave manipulator's movements, thus meeting the control requirements of the continuum surgical robot and providing multi-degree-of-freedom force feedback. However, when working in conjunction with the slave manipulator, there are problems such as difficulty in mapping degrees of freedom and limited flexibility. Furthermore, the reliance on multi-stage synchronous belts and guide rods for transmission leads to high motion coupling and easy accumulation of errors. Summary of the Invention

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

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

[0006] The surgical assistive robot based on a continuum configuration described in this invention includes a support mechanism, a motion positioning mechanism, a mounting mechanism, and a mechanical actuator. The motion positioning mechanism is located above the support mechanism and includes a gimbal. The mounting mechanism is connected to the motion positioning mechanism through the gimbal. A rotating guide is provided at the bottom of the mounting mechanism, and the mechanical actuator is connected to the bottom of the rotating guide.

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

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

[0009] The mounting mechanism includes an upper fixed platform, a hydraulic telescopic device I, several fixed rods, a lower fixed platform, a rotary motor I, and a rotary guide. The top of the fixed rods abuts against the bottom of the upper fixed platform, and the bottom of the fixed rods abuts against the top of the lower fixed platform. The fixed rods pass through the interior of the gimbal via through holes. The hydraulic telescopic device I is located above the gimbal, and its top abuts against the center of the bottom of the upper fixed platform. The rotary guide is connected to the bottom of the lower fixed platform. The rotary motor I is located above the lower fixed platform, and its rotating end is connected to the rotary guide.

[0010] The mechanical actuator includes several movable manipulators, each of which includes a fixed column, a movable upper arm, a movable lower arm, and an actuator. The fixed column houses a rotary motor II, and the bottom of the fixed column is connected to an upper arm mounting frame. The upper arm mounting frame includes two symmetrical arc-shaped mounting plates, and a drive motor I is located between the arc-shaped mounting plates. The movable upper arm includes symmetrically used upper arm support plates, one end of which is movably connected to the outside of the arc-shaped mounting plate and connected to the rotating end of the drive motor I. A drive motor II is located between the upper arm support plates, and the upper arm support plates are connected to the movable lower arm via the drive motor II.

[0011] The movable forearm includes symmetrically used forearm support plates. One end of each forearm support plate has a rotating connecting block with a fixing hole. The fixing hole is fixedly connected to the rotating end of drive motor II. A forearm adjustment plate is provided between the forearm support plates. The forearm adjustment plate has a rotating hole inside, and a rotating shaft is provided inside the rotating hole. One end of the rotating shaft is connected to coupling II, which is connected to drive motor III. Several adjustment motors are provided on the forearm support plates. The rotating end of each adjustment motor is connected to an adjustment gear. The forearm adjustment plate has grooves on both sides near the forearm support plates. A rack is provided in the groove, and the rack meshes with the adjustment gear. A protective outer shell is fitted onto the outside of the forearm support plates.

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

[0013] The execution device includes a master operator, a slave operator, and an auxiliary operator, with the auxiliary operator being a gripper.

[0014] It also includes a controller, encoder, motion positioning switch, rotary switch, movable boom adjustment switch, movable forearm adjustment switch, and actuator adjustment switch. The controller is electrically connected to the encoder, motion positioning switch, rotary switch, movable boom adjustment switch, movable forearm adjustment switch, and actuator adjustment switch. The controller is also electrically connected to a stepper motor, rotary motor I, hydraulic telescopic device I, rotary motor II, drive motor I, drive motor II, drive motor III, adjustment motor, hydraulic telescopic device II, and electric drive rotary short shaft. Rotary motor I, rotary motor II, drive motor I, drive motor II, drive motor III, adjustment motor, and electric drive rotary short shaft are all electrically connected to the encoder.

[0015] The surgical robot control method based on continuum configuration described in this invention includes the following steps:

[0016] S1: Positioning initialization, the motion positioning mechanism is started by the controller, the stepper motor drives the threaded rod to rotate, so that the slide table moves along the slide table mechanism on the long support plate and the short support plate, and the position of the gimbal is adjusted by displacement rod I and displacement rod II;

[0017] S2: Installation mechanism adjustment. The height of the upper and lower fixed platforms is adjusted by hydraulic telescopic device I. At the same time, the rotary motor I is started to drive the rotary guide table to rotate around the vertical axis to complete the position calibration of the installation mechanism.

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

[0019] S4: Fine adjustment of the actuator. By adjusting the engagement of the motor drive adjustment gear and the rack, the extension and retraction length of the arm adjustment plate is adjusted. At the same time, the drive motor III is controlled to drive the rotating shaft through the coupling II to achieve end posture adjustment of the actuator.

[0020] S5: Surgical operation execution, start hydraulic telescopic device II to drive displacement block to move along the lower and upper slide rails, control the main operator, slave operator and gripper to complete clamping, cutting or suturing actions, and adjust the rotation angle of the execution device in real time through electric drive to rotate the short shaft;

[0021] S6: Dynamic feedback and correction. The encoder collects the rotation data of rotary motor I, rotary 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 action accuracy of the actuator.

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

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

[0024] 2. The slide mechanism directly drives the threaded rod through a stepper motor to move the slide, eliminating the accumulated error of traditional synchronous belt drive, improving positioning accuracy and response speed. At the same time, by utilizing the vertical height difference between displacement rod II and displacement rod I, the gimbal can achieve multi-degree-of-freedom pose adjustment and expand the operating space.

[0025] 3. The hydraulic telescopic device I and the rotary guide table work together to adjust the height of the upper and lower fixed platforms quickly through hydraulic telescopic adjustment. Combined with the rotary motor I driving the rotary guide table to rotate 360° continuously, the mechanical actuator can be quickly calibrated, effectively shortening the calibration time.

[0026] 4. The movable arm precisely controls the extension and retraction length of the arm adjustment plate by adjusting the gear and rack driven by the motor. At the same time, the drive motor III drives the rotating shaft through the coupling II to realize multi-dimensional adjustment of the end posture of the actuator.

[0027] 5. The electric-driven rotary short shaft and the hydraulic telescopic device II move the displacement block along the slide rail through hydraulic drive. Combined with the electric-driven rotary short shaft, the rotation angle of the actuator is adjusted 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, and the controller dynamically calculates the position error. The results are then fed back to the motor and hydraulic device for trajectory smoothing optimization, eliminating jitter and lag, and ensuring continuous and stable operation. Attached Figure Description

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

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

[0031] Figure 3 This is a schematic diagram of the supporting mechanism;

[0032] Figure 4 This is a schematic diagram of a motion positioning mechanism;

[0033] Figure 5 This is a schematic diagram of the slide mechanism;

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

[0035] Figure 7 This is a schematic diagram of the installation mechanism;

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

[0037] Figure 9 This is a schematic diagram of the structure of the robotic arm.

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

[0039] Figure 11 This is a schematic diagram of the exploded structure of the actuator.

[0040] The components include: 1. Support mechanism; 2. Motion positioning mechanism; 3. Installation mechanism; 4. Mechanical actuator; 5. Pan-tilt unit; 6. Rotary guide table; 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 table; 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. Rotary motor I; 26. Fixed column; 27. Movable upper arm; 28. Movable lower arm; 29. ​​Actuator; 3 0. Rotary motor II; 31. Arc-shaped mounting plate; 32. Drive motor I; 33. Boom support plate; 34. Drive motor II; 35. Arm support plate; 36. Rotary connecting block; 37. Fixing hole; 38. Arm adjusting plate; 39. Rotating hole; 40. Rotary shaft; 41. Coupling II; 42. Drive motor III; 43. Adjusting motor; 44. Adjusting gear; 45. Rack; 46. Housing guard plate; 47. Front support plate; 48. Rear support plate; 49. Base plate; 50. Protective cover; 51. Lower slide rail; 52. Displacement block; 53. Upper slide rail; 54. Hydraulic telescopic device II; 55. Fixing block II; 56. Electric drive rotating short shaft; 57. Fixing block I. Detailed Implementation

[0041] Example 1:

[0042] like Figures 1 to 11 As shown, the surgical assistive robot based on the continuum configuration of the present invention includes a support mechanism 1, a motion positioning mechanism 2, a mounting mechanism 3, and a mechanical actuator 4. The motion positioning mechanism 2 is located above the support mechanism 1 and includes a gimbal 5. The mounting mechanism 3 is connected to the motion positioning mechanism 2 through the gimbal 5. A rotating guide 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 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 located below the horizontal support frames 7. The horizontal support frames 7 include a pair of long support plates 10 and a pair of short support plates 11. The inverted T-shaped frames 9 are installed between the two vertical support frames 8. The horizontal part of the inverted T-shaped frames 9 is parallel to the short support plates 11. The vertical part of the inverted T-shaped frames 9 is located between the short support plates 11 and the horizontal part of the inverted T-shaped frames 9. The motion positioning mechanism 2 is located above the horizontal support frames 7.

[0044] The motion positioning mechanism 2 includes several slide mechanisms 12, which are mounted on a long support plate 10 and a short support plate 11. Each slide mechanism 12 includes a stepper motor 13, a coupling I14, a bearing housing I15, a threaded rod 16, a bearing housing II 17, and a slide 18. The rotating end of the stepper motor 13 is connected to the coupling I14, which is connected to the bearing in the bearing housing I15. The bearing in the bearing housing 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 housing II 17. The slide 18 is located between the bearing housing I15 and the bearing housing 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. Both displacement rods I19 and II 20 pass horizontally through the inside of the gimbal via through holes. 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 I 22, several fixed rods 23, a lower fixed platform 24, a rotary motor I 25, and a rotary guide 6. The top of the fixed rod 23 abuts against the bottom of the upper fixed platform 21, and the bottom 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 gimbal 5 through a through hole. The hydraulic telescopic device I 22 is located above the gimbal 5, and the top of the hydraulic telescopic device I 22 abuts against the bottom center of the upper fixed platform 21. The rotary guide 6 is connected to the bottom of the lower fixed platform 24. The rotary motor I 25 is located above the lower fixed platform 24, and the rotating end of the rotary motor I 25 is connected to the rotary guide 6.

[0046] The mechanical actuator 4 includes several movable manipulators, each including a fixed column 26, a movable upper arm 27, a movable lower arm 28, and an actuator 29. The fixed column 26 has a rotary motor II 30 inside, and the bottom of the fixed column 26 is connected to an upper arm mounting frame. The upper arm mounting frame includes two symmetrical arc-shaped mounting plates 31, and a drive motor I 32 is also provided between the arc-shaped mounting plates 31. The movable upper arm 27 includes symmetrically used upper arm support plates 33. One end of the upper arm support plate 33 is movably connected to the outside of the arc-shaped mounting plate 31 and 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 symmetrically used forearm support plates 35. One end of the forearm support plate 35 is provided with a rotating connecting block 36. The rotating connecting block 36 is provided with a fixing hole 37, which 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. The interior of the forearm adjustment plate 38 is provided with a rotating hole 39, and a rotating shaft 40 is provided in the rotating hole 39. One end of the rotating shaft 40 is connected to a coupling II 41, which is connected to a drive motor III 42. Several adjustment motors 43 are provided on the forearm support plate 35. The rotating end of the adjustment motor 43 is connected to an adjustment gear 44. The forearm adjustment plate 38 is provided with grooves on both sides near the forearm support plate 35. A rack 45 is provided in the groove, and the rack 45 meshes with the adjustment gear 44. A shell protective plate 46 is sleeved on the outside of the forearm support plate 35.

[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 a displacement block 52 is provided on the lower slide rail 51. 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. An actuator is fixedly connected to the other side of the displacement block 52. The bottom of the base plate 49 is connected to a fixing block II 55, which is connected to an electrically driven rotating short shaft 56. The electrically driven rotating short shaft 56 is also provided with a fixing block I 57, which is fixedly connected to the rotating shaft 40.

[0049] The execution device includes a master operator, a slave operator, and an auxiliary operator, with the auxiliary operator being a gripper.

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

[0051] Specifically, the support mechanism 1 consists of a pair of long support plates 10 and short support plates 11 fixed together by bolts to form a horizontal support frame 7. A vertical support frame 8 is welded to the bottom of the horizontal support frame 7, and an inverted T-shaped frame 9 is installed 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, and the vertical part of the inverted T-shaped frame 9 is embedded between the short support plate 11 and the horizontal part of the inverted T-shaped frame 9, forming a stable three-dimensional rigid frame. The long support plates 10 and short support plates 11 are made of aluminum alloy with a thickness of 15mm to ensure that the overall bending strength is not less than 500MPa.

[0052] Specifically, the slide mechanism 12 is bolted to the long support plate 10 and the short support plate 11. The stepper motor 13 is a 57HS22 motor with a rated torque of 2.5 N·m. It is connected to the threaded rod 16 via coupling I14. The threaded rod has a lead of 5 mm and a diameter of 12 mm. Both ends of the threaded rod 16 are supported by bearing housing I 15 and bearing housing II 17, respectively. The slide 18 is fitted onto the outside of the threaded rod 16 using a ball screw pair. Displacement rods I19 and II 20 are connected to the slide 18 on the long support plate 10 and the short support plate 11, respectively, and pass horizontally through the interior of the gimbal 5 via a through hole. The installation height of displacement rod II 20 is 30 mm higher than that of displacement rod I19, enabling independent adjustment of the gimbal 5 on both the X and Y axes with a positioning accuracy of ±0.1 mm.

[0053] Specifically, the hydraulic telescopic device I 22 is vertically mounted on the top of the gimbal 5, with its telescopic end abutting the center of the upper fixed platform 21. The hydraulic telescopic device I 22 has a stroke of 200mm and a thrust of 500N. The fixing rod 23 passes through the interior of the gimbal 5, connecting the upper fixed platform 21 and the lower fixed platform 24. The fixing rod I has a diameter of 20mm and is made of carbon fiber. The rotary motor I 25 is a 60BLD motor with a rated speed of 100r / min. The rotary motor I 25 is mounted above the lower fixed platform 24, driving the rotary guide 6 to rotate continuously 360°. By adjusting the telescopic amount of the hydraulic telescopic device I 22 (step accuracy of 0.5mm) and the rotation angle of the rotary motor I 25 (resolution of 0.01°) through the controller, the position 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 rotary motor II 30 to achieve ±180° rotation. Rotary motor II 30 is a 42BLD model with a torque of 1.2 N·m. Drive motor I 32 and drive motor II 34 control the extension angle of the movable upper arm 27 and lower arm 28, respectively, with an extension angle range of 0° to 150°. Adjustment motor 43 is a micro-stepping drive motor with a step angle of 0.036°. Adjustment motor 43 drives adjustment gear 44, which meshes with rack 45 to drive the extension and retraction of lower arm adjustment plate 38. Drive motor III 42 drives the rotating shaft 40 through coupling II 41 to achieve ±90° pitch adjustment and ±180° yaw adjustment at the end of the actuator 29.

[0055] Specifically, the hydraulic telescopic device II 54 drives the displacement block 52 to move along the lower slide rail 51 and the upper slide rail 53, thereby driving the gripper, the main operator, and the slave operator to complete fine movements. The electrically driven rotating short shaft 56 is linked to the rotating shaft 40 through the fixed block I 57, and adjusts the rotation angle of the actuator 29 in real time.

[0056] Specifically, the controller uses an STM32H7 microcontroller, which collects motor rotation data in real time via an encoder at a sampling frequency of 1kHz, and calculates the position error with an error compensation of ≤0.01mm. If the actuator 29 deviates from the preset trajectory, the controller immediately adjusts the parameters to achieve trajectory smoothing optimization, ensuring the continuity and safety of operation.

[0057] Example 2:

[0058] The surgical robot control method based on continuum configuration described in this invention includes the following steps:

[0059] S1: Positioning initialization, the motion positioning mechanism 2 is started by the controller, the stepper motor 13 drives the threaded rod 16 to rotate, so that the slide table 18 moves along the slide mechanism 12 on the long support plate 10 and the short support plate 11, and the position of the gimbal 5 is adjusted by the displacement rod I19 and the displacement rod II 20;

[0060] S2: Adjustment of the installation mechanism: 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 rotary motor I 25 to drive the rotary guide table 6 to rotate around the vertical axis to complete the position calibration of the installation mechanism 3.

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

[0062] S4: Fine-tuning of the actuator: By adjusting the adjustment motor 43 to drive the adjustment gear 44 to mesh with the rack 45, the telescopic length of the forearm adjustment plate 38 is adjusted. At the same time, the drive motor III 42 is controlled to drive the rotating shaft 40 through the coupling II 41 to realize the end posture adjustment of the actuator 29.

[0063] S5: 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 main operator, slave operator and gripper are controlled to complete the clamping, cutting or suturing action. The rotation angle of the execution device 29 is adjusted in real time through the electric drive rotating short shaft 56.

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

[0065] Specifically, the positioning initialization is as follows: The motion positioning mechanism 2 is activated by the controller, which controls the stepper motor 13 to drive the threaded rod 16 to rotate, causing the slide table 18 to move along the slide mechanism 12 on the long support plate 10 and the short support plate 11. The displacement rods I19 and II20 synchronously adjust the position of the gimbal 5, moving it 150mm on the X-axis and 80mm on the Y-axis, ultimately positioning the gimbal 5 directly above the patient with a positioning error ≤0.1mm.

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

[0067] Specifically, the mechanical actuator unfolds: the control rotary motor II 30 drives the fixed column 26 to rotate to the target angle, and the drive motor I 32 adjusts the unfolding angle of the movable large arm 27 to 90°, and the drive motor II 34 adjusts the unfolding angle of the movable small arm 28 to 60°, so that the gripper of the actuator 29 accurately reaches the operating area.

[0068] Specifically, the actuator is fine-tuned: the adjusting motor 43 drives the adjusting gear 44 to mesh with the rack 45, adjusting the extension length of the forearm adjusting plate 38 to 25mm; at the same time, the driving 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 suitable for the clamping requirements of surgical tools.

[0069] Specifically, the surgical procedure is performed as follows: the hydraulic telescopic device II 54 is activated to drive the displacement block 52 to move 12mm 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 execution device 29 in real time through the electric drive rotating short shaft to achieve precise alignment and suturing.

[0070] Specifically, dynamic feedback and correction: The encoder acquires the motor's rotation data in real time 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 trajectory correction to ensure continuous and stable operation.

Claims

1. A surgical assistive robot based on a continuum configuration, comprising a support mechanism (1), characterized in that, It also includes a motion positioning mechanism (2), an installation mechanism (3), and a mechanical actuator (4). The motion positioning mechanism (2) is located above the support mechanism (1). The motion positioning mechanism (2) includes a gimbal (5). The installation mechanism (3) is connected to the motion positioning mechanism (2) through the gimbal (5). The bottom of the installation mechanism (3) is provided with a rotating guide (6). The mechanical actuator (4) is connected to the bottom of the rotating guide (6). 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 frame (8) is located below the horizontal support frame (7). The horizontal support frame (7) includes a pair of long support plates (10) and a pair of short support plates (11). The inverted T-shaped frame (9) is located 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), and the vertical part of the inverted T-shaped frame (9) is located between the short support plate (11) and the horizontal part of the inverted T-shaped frame. The motion positioning mechanism (2) is located above the horizontal support frame (7). The motion positioning mechanism (2) includes several sliding table mechanisms. (12) The slide mechanism (12) is mounted on the long support plate (10) and the short support plate (11). The slide mechanism (12) includes a stepper motor (13), a coupling I (14), a bearing housing I (15), a threaded rod (16), a bearing housing 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 housing I (15). The bearing in the bearing housing I (15) is connected to one end of the threaded rod (16). The other end of the threaded rod (16) is connected to the bearing. The bearing in seat II (17) has a slide (18) located between bearing seat I (15) and bearing seat II (17) and sleeved on the outside of the threaded rod (16). The two slides (18) on the long support plate (10) are connected by displacement rod I (19), and the two slides (18) on the short support plate (11) are connected by displacement rod II (20). The displacement rod I (19) and displacement rod II (20) both pass horizontally through the gimbal (5) through the through hole. The vertical height of displacement rod II (20) is higher than that of displacement rod I (19).

2. The surgical assistive robot based on a continuum configuration according to claim 1, characterized in that, The installation mechanism (3) includes an upper fixed platform (21), a hydraulic telescopic device I (22), several fixed rods (23), a lower fixed platform (24), a rotary motor I (25), and a rotary guide (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 gimbal (5) through a through hole. The hydraulic telescopic device I (22) is located above the gimbal (5). The top end of the hydraulic telescopic device I (22) abuts against the bottom center of the upper fixed platform (21). The rotary guide (6) is connected to the bottom of the lower fixed platform (24). The rotary motor I (25) is located above the lower fixed platform (24), and the rotating end of the rotary motor I (25) is connected to the rotary guide (6).

3. The surgical assistive robot based on a continuum configuration according to claim 2, characterized in that, The mechanical actuator includes several movable manipulators, each of which includes a fixed column (26), a movable upper arm (27), a movable lower arm (28), and an actuator (29). The fixed column (26) is equipped with a rotary motor II (30). The bottom of the fixed column (26) is connected to an upper arm mounting frame. The upper arm mounting frame includes two symmetrical arc-shaped mounting plates (31). A drive motor I (32) is also provided between the arc-shaped mounting plates (31). The movable upper arm (27) includes symmetrically used upper arm support plates (33). One end of the upper arm support plate (33) is movably connected to the outside of the arc-shaped mounting plate (31) and 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). The upper arm support plate (33) is connected to the movable lower arm (28) through the drive motor II (34).

4. The surgical assistive robot based on a continuum configuration according to claim 3, characterized in that, The movable forearm (28) includes symmetrically used forearm support plates (35). One end of the forearm support plate (35) is provided with a rotating connecting block (36). The rotating connecting 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 forearm adjusting plate (38) is provided between the forearm support plates (35). The interior of the forearm adjusting plate (38) is provided with a rotating hole (39). A rotating shaft (40) is provided inside the rotating hole (39). One end of the arm support plate (35) is connected to a coupling II (41), which is connected to a drive motor III (42). Several 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 near the arm support plate (35). A rack (45) is provided in the groove. The rack (45) meshes with the adjustment gear (44). A protective shell plate (46) is sleeved on the outside of the arm support plate (35).

5. The surgical assistive robot based on a continuum configuration according to claim 4, characterized in that, 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 a displacement block (52) is provided on the lower slide rail (51). 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). The hydraulic telescopic device II (54) is fixedly connected to one side of the displacement block (52). An actuator is fixedly connected to the other side of the displacement block (52). The bottom of the base plate (49) is connected to a fixing block II (55). The fixing 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 fixing block I (57). The fixing block I (57) is fixedly connected to the rotating shaft (40).

6. The surgical assistive robot based on a continuum configuration according to claim 5, characterized in that, The execution device includes a master operator, a slave operator, and an auxiliary operator, wherein the auxiliary operator is a gripper.

7. The surgical assistive robot based on a continuum configuration according to claim 6, characterized in that, 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 a stepper motor (13), a rotary motor I (25), a hydraulic telescopic device I (22), a rotary motor II (30), a drive motor I (32), a drive motor II (34), a drive motor III (42), an adjustment motor (43), a hydraulic telescopic device II (54), and an electrically driven rotary short shaft (56). The rotary motor I (25), the rotary 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 rotary short shaft (56) are all electrically connected to the encoder.

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