Microsurgery robot slave end system based on series-parallel structure

Abstract

A microsurgical robot slave end system based on a series-parallel structure belongs to the technical field of medical equipment and surgical robots and comprises a four-degree-of-freedom surgical trolley, a five-degree-of-freedom series-parallel mechanical arm and a microscope adjusting platform. The five-degree-of-freedom series-parallel mechanical arm is mounted on the degree-of-freedom surgical trolley and can move and rotate along with the surgical trolley; the five-degree-of-freedom series-parallel mechanical arm is used for achieving pose adjustment in the horizontal plane and pose adjustment in the vertical plane. The microscope adjusting platform is installed on the series-parallel mechanical arm. The system realizes multi-degree-of-freedom and high-precision surgical operation through a series-parallel structure, has the characteristics of compact structure, rigid-flexible combination and flexible path, and aims to provide a more efficient, safer and more intelligent auxiliary operation platform for microsurgery.

Description

Technical Field

[0001] The present invention relates to robot and medical device fusion technology, and in particular to a microsurgery robot slave system based on a hybrid structure, belonging to the technical field of medical equipment and surgical robots. Background Art

[0002] With the continuous advancement of modern medical technology, microsurgery has been widely used in high-precision medical fields such as ophthalmology, neurosurgery, and otolaryngology. These surgeries typically require manipulation of tissue at millimeter or even submillimeter scales. These procedures are characterized by confined operating spaces, limited visual feedback, and complex surgical paths. These procedures place extremely high demands on the surgeon's hand-eye coordination, operational stability, and endurance for long periods of time.

[0003] Traditional microsurgery relies mainly on doctors operating microscopic instruments with their bare hands. Despite the use of auxiliary tools such as microscopes, it still faces the following technical bottlenecks:

[0004] 1. Human error is unavoidable: The natural physiological tremor in the doctor's hands limits the accuracy of surgical operations, especially during operations such as vascular suturing and nerve separation, which can easily cause secondary injuries to the patient.

[0005] 2. Operator fatigue affects efficiency: Microsurgery lasts for a long time, and doctors need to maintain high-intensity concentration for a long time, which can easily cause operator fatigue and thus affect surgical stability;

[0006] 3. Multi-degree-of-freedom paths are difficult to achieve: Traditional instruments are limited by structural factors such as fulcrums and wrist range of motion, making it difficult to complete complex spatial trajectories;

[0007] To address these issues, microsurgical robots have emerged. By converting the doctor's operating instructions into high-precision, stable mechanical movements, robotic systems can effectively overcome the limitations of human hands in terms of stability and repeatability, improving the safety and accuracy of surgery. Currently, commercial platforms such as the Dutch MUSA system and the Italian Symani system have been put into clinical use in fields such as ophthalmology and microvascular anastomosis, demonstrating high control accuracy and dexterity. However, these systems are mostly closed-source products, are costly, lack flexibility, and still leave room for improvement in areas such as soft tissue force control and autonomous planning.

[0008] China started late in this field. Although some institutions such as Tianjin University's "Miaoshou", Antai Micro-Precision, and Dishi Medical have made certain progress, they are still focused on imitation, low-precision tracking and semi-automatic control. The system structure is mostly based on master-slave series connection, lacking high-performance hybrid mechanisms and slave-end structure innovations. Especially in the design of the end-execution system supporting surgical instruments, a universal and reliable solution has not yet been formed. Summary of the Invention

[0009] To overcome the shortcomings of existing technologies, this invention provides a microsurgery robot slave system based on a parallel-parallel structure. This system achieves multi-degree-of-freedom, high-precision surgical operations through the parallel-parallel structure. It features a compact structure, a combination of rigidity and flexibility, flexible paths, and high control accuracy. It aims to provide a more efficient, safer, and more intelligent auxiliary operation platform for microsurgery.

[0010] A microsurgery robot slave system based on a hybrid structure, comprising a four-degree-of-freedom operating table, a five-degree-of-freedom hybrid robotic arm, and a microscope adjustment platform;

[0011] The five-degree-of-freedom hybrid robotic arm is installed on the five-degree-of-freedom operating table and can move and rotate with the operating table;

[0012] The five-degree-of-freedom hybrid robotic arm is used to achieve posture adjustment in the horizontal plane and posture adjustment in the vertical plane; the microscope adjustment platform is installed on the hybrid robotic arm.

[0013] Furthermore, the operating trolley includes a suspension arm, a rotary joint I, a telescopic arm I, a rotary joint II, a telescopic arm II and a vehicle body; the telescopic arm I is arranged horizontally, the telescopic arm II is arranged vertically, one end of the telescopic arm II is installed on the vehicle body, and the other end of the telescopic arm II is installed with a rotary joint II, the suspension arm is installed on the rotary joint II, and is driven by the rotary joint to rotate relative to the telescopic arm II, and the two ends of the telescopic arm I are respectively connected to the suspension arm and the rotary joint I to control the movement of the rotary joint I.

[0014] Furthermore, the hybrid robotic arm includes a crossbeam, a connector I, a swing arm, a rotating arm, a connecting rod I, a connecting rod II and a surgical instrument; the crossbeam is installed on the hybrid robotic arm and can rotate relative to the vehicle body, the connecting member is slidably arranged on the crossbeam, the swing arm is installed on the connector I and can rotate relative to the connector I, the rotating arm is installed on the swing arm and can rotate relative to the swing arm, the connecting rod I and the connecting rod II are installed on the rotating arm and can move up and down relative to the rotating arm, and the surgical instrument is rotatably arranged on the connecting rod I and the connecting rod II.

[0015] Furthermore, the swing arm includes a swing arm housing and two rotary joint motor modules;

[0016] The rotary joint motor module is built into the swing arm housing, the connector I is installed at the output end of one of the rotary joint motor modules, and the swing arm is installed at the output end of the other rotary joint motor module.

[0017] Furthermore, the rotating arm includes an I-shaped member and two sets of linear drive mechanisms, and the connecting rod I and the connecting rod II correspond to one set of linear drive mechanisms respectively; each set of linear drive mechanisms includes a belt transmission assembly, a reduction motor, a linear drive assembly, a linear guide assembly and a connecting member II;

[0018] The I-shaped piece is arranged vertically and installed at the output end of the joint motor module;

[0019] The surface of the waist of the I-shaped piece is provided with a reduction motor, a belt transmission assembly and a linear drive assembly;

[0020] A linear guide assembly is mounted on the surface of the leg of the I-beam;

[0021] The power output end of the reduction motor is connected to the belt transmission assembly, the power output end of the belt transmission assembly is connected to the linear drive assembly, and the power output end of the linear drive assembly is connected to the connector II; the connecting rod I and the connecting rod II are respectively installed on the corresponding connector II and the linear guide assembly, and can move up and down along the linear guide assembly.

[0022] The beneficial effects of the present invention compared to the prior art are:

[0023] 1. This application describes the slave-end structure of a four-degree-of-freedom surgical trolley for preoperative positioning and a five-degree-of-freedom hybrid robotic arm for intraoperative fine-tuning. The former achieves wide-ranging adjustment in three-dimensional space to ensure the end mechanism is within the appropriate surgical range; the latter combines the high stiffness of a parallel mechanism with the flexibility of a series mechanism, ensuring high-precision operation while maintaining a good range of motion and compliance. The hybrid robotic arm, in particular, combines high stiffness and high flexibility to enhance end-user precision and operability.

[0024] 2. Supports real-time fine adjustment during surgery to adapt to complex surgical pathways.

[0025] 3. The structure is highly integrable and suitable for transformation into a product platform and promotion to actual surgical scenarios. It has important engineering value and promotion prospects.

[0026] The following is a further description of the scheme of the application in conjunction with the accompanying drawings and embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Schematic diagram of the slave system of the microsurgery robot applied to the ocular surface;

[0028] Figure 2 This is a structural diagram of a four-degree-of-freedom operating table;

[0029] Figure 3 This is a structural diagram of a five-degree-of-freedom hybrid robotic arm;

[0030] Figure 4 Schematic diagram of the structure of the swing arm;

[0031] Figure 5 This is a structural diagram of a five-degree-of-freedom hybrid robotic arm;

[0032] Figure 6It is the structural diagram of the rotating arm;

[0033] Figure 7 This is a schematic diagram of the hybrid robotic arm mechanism. DETAILED DESCRIPTION

[0034] The embodiments of the technical solution of the present invention will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the technical terms or scientific terms used in this application have the common meanings understood by those skilled in the art.

[0035] Based on this technical background, combined with the operational characteristics of microsurgery and the development trends of robotics, this implementation proposes a novel hybrid slave execution system. This system features a compact structure, a combination of rigidity and flexibility, flexible paths, and high control precision, aiming to provide a more efficient, safer, and more intelligent auxiliary operation platform for microsurgery.

[0036] Reference Figure 1 , a microsurgery robot slave system based on a hybrid structure in this embodiment includes a four-degree-of-freedom operating table 1, a five-degree-of-freedom hybrid robot arm 2 and a microscope adjustment platform 3;

[0037] The five-degree-of-freedom hybrid robotic arm 2 is installed on the five-degree-of-freedom operating table 1 and can move and rotate with the operating table 1;

[0038] The four-degree-of-freedom operating table trolley 1 has lifting, horizontal extension and two rotational degrees of freedom;

[0039] The five-degree-of-freedom hybrid manipulator 2 is used to achieve posture adjustment in the horizontal plane and posture adjustment in the vertical plane; the five-degree-of-freedom hybrid manipulator 2 has movement, lifting, swinging and two rotational degrees of freedom;

[0040] The microscope adjustment platform 3 is installed on the fixed part of the hybrid robot arm 2.

[0041] The concrete features of this embodiment are as follows: the surgical trolley 1 serves as the preoperative positioning mechanism, employing a PRPR structure, i.e., four degrees of freedom, combining two translational joints and two rotational joints. This allows for wide-ranging adjustments in three-dimensional space to ensure the end mechanism is within the appropriate surgical range. The hybrid robotic arm 2 serves as the intraoperative adjustment mechanism, combining the high rigidity of a parallel mechanism with the flexibility of a series mechanism, ensuring high-precision operation while maintaining a good range of motion and compliance. The series structure adopts a PRR structure, enabling the robotic arm's position adjustment in the horizontal plane (horizontal movement and two rotational degrees of freedom), while the parallel structure enables the robotic arm's position adjustment in the vertical plane (lifting movement and up-and-down swinging degrees of freedom).

[0042] Specifically, refer to Figure 2, the operating table vehicle 1 of this embodiment comprises a suspension arm 11, a rotary joint I12, a telescopic arm I13, a rotary joint II14, a telescopic arm II15 and a vehicle body 16;

[0043] The telescopic arm I13 is arranged horizontally, and the telescopic arm II15 is arranged vertically. One end of the telescopic arm II15 is installed on the movable vehicle body 16, and the other end of the telescopic arm II15 is installed with a rotary joint II14. The suspension arm 11 is installed on the rotary joint II14 and is driven by the rotary joint II14 to rotate relative to the telescopic arm II15. The two ends of the telescopic arm I13 are respectively connected to the suspension arm 11 and the rotary joint I12 to control the movement of the rotary joint I12.

[0044] This embodiment features the following features: the telescopic arm II15 drives the rotary joint II14 for vertical movement relative to the vehicle body 16. The rotary joint II14 drives the suspension arm 11 (and its connected telescopic arm I13 and rotary joint I12) to rotate relative to the telescopic arm II15. The telescopic arm I13 controls the rotary joint I12 for horizontal movement toward or away from the telescopic arm II15, and the rotary joint I12 controls the rotation of the hybrid robot arm 2. Optionally, the telescopic arm I113 and the telescopic arm II15 are electric push rods, or the telescopic arm II15 is an electric push rod and the telescopic arm I13 is a pneumatic cylinder. Both the rotary joint I12 and the rotary joint II14 are servo motors.

[0045] Specifically, refer to Figure 3 The hybrid robotic arm 2 includes a crossbeam 21, a connecting member I22, a swing arm 23, a rotating arm 24, a connecting rod I25, a connecting rod II26 and a surgical instrument 27;

[0046] The crossbeam 21 is installed on the hybrid robotic arm 2 and can rotate relative to the vehicle body 16. The connecting part 22 is slidably arranged on the crossbeam 21. The swing arm 23 is installed on the connecting part I22 and can rotate relative to the connecting part I22. The rotating arm 24 is installed on the swing arm 23 and can rotate relative to the swing arm 23. The connecting rod I25 and the connecting rod II26 are installed on the rotating arm 24 and can move up and down relative to the rotating arm 24. The surgical instrument 27 is rotatably arranged on the connecting rod I25 and the connecting rod II26, and the surgical instrument 27 can slide relative to the connecting rod II26.

[0047] The surgical instrument 27 belongs to the prior art, and the microscope adjustment platform 3 is mounted on the crossbeam 21 .

[0048] This implementation is characterized by combining a series and parallel structure. The series structure enables horizontal position adjustment of the robotic arm (the horizontal movement freedom of connector 22 relative to beam 21, the rotation of swing arm 23 relative to connector I22, and the rotation of pivot arm 24 relative to swing arm 23), while the parallel structure enables vertical position adjustment of the robotic arm (the vertical linear movement freedom of connecting rods I25 and II26 relative to pivot arm 24, and the vertical swing freedom of surgical instrument 27 relative to connecting rods I25 and II26). This ensures that the robot's slave system can achieve a wide range of adjustments in three-dimensional space, ensuring that the terminal mechanism is within a reasonable surgical range.

[0049] Specifically, refer to Figure 4 , the swing arm 23 includes a swing arm housing 231 and two rotary joint motor modules 232;

[0050] The rotary joint motor module 232 is built into the swing arm housing 231 , the connector 122 is installed at the output end of one of the rotary joint motor modules 232 , and the rotating arm 24 is installed at the output end of the other rotary joint motor module 232 .

[0051] The characteristics of this implementation scheme are: when working, the motor output end of one of the rotary joint motor modules 232 is set upward, and a connecting part I22 is installed on it. Since the connecting part I22 is stationary, one of the rotary joint motor modules 232 drives the swing arm housing 231 to rotate relative to the connecting part I22; the motor output end of the other rotary joint motor module 232 is set upward, and a rotating arm 24 or an I-shaped part 241 is installed on it, and the motor drives the rotating arm 24 or the I-shaped part 241 to rotate as a whole.

[0052] Reference Figure 5 and Figure 6 The rotating arm 24 includes an I-shaped member 241 and two sets of linear drive mechanisms, and the connecting rod I25 and the connecting rod II26 correspond to one set of linear drive mechanisms respectively; each set of linear drive mechanisms includes a belt transmission assembly 242, a reduction motor, a linear drive assembly 249, a linear guide assembly and a connecting member II2410;

[0053] The I-shaped member 241 is arranged vertically and mounted on the output end of the joint motor module 232;

[0054] The surface of the waist of the I-shaped member 241 is provided with a reduction motor, a belt drive assembly 242 and a linear drive assembly 249;

[0055] The surface of the legs of the I-shaped member 241 is mounted with a linear guide assembly;

[0056] The power output end of the reduction motor is connected to the belt transmission assembly 242, the power output end of the belt transmission assembly 242 is connected to the linear drive assembly, and the power output end of the linear drive assembly 249 is connected to the connector II2410; the connecting rod I25 and the connecting rod II26 are respectively installed on the corresponding connector II2410 and the linear guide assembly, and can move up and down along the linear guide assembly.

[0057] The feature of this embodiment is that two sets of linear drive mechanisms with the same structure are symmetrically arranged on both sides of the I-shaped member 241.

[0058] The connecting rod I25, the connecting rod II26, and the surgical instrument 27 form a parallelogram-like mechanism. The connecting rod I25 and the connecting rod II26 move relative to each other up and down, and the surgical instrument 27 will swing up and down. Since the connecting rod I and the connecting rod II26 are respectively connected to the surgical instrument 27 for rotation, the distance between the rotation axes of the two places remains unchanged. Therefore, when the connecting rod I25 and the connecting rod II26 move relative to each other up and down, the surgical instrument 27 slides relative to the connecting rod II26 to compensate for the displacement of the relative displacement of the connecting rod I25 and the connecting rod II26 up and down and the unchanged distance between the rotation axes of the two places.

[0059] Furthermore, the linear drive assembly 249 includes a ball screw pair;

[0060] The fixing seat 248 is installed on the I-shaped member 241, the ball screw of the ball screw pair 249 is rotatably set on the fixing seat 248, and the connecting member II2410 is installed on the nut of the ball screw pair.

[0061] The linear guide assembly includes a slider 246 and a guide rail 247; the guide rail 247 is installed on the leg of the I-shaped member 241, the slider 246 is slidably set on the guide rail 247, and the connecting rod I25 and the connecting rod II26 are respectively installed on the corresponding slider 246.

[0062] The reduction motor includes a motor 245 , a planetary gearbox 244 and a motor mounting plate 243 ; the output end of the motor 245 is connected to the power input end of the planetary gearbox 244 , and the motor 245 and the planetary gearbox 244 are mounted together on the motor mounting plate 243 .

[0063] The output end of the planetary gearbox 244 is connected to the input pulley of the belt transmission assembly 242. The output pulley of the belt transmission assembly 242 is installed with the screw of the ball screw pair. The connecting part II2410 is installed on the nut of the ball screw pair and is also installed on the slider 246.

[0064] Reference Figure 6 and Figure 7; The motor 245 is started and transmits power to the belt drive assembly 242 and the ball screw pair in turn. The nut of the ball screw pair moves linearly, driving the connecting part II2410, the connecting rod I25 and the connecting rod II26 to move up and down together, controlling the speed of the up and down movement or the up and down displacement distance of the connecting rod I25 and the connecting rod II26, and realizing the amplitude of the up and down swing of the surgical instrument 27, thereby meeting the auxiliary operation in microsurgery, achieving the purpose of precise surgical operation, and improving the stability of the operation.

[0065] Working process: refer to Figure 1-Figure 7 , the telescopic arm II controls the rotation joint II14 to move up and down, the rotation joint II14 controls the rotation of the rotation joint I12, the telescopic arm I13 controls the horizontal movement of the rotation joint I12, the rotation joint I12 controls the horizontal rotation of the beam 21, the joint motor module 232 controls the horizontal rotation of the swing arm 23, and the connecting member I22 is controlled to achieve horizontal movement (for example: a structural structure identical to or having the same principle as the linear drive mechanism of the rotating arm 24 is provided between the connecting member 22 and the beam 21 to achieve the control of the movement of the connecting member 22, optionally, comprising a belt transmission component, a reduction motor, a linear drive component and a linear guide component and installed on the beam 21, and the connecting member 22 is connected to the straight The linear drive assembly and the linear guide assembly; the linear drive assembly adopts a ball screw pair, and the linear guide assembly adopts a slider guide matching structure), which drives the swing arm 23 and the rotating arm 24 to move horizontally, and the joint motor module 232 controls the horizontal rotation of the rotating arm 24. The rotating arm 24 controls the up and down offset movement of the connecting rod I25 and the connecting rod II26, and controls the speed or up and down offset distance of the connecting rod I25 and the connecting rod II26 to achieve the amplitude of the up and down swing of the surgical instrument 27. In this way, by controlling the four-degree-of-freedom operating trolley 1 and the five-degree-of-freedom hybrid robotic arm 2, auxiliary operations in microsurgery are realized, so as to achieve the purpose of precise surgical operation and improved surgical stability.

[0066] This application has been disclosed as above with preferred implementation cases, but it is not intended to limit the present invention. Any technician familiar with this profession can make slight changes or modifications to the above-disclosed structures and technical contents without departing from the scope of the technical solution of this application, and the equivalent implementation cases with equivalent changes are still within the scope of the technical solution of this application.

Claims

1. A microsurgery robot slave system based on a series-parallel structure, characterized by: It comprises a four-degree-of-freedom operating table (1), a five-degree-of-freedom hybrid robotic arm (2) and a microscope adjustment platform (3); The five-degree-of-freedom hybrid robotic arm (2) is mounted on the five-degree-of-freedom operating table (1) and can move and rotate along with the operating table (1); The five-degree-of-freedom hybrid robotic arm (2) is used to achieve posture adjustment in a horizontal plane and posture adjustment in a vertical plane; the microscope adjustment platform (3) is installed on the hybrid robotic arm (2).

2. The microsurgery robot slave system based on a series-parallel structure according to claim 1, characterized in that: The operating table vehicle (1) comprises a suspension arm (11), a rotary joint I (12), a telescopic arm I (13), a rotary joint II (14), a telescopic arm II (15) and a vehicle body (16); The telescopic arm I (13) is arranged horizontally, and the telescopic arm II (15) is arranged vertically. One end of the telescopic arm II (15) is mounted on the vehicle body (16), and the other end of the telescopic arm II (15) is mounted with a rotary joint II (14). The suspension arm (11) is mounted on the rotary joint II (14) and is driven by the rotary joint II (14) to rotate relative to the telescopic arm II (15). The two ends of the telescopic arm I (13) are respectively connected to the suspension arm (11) and the rotary joint I (12) to control the movement of the rotary joint I (12).

3. The microsurgery robot slave system based on a series-parallel structure according to claim 1, characterized in that: The hybrid robotic arm (2) comprises a crossbeam (21), a connecting member I (22), a swing arm (23), a rotating arm (24), a connecting rod I (25), a connecting rod II (26) and a surgical instrument (27); The crossbeam (21) is mounted on the hybrid robot arm (2) and can rotate relative to the vehicle body (16); the connecting member (22) is slidably arranged on the crossbeam (21); the swing arm (23) is mounted on the connecting member I (22) and can rotate relative to the connecting member I (22); the rotating arm (24) is mounted on the swing arm (23) and can rotate relative to the swing arm (23); the connecting rod I (25) and the connecting rod II (26) are mounted on the rotating arm (24) and can move up and down relative to the rotating arm (24); and the surgical instrument (27) is rotatably arranged on the connecting rod I (25) and the connecting rod II (26).

4. The microsurgery robot slave system based on a series-parallel structure according to claim 3, characterized in that: The swing arm (23) comprises a swing arm housing (231) and two rotary joint motor modules (232); The rotary joint motor module (232) is built into the swing arm housing (231), the connector I (22) is mounted on the output end of one of the rotary joint motor modules (232), and the rotating arm (24) is mounted on the output end of the other rotary joint motor module (232).

5. The microsurgery robot slave system based on a parallel-parallel structure according to claim 4, characterized in that: The rotating arm (24) comprises an I-shaped member (241) and two sets of linear drive mechanisms, wherein the connecting rod I (25) and the connecting rod II (26) correspond to one set of linear drive mechanisms respectively; each set of linear drive mechanisms comprises a belt transmission assembly, a reduction motor, a linear drive assembly (249), a linear guide assembly and a connecting member II (2410); The I-shaped member (241) is arranged vertically and mounted on the output end of the joint motor module (232); The surface of the waist of the I-shaped member (241) is provided with a reduction motor, a belt transmission assembly (242) and a linear drive assembly (249); The surface of the leg of the I-shaped member (241) is equipped with a linear guide assembly; The power output end of the reduction motor is connected to the belt transmission assembly (242), the power output end of the belt transmission assembly (242) is connected to the linear drive assembly (249), and the power output end of the linear drive assembly (249) is connected to the connector II (2410); The connecting rod I (25) and the connecting rod II (26) are respectively mounted on the corresponding connecting member II (2410) and the linear guide assembly, and can move up and down along the linear guide assembly.

6. The microsurgery robot slave system based on a series-parallel structure according to claim 5, characterized in that: The linear drive assembly (249) includes a ball screw pair; The fixing seat (248) is mounted on the I-shaped member (241), the ball screw of the ball screw pair (249) is rotatably arranged on the fixing seat (248), and the connecting member II (2410) is mounted on the nut of the ball screw pair (249).

7. The microsurgery robot slave system based on a series-parallel structure according to claim 5, characterized in that: The linear guide assembly includes a slider (246) and a guide rail (247); the guide rail (247) is mounted on the leg of the I-shaped member (241); the slider (246) is slidably disposed on the guide rail (247); and the connecting rod I (25) and the connecting rod II (26) are respectively mounted on the corresponding sliders (246).

8. The microsurgery robot slave system based on a series-parallel structure according to claim 1, characterized in that: The four-degree-of-freedom operating table (1) has the freedom of lifting, telescoping and two rotational degrees; the five-degree-of-freedom hybrid robotic arm (2) has the freedom of moving, lifting, swinging and two rotational degrees.

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