Novel collaborative double-RCM mechanism for ophthalmologic minimally invasive surgery

Abstract

The invention discloses a novel collaborative double-RCM mechanism for ophthalmologic minimally invasive surgery. High-precision operation and control of surgical instruments are achieved through composite driving design. The mechanism comprises an integral movement mechanism, an independent movement mechanism, two RCM mechanisms and a rack. According to the overall movement mechanism, an involute thickening gear set is driven by a driving motor, and synchronous movement of the two RCM mechanisms is achieved. The independent movement mechanism is used for driving a single RCM mechanism to move independently by a single-action motor; the RCM mechanism drives a lead screw through a fixing motor and a connecting rod driving motor to control feeding and pitching of the double-parallelogram mechanism, and the piezoelectric ceramic driver drives the end effector to conduct linear feeding motion along the axis of the end effector. The three-degree-of-freedom rotation around the RCM point can be realized while the movement precision is ensured, and the operation safety and the space accessibility of an ophthalmologic operation are effectively improved.

Description

Technical Field

[0001] The present invention relates to an RCM mechanism, in particular to an RCM mechanism for minimally invasive ophthalmic surgery, belonging to the technical field of medical devices. Background Art

[0002] As the body's most important sensory organ, the health of the eye has a crucial impact on an individual's quality of life. 80% of the information the brain receives comes through the eyes, but ocular diseases such as cataracts, glaucoma, and retinopathy can lead to decreased vision or even blindness. Therefore, ophthalmic surgical instruments play a vital role in treating these conditions. Especially during delicate intraocular surgeries, the precision and dexterity of surgical instruments are crucial to surgical success and patient safety.

[0003] Existing ophthalmic surgical instruments have several limitations in their design and functionality. For one thing, the end effectors of many instruments are complex, bulky, and heavy, making precise control difficult for the operator during surgery. Furthermore, these instruments have a limited range of motion, making them inflexible for certain specialized surgical procedures, limiting surgical precision and safety.

[0004] To improve surgical precision and safety, ophthalmic surgical robots widely utilize remote center of motion (RCM). The RCM rotates around a distal center point that coincides with the minimally invasive surgical incision, ensuring that instruments and tissue are not squeezed or pulled during minimally invasive surgery. This design allows for highly flexible RCM point adjustment and reduces trauma to the eye during surgery. Summary of the Invention

[0005] The purpose of the present invention is to provide a new collaborative dual RCM mechanism for minimally invasive ophthalmic surgery, so as to achieve mutual cooperation between the two RCM mechanisms during the operation and flexible movement of the intersection of the end effectors of the two RCM mechanisms in the eye, thereby solving the problem of poor cooperation between the two surgical instruments during the operation.

[0006] The present invention provides a novel coordinated dual RCM mechanism for minimally invasive ophthalmic surgery, comprising an overall motion mechanism, an individual motion mechanism, two RCM mechanisms, and a frame; the overall motion mechanism is located at the far right end and is rotatably connected to the RCM mechanism; the RCM mechanism is located to the left of the overall motion mechanism; the frame is used to support the RCM mechanism and is rotatably connected to the RCM mechanism; the individual motion mechanism is located below the RCM mechanism; The integral motion mechanism includes a drive motor, a first gear, a second gear, a third gear, a fourth gear, a gear housing, an integral mechanism bearing seat, a drive motor guide rail, an integral mechanism bottom plate and an integral mechanism slider; the drive motor guide rail is located at the right end of the integral motion mechanism, the drive motor is fixed to the integral mechanism bottom plate, the integral mechanism bottom plate is fixed to the two integral mechanism sliders, the drive motor is connected to the third gear, the third gear is respectively meshed with the first gear and the fourth gear, the second gear is meshed with the fourth gear, and the first, second, third and fourth gears are all located inside the gear housing; The independent motion mechanism includes a single-action motor, a single-action coupling, a single-action transmission gear, a bearing seat of an independent motion mechanism, and a base plate of the independent motion mechanism; the single-action motor is fixed to the right side of the base plate of the independent motion mechanism, the bearing seat of the independent motion mechanism is fixed to the other side of the base plate of the independent motion mechanism, and the independent motor is connected to the single-action transmission gear; The RCM mechanism includes a fixed motor, a screw, a connecting rod drive motor, a double parallelogram mechanism, a piezoelectric ceramic drive, an end actuator, a screw support block, a connecting rod bracket, a connecting rod slider, a base plate transmission gear, a guide rail slider, an RCM linear guide, a fixed base and an RCM base plate; the RCM linear guide is fixed on the RCM base plate, the connecting rod slider is installed on the left side of the RCM linear guide, the connecting rod bracket is fixed on the connecting rod slider, the screw support block is placed on the connecting rod bracket, the screw support block is provided with a threaded hole, and the double parallelogram mechanism is hinged to the connecting rod bracket; the guide rail slider is installed in the middle of the RCM linear guide, the connecting rod drive motor is fixed on the guide rail slider; the fixed base is fixed on the right side of the RCM base plate, the fixed motor is fixed on the fixed base, the fixed motor and the connecting rod drive motor are both hollow shaft motors, and the screw passes through the fixed motor, the connecting rod drive motor and the screw support block.

[0007] As a further technical solution, the first gear is the same as the second gear, the drive motor directly drives the third gear, the third gear is engaged with the fourth gear and the first gear, the fourth gear is engaged with the second gear, and the first gear and the second gear are connected to the RCM base plate.

[0008] As a further technical solution, the drive motor and the third gear can move along a drive motor guide rail.

[0009] As a further technical solution, the single-action transmission gear is engaged with the bottom plate transmission gear, and the single-action motor can drive a single RCM mechanism to move independently.

[0010] As a further technical solution, the connecting rod bracket is fixed on the connecting rod slider, the screw rod support block is placed on the connecting rod bracket, the screw rod support block has a threaded hole, and the double parallelogram mechanism is fixed on the connecting rod bracket.

[0011] As a further technical solution, the double parallelogram mechanism also includes a driving rod, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the first connecting rod and the second connecting rod are parallel and connected to the connecting rod bracket, wherein the first connecting rod and the second connecting rod are identical.

[0012] As a further technical solution, the third connecting rod is arranged in parallel with the fourth connecting rod, the right end of the third connecting rod is rotatably connected to the upper end of the first connecting rod, the middle end of the third connecting rod is rotatably connected to the upper end of the second connecting rod, and the right end of the fourth connecting rod is rotatably connected to the middle end of the second connecting rod.

[0013] As a further technical solution, the bending angle of the third connecting rod is the same as the bending angle of the fourth connecting rod, and at the same time, it is ensured that the line connecting the left end axis of the third connecting rod and the left end axis of the fourth connecting rod after bending is parallel to the line connecting the middle end axis of the third connecting rod and the right end axis of the fourth connecting rod and the distance is consistent.

[0014] As a further technical solution, one end of the driving rod is hinged to the motor seat of the connecting rod driving motor, and the other end of the driving rod is hinged to the middle end of the first connecting rod.

[0015] As a further technical solution, the fixed motor and the connecting rod drive motor are both hollow shaft motors. The fixed motor is fixedly mounted on the right end of the linear guide rail. The RCM linear guide rail is fixed on the RCM base plate along the length direction of the RCM base plate. The screw is installed in the hollow shafts of the fixed motor and the connecting rod drive motor.

[0016] As a further technical solution, the connecting rod drive motor is installed on the guide rail slider, the guide rail slider is installed on the left side of the fixed motor, and the guide rail slider is connected to the motor seat of the connecting rod drive motor and slides along the RCM linear guide rail.

[0017] Compared with the existing technology, the present invention has achieved the following technical effects: First, through the gear transmission system, a single RCM mechanism can be driven to perform precise and independent movements. This design allows doctors to control an actuator individually according to surgical needs to complete specific operating tasks. The gear set provides stable power transmission and reliable motion control, ensuring the flexibility and freedom of a single instrument in the operation of the eye, and meeting the scene requirements of basic or single instrument operation. Second, the present invention provides a new collaborative dual RCM mechanism for minimally invasive ophthalmic surgery, which can not only drive a single RCM mechanism, but also coordinate two RCM mechanisms to perform synchronous or complementary collaborative movements. Through the meshing and linkage design between the gears, the two RCM mechanisms can cooperate with each other to jointly complete more complex operating tasks. This collaborative ability is the basis for supporting the safe and efficient coordinated operation of dual instruments in a limited space (such as inside the eye). Third, when the two RCM mechanisms perform collaborative movement through the gear set, their angle relative to the original design symmetry plane will change, so that the intersection position of the extension lines of the two end effectors in the eye can be flexibly and dynamically adjusted. This controlled movement of the intraocular intersection extends the working range and operational flexibility of surgical instruments, allowing doctors to more precisely locate and treat target tissues. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 Schematic diagram of the complete structure of the novel variable RCM mechanism for minimally invasive ophthalmic surgery of the present invention;

[0020] Figure 2 is a schematic diagram of the overall motion mechanism involved in the present invention;

[0021] Figure 3 for Figure 2 Schematic diagram from above;

[0022] Figure 4 Schematic diagram of a separate motion mechanism involved in the present invention;

[0023] Figure 5 Schematic diagram of the RCM mechanism involved in the present invention;

[0024] Figure 6 Schematic diagram of a double parallelogram mechanism in the RCM mechanism involved in the present invention;

[0025] In the figure: 1. Overall motion mechanism, 2. Individual motion mechanism, 3. RCM mechanism, 4. Frame;

[0026] 101 - drive motor, 102 - third gear, 103 - fourth gear, 104 - second gear, 105 - gear housing, 106 - overall mechanism bearing seat, 107 - drive motor guide rail, 108 - overall mechanism base plate, 109 - first gear, 110 - overall mechanism slider;

[0027] 201-single motion mechanism base plate, 202-single mechanism bearing seat, 203-single motion transmission gear, 204-single motion coupling, 205-single motion motor;

[0028] 301-fixed motor, 302-screw, 303-connecting rod drive motor, 304-double parallelogram mechanism, 305-piezoelectric ceramic driver, 306-end effector, 307-screw support block, 308-connecting rod bracket, 309-connecting rod slider, 310-base plate transmission gear, 311-guide rail slider, 312-RCM linear guide, 313-fixed base, 314-RCM base plate;

[0029] 3041-first connecting rod, 3042-second connecting rod, 3043-third connecting rod, 3044-fourth connecting rod, 3045-driving rod. DETAILED DESCRIPTION

[0030] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0031] The purpose of the present invention is to provide a novel collaborative dual RCM mechanism for minimally invasive ophthalmic surgery, which can realize independent and synchronous movement of two RCM mechanisms, three rotational degrees of freedom around the RCM center point, movement along the axis of the end effector and axial feed along the direction of the rotation axis.

[0032] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0033] like Figures 1 to 6 As shown: This example provides a novel collaborative dual RCM mechanism for minimally invasive ophthalmic surgery, including an overall motion mechanism 1, a separate motion mechanism 2, two RCM mechanisms 3 and a frame 4;

[0034] The overall motion mechanism 1 includes a drive motor 101, a third gear 102, a fourth gear 103, a second gear 104, a gear housing 105, an overall mechanism bearing seat 106, a drive motor guide rail 107, an overall mechanism bottom plate 108, a first gear 109, and an overall mechanism slider 110;

[0035] The overall mechanism slider 110 is installed on the drive motor guide rail 107, the overall mechanism base plate 108 is fixed to the overall mechanism slider 110 by bolts, the drive motor 101 is installed on the overall mechanism base plate 108, and the output shaft of the drive motor 101 is connected to the gear shaft of the third gear 102 through a coupling to drive the rotation of the third gear 102. The third gear 102 is engaged with the fourth gear 103 and the first gear 109. The fourth gear 102 is also engaged with the first gear 104. The second gear 104 and the first gear 109 are involute thickening gears. All of the above gears are placed in the gear housing 105. The gear shafts of the first gear 109 and the second gear 104 are respectively connected to the RCM base plate 313 to drive the synchronous rotation of the two RCM mechanisms.

[0036] The RCM mechanism 3 includes a fixed motor 301, a lead screw 302, a connecting rod drive motor 303, a double parallelogram mechanism 304, a piezoelectric ceramic driver 305, an end effector 306, a lead screw support block 307, a connecting rod bracket 308, a connecting rod slider 309, a base plate transmission gear 310, a guide rail slider 311, an RCM linear guide 312, a fixed base 313, and an RCM base plate 314.

[0037] The double parallelogram mechanism 304 includes a first link 3041, a second link 3042, a third link 3043, a fourth link 3044, and a driving rod 3045, wherein a section of the driving rod 3045 is mounted on a bracket on the motor base of the connecting rod driving motor 303, the first link 3041 and the second link 3042 are parallel and rotatably connected to the connecting rod bracket 308 from right to left, the middle part of the third link 3043 is rotatably connected to the upper end of the second link 3042, the right end of the third link 3043 is rotatably connected to the upper end of the first link 3041, and the other end of the driving rod 3045 is rotatably connected to the middle part of the first link 3041; the third link 3043 and the fourth link 3044 are arranged in parallel, the right end of the fourth link 3044 is rotatably connected to the middle part of the second link 3042, and the left ends of the third link 3043 and the fourth link are both connected to the piezoelectric ceramic driver 305.

[0038] The intersection of the axis of the end effector 306 and the axis of the rotation axis of the RCM mechanism 3 is the RCM point, so that when the entire motion mechanism 1 drives the RCM mechanism 3 to rotate, the position of the RCM point does not change.

[0039] The RCM linear guide 312 is fixed on the RCM base plate 314, the fixed base 313 is at the right end of the RCM linear guide 312 and is fixed on the RCM base plate 314, the fixed motor 301 is installed on the fixed base 313, the guide rail slider 311 is arranged on the RCM linear guide 312, and the connecting rod drive motor 303 is installed on the guide rail slider 311. The fixed motor 301 and the connecting rod drive motor 303 are both hollow shaft motors. When the connecting rod drive motor 303 moves, the motor drives the double parallelogram mechanism 304 to perform pitching motion; when the fixed motor 301 moves, the connecting rod drive motor 303 and the connecting rod bracket 308 can both realize linear feed motion; when the fixed motor 301 and the connecting rod drive motor 304 move at the same time, the connecting rod bracket 308 can realize linear feed motion, thereby driving the double parallelogram 304 to achieve pitching motion;

[0040] The independent motion mechanism 2 includes an independent motion mechanism base plate 201 , an independent mechanism bearing seat 202 , a single-action transmission gear 203 , a single-action coupling 204 , and a single-action motor 205 .

[0041] The single-acting motor 205 is fixed to the right side of the separate motion mechanism base plate 201 by screws, and the separate mechanism bearing seat 202 is fixed to the left side of the separate motion mechanism base plate 201, cooperating with the gear shaft of the single-acting rotating gear 203. The output shaft of the single-acting motor 205 drives the single-acting rotating gear 203 to rotate through the single-acting coupling 204, and the single-acting transmission gear 203 is engaged with the base plate transmission gear 310 welded to the RCM base plate 314.

[0042] When the single-action motor 205 rotates, the single-action transmission gear 203 rotates, driving the RCM mechanism 3 to rotate synchronously. At this time, the drive motor 101 carries the third gear 102 to withdraw backward along the drive motor guide rail 107, thereby realizing the independent movement of the single RCM mechanism 3; when the single-action motor 205 stops rotating, the drive motor 101 resets the third gear 102 along the drive motor guide rail 107.

[0043] The working principle of the novel coordinated dual RCM mechanism for minimally invasive ophthalmic surgery provided by the present invention is as follows: the overall motion mechanism 1 realizes the coordinated motion of the two RCM mechanisms 3, and the individual motion mechanism 2 realizes the individual motion of a single RCM mechanism 3. When the coordinated motion of the RCM mechanisms 3 needs to be realized, the drive motor 101 drives the third gear 102 to rotate, thereby rotating the entire gear set to realize the coordinated motion of the two RCM mechanisms 3; when the individual motion of the RCM mechanism 3 needs to be realized, the drive motor 101 and the third gear 102 are withdrawn backward along the drive motor guide rail 107, and the single-action motor 205 drives the single-action transmission gear 203 to rotate, thereby driving the rotation of the single RCM mechanism to realize the individual motion of the single RCM mechanism.

[0044] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0045] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A novel collaborative dual RCM mechanism for minimally invasive ophthalmic surgery, characterized in that: The system comprises an overall motion mechanism, an individual motion mechanism, two RCM mechanisms, and a frame; the overall motion mechanism is located at the rightmost end and is rotatably connected to the RCM mechanism; the RCM mechanism is located on the left side of the overall motion mechanism; the frame is used to support the RCM mechanism and is rotatably connected to the RCM mechanism; the individual motion mechanism is located below the RCM mechanism; The integral motion mechanism includes a drive motor, a first gear, a second gear, a third gear, a fourth gear, a gear housing, an integral mechanism bearing seat, a drive motor guide rail, an integral mechanism bottom plate and an integral mechanism slider; the drive motor guide rail is located at the right end of the integral motion mechanism, the drive motor is fixed to the integral mechanism bottom plate, the integral mechanism bottom plate is fixed to the two integral mechanism sliders, the drive motor is connected to the third gear, the third gear is respectively meshed with the first gear and the fourth gear, the second gear is meshed with the fourth gear, and the first, second, third and fourth gears are all located inside the gear housing; The independent motion mechanism includes a single-action motor, a single-action coupling, a single-action transmission gear, a bearing seat of an independent motion mechanism, and a base plate of the independent motion mechanism; the single-action motor is fixed to the right side of the base plate of the independent motion mechanism, the bearing seat of the independent motion mechanism is fixed to the other side of the base plate of the independent motion mechanism, and the independent motor is connected to the single-action transmission gear; The RCM mechanism includes a fixed motor, a screw, a connecting rod drive motor, a double parallelogram mechanism, a piezoelectric ceramic drive, an end actuator, a screw support block, a connecting rod bracket, a connecting rod slider, a base plate transmission gear, a guide rail slider, an RCM linear guide, a fixed base and an RCM base plate; the RCM linear guide is fixed on the RCM base plate, the connecting rod slider is installed on the left side of the RCM linear guide, the connecting rod bracket is fixed on the connecting rod slider, the screw support block is placed on the connecting rod bracket, the screw support block is provided with a threaded hole, and the double parallelogram mechanism is hinged to the connecting rod bracket; the guide rail slider is installed in the middle of the RCM linear guide, the connecting rod drive motor is fixed on the guide rail slider; the fixed base is fixed on the right side of the RCM base plate, the fixed motor is fixed on the fixed base, the fixed motor and the connecting rod drive motor are both hollow shaft motors, and the screw passes through the fixed motor, the connecting rod drive motor and the screw support block.

2. A novel collaborative dual RCM mechanism for minimally invasive ophthalmic surgery according to claim 1, characterized in that: The first gear is identical to the second gear, the drive motor directly drives the third gear, the third gear is engaged with the fourth gear and the first gear, the fourth gear is engaged with the second gear, and the first gear and the second gear are connected to the RCM base plate.

3. The novel collaborative dual RCM mechanism for minimally invasive ophthalmic surgery according to claim 2, characterized in that: The driving motor and the third gear can move along the driving motor guide rail.

4. A novel collaborative dual RCM mechanism for minimally invasive ophthalmic surgery according to claim 3, characterized in that: The single-action transmission gear is engaged with the base plate transmission gear, and the single-action motor can drive a single RCM mechanism to move independently.

5. The novel collaborative dual RCM mechanism for minimally invasive ophthalmic surgery according to claim 4, characterized in that: The double parallelogram mechanism also includes a driving rod, a first link, a second link, a third link and a fourth link, the first link and the second link are parallel and connected to the link bracket, wherein the first link and the second link are the same, the third link and the fourth link are arranged in parallel, the right end of the third link is rotatably connected to the upper end of the first link, the middle end of the third link is rotatably connected to the upper end of the second link, and the right end of the fourth link is rotatably connected to the middle end of the second link.

6. A novel collaborative dual RCM mechanism for minimally invasive ophthalmic surgery according to claim 5, characterized in that: One end of the driving rod is hinged to the motor seat of the connecting rod driving motor, and the other end of the driving rod is hinged to the middle end of the first connecting rod.

7. A novel collaborative dual RCM mechanism for minimally invasive ophthalmic surgery according to claim 6, characterized in that: The fixed motor and the connecting rod drive motor are both hollow shaft motors. The fixed motor is fixedly mounted on the right end of the linear guide rail. The RCM linear guide rail is fixed on the RCM base plate along the length direction of the RCM base plate. The lead screw is mounted in the hollow shafts of the fixed motor and the connecting rod drive motor.

8. The novel collaborative dual RCM mechanism for minimally invasive ophthalmic surgery according to claim 7, characterized in that: The connecting rod driving motor is mounted on the guide rail slider, which is mounted on the left side of the fixed motor. The guide rail slider is connected to the motor seat of the connecting rod driving motor and slides along the RCM linear guide rail.

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