A microsurgical robot slave system based on a hybrid structure

Abstract

The application discloses a kind of microsurgical robot end systems based on hybrid structure, belong to medical equipment and surgical robot technical field, it includes four degrees of freedom operating trolley, five degrees of freedom hybrid mechanical arm and microscope adjustment platform;The five degrees of freedom hybrid mechanical arm is installed in degree of freedom operating trolley, and can move and rotate with operating trolley;The five degrees of freedom hybrid mechanical arm is used to realize the pose adjustment in horizontal plane and the pose adjustment in vertical plane;The microscope adjustment platform is installed in hybrid mechanical arm.This application system realizes multi-degree of freedom, high-precision surgical operation by hybrid structure, with compact structure, rigid-flexible combination and path flexible characteristics, aims at providing more efficient, safer, more intelligent auxiliary operation platform for microsurgery.

Description

Technical Field

[0001] This invention relates to the integration technology of robots and medical devices, specifically to a microsurgical robot slave system based on a hybrid structure, belonging to the field of medical equipment and surgical robot technology. Background Technology

[0002] With the continuous advancement of modern medical technology, microsurgery has been widely applied in high-precision medical fields such as ophthalmology, neurosurgery, and otolaryngology. These surgeries typically require manipulation of tissues at the millimeter or even sub-millimeter scale, characterized by limited operating space, restricted visual feedback, and complex surgical pathways. This places extremely high demands on the surgeon's hand-eye coordination, operational stability, and endurance for extended periods of work.

[0003] Traditional microsurgery relies primarily on surgeons manipulating microsurgical instruments manually. Although aids such as microscopes are used, the following technical bottlenecks still exist:

[0004] 1. Human error is hard to avoid: The natural physiological tremors of doctors' hands limit the precision of surgical operations, especially when performing procedures such as vascular suturing and nerve separation, which can easily cause secondary damage to patients;

[0005] 2. Operational fatigue affects efficiency: Microsurgery is a long procedure that requires doctors to maintain high concentration for extended periods, which can easily lead to operational fatigue and thus affect the stability of the surgery.

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

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

[0008] China started relatively late in this field. Although some institutions, such as Tianjin University's "Miaoshou", Angtai Micro-Precision, and Dishi Medical, have made some progress, the overall focus is still on imitation, low-precision tracking, and semi-automatic control. The system structure is mostly based on master-slave serial connection, lacking high-performance hybrid mechanisms and slave structure innovation. In particular, in the design of end-effector systems that support 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 microsurgical robot slave system based on a hybrid structure. This system achieves multi-degree-of-freedom, high-precision surgical operations through its hybrid structure, featuring a compact structure, a combination of rigidity and flexibility, flexible pathways, and high control precision. It aims to provide a more efficient, safer, and intelligent auxiliary operating platform for microsurgery.

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

[0011] The five-degree-of-freedom hybrid robotic arm is mounted on a 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 pose adjustment in the horizontal plane and pose adjustment in the vertical plane; the microscope adjustment platform is mounted on the hybrid robotic arm.

[0013] Furthermore, the surgical 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 mounted on the vehicle body, the other end of the telescopic arm II is mounted on the rotary joint II, the suspension arm is mounted 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 link I, a link II, and surgical instruments; the crossbeam is mounted on the hybrid robotic arm and can rotate relative to the vehicle body, the connector is slidably mounted on the crossbeam, the swing arm is mounted on the connector I and can rotate relative to the connector I, the rotating arm is mounted on the swing arm and can rotate relative to the swing arm, link I and link II are mounted on the rotating arm and can move up and down relative to the rotating arm, and the surgical instruments are rotatably mounted on link I and link 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. 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 swing arm includes an I-shaped component and two sets of linear drive mechanisms, with link I and link II each corresponding to one set of linear drive mechanisms; each set of linear drive mechanisms includes a belt drive assembly, a geared motor, a linear drive assembly, a linear guide assembly, and a connecting component II;

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

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

[0020] The surface of the legs of the I-beam is equipped with a linear guide assembly;

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

[0022] The advantages of this invention compared to the prior art are:

[0023] 1. This application relates to the slave-end structure of a four-degree-of-freedom operating table for preoperative positioning and a five-degree-of-freedom hybrid robotic arm for intraoperative fine-tuning. The former allows for a wide range of adjustments in three-dimensional space to ensure the end-effector is within a reasonable surgical range; the latter combines the high rigidity of a parallel mechanism with the flexibility of a serial mechanism, ensuring both high-precision operation and good range of motion and compliance. In particular, the hybrid robotic arm integrates high rigidity and high flexibility, improving end-effector accuracy and operability.

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

[0025] 3. The structure is highly integrable, making it suitable for transformation into a product platform and promotion to actual surgical scenarios, thus possessing significant engineering value and promising prospects for promotion.

[0026] The proposed solution will be further described below with reference to the accompanying drawings and embodiments: Attached Figure Description

[0027] Figure 1 A schematic diagram of a microsurgical robot slave system applied to the ocular surface;

[0028] Figure 2 A schematic diagram of a four-degree-of-freedom operating table cart;

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

[0030] Figure 4 This is a schematic diagram of the swing arm structure;

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

[0032] Figure 6This is a schematic diagram of the swing arm structure;

[0033] Figure 7 This is a simplified diagram of a hybrid robotic arm mechanism. Detailed Implementation

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

[0035] Based on the technological background and considering the operational characteristics of microsurgery and the development trend of robotic mechanics, this implementation proposes a novel hybrid-structured slave-end execution system. This system features a compact structure, a combination of rigidity and flexibility, flexible path design, and high control precision, aiming to provide a more efficient, safer, and intelligent auxiliary operation platform for microsurgery.

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

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

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

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

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

[0041] The concrete features of this embodiment are as follows: The operating table 1 is the preoperative positioning mechanism, adopting a PRPR type structure, that is, a combination of two prismatic joints and two rotary joints with four degrees of freedom, which can achieve a wide range of adjustments in three-dimensional space to ensure that the end effector is in a reasonable surgical range. The hybrid robotic arm 2 is the intraoperative adjustment mechanism, which combines the high rigidity of the parallel mechanism with the flexibility of the serial mechanism. It can ensure high-precision operation and has a good range of motion and compliance. The serial structure adopts a PRR type structure to realize the position and posture adjustment of the robotic arm in the horizontal plane (horizontal movement and two rotational degrees of freedom), and the parallel structure realizes the position and posture adjustment of the robotic arm in the vertical plane (lifting movement and swinging degrees of freedom).

[0042] Specifically, refer to Figure 2The surgical trolley 1 in this embodiment includes 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 mounted on the movable vehicle body 16, and the other end of the telescopic arm II15 is mounted on a rotary joint II14. The suspension arm 11 is mounted 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] The operating characteristics of this implementation scheme are as follows: the telescopic arm II15 drives the rotary joint II14 to move vertically 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 together relative to the telescopic arm II15; the telescopic arm I13 controls the rotary joint I12 to move closer to or further away from the telescopic arm II15 in the horizontal direction; and the rotary joint I12 controls the rotation of the hybrid robotic arm 2. Optionally, the telescopic arm I113 and the telescopic arm II15 are electric actuators, or the telescopic arm II15 is an electric actuator and the telescopic arm I13 is a 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 connector I22, a swing arm 23, a rotating arm 24, a connecting rod I25, a connecting rod II26, and a surgical instrument 27;

[0046] A crossbeam 21 is mounted on the hybrid robotic arm 2 and can rotate relative to the vehicle body 16. A connector 22 is slidably mounted on the crossbeam 21. A swing arm 23 is mounted on the connector I22 and can rotate relative to the connector I22. A rotating arm 24 is mounted on the swing arm 23 and can rotate relative to the swing arm 23. Links I25 and II26 are mounted on the rotating arm 24 and can move up and down relative to the rotating arm 24. A surgical instrument 27 is rotatably mounted on link I25 and link II26 and can slide relative to link II26.

[0047] Surgical instrument 27 is existing technology, and microscope adjustment platform 3 is mounted on crossbeam 21.

[0048] The features of this implementation scheme are: it combines a series structure and a parallel structure. The series structure enables the robot arm's pose adjustment in the horizontal plane (the horizontal movement degree of freedom of connector 22 relative to beam 21, and the rotational degrees of freedom of swing arm 23 relative to connector I22 and the rotational degrees of freedom of rotating arm 24 relative to swing arm 23). The parallel structure enables the robot arm's pose adjustment in the vertical plane (the vertical linear movement degree of freedom of links I25 and II26 relative to rotating arm 24, and the vertical swinging degree of freedom of surgical instrument 27 relative to links I25 and II26). This ensures that the robot's end system can achieve a wide range of adjustments in three-dimensional space, so as to ensure that the end 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 I22 is installed at the output end of one of the rotary joint motor modules 232, and the swing arm 24 is installed at the output end of the other rotary joint motor module 232.

[0051] The features of this implementation scheme are as follows: During operation, the motor output end of one rotary joint motor module 232 is set upward, and a connector I22 is installed on it. Since the connector I22 is stationary, one rotary joint motor module 232 drives the swing arm housing 231 to rotate relative to the connector 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 component 241 is installed on it. The motor drives the rotating arm 24 or the I-shaped component 241 to rotate as a whole.

[0052] Reference Figure 5 and Figure 6 The rotating arm 24 includes an I-shaped component 241 and two sets of linear drive mechanisms. Link I 25 and link II 26 each correspond to a set of linear drive mechanisms. Each set of linear drive mechanisms includes a belt drive assembly 242, a geared motor, a linear drive assembly 249, a linear guide assembly, and a connector II 2410.

[0053] The I-shaped component 241 is arranged vertically and installed at the output end of the joint motor module 232;

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

[0055] The surface of the legs of the I-beam 241 is equipped with a linear guide assembly;

[0056] The power output end of the geared motor is connected to the belt drive assembly 242, the power output end of the belt drive 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 II 2410; the connecting rod I 25 and the connecting rod II 26 are respectively installed on the corresponding connector II 2410 and the linear guide assembly, and can move up and down along the linear guide assembly.

[0057] The feature of this implementation scheme is that two sets of linear drive mechanisms with identical structures are symmetrically arranged on both sides of the I-shaped component 241.

[0058] Links I25, II26, and surgical instrument 27 form a parallelogram-like mechanism. When links I25 and II26 move vertically relative to each other, surgical instrument 27 will swing up and down. Since links I and II26 are rotatably connected to surgical instrument 27, the distance between their rotation axes remains constant. Therefore, when links I25 and II26 move vertically relative to each other, surgical instrument 27 slides relative to link II26 to compensate for the displacement caused by the vertical misalignment of links I25 and II26 and the constant distance between their rotation axes.

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

[0060] The fixed seat 248 is mounted on the I-shaped part 241, the ball screw of the ball screw pair 249 is rotatably mounted on the fixed seat 248, and the connecting part II 2410 is mounted 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 mounted on the leg of the I-shaped member 241, the slider 246 is slidably disposed on the guide rail 247, and connecting rod I25 and connecting rod II26 are respectively mounted on the corresponding slider 246.

[0062] The geared 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 drive assembly 242. The output pulley of the belt drive assembly 242 is equipped with the screw of the ball screw pair. The connecting piece II 2410 is installed on the nut of the ball screw pair and also on the slider 246.

[0064] Reference Figure 6 and Figure 7When motor 245 starts, it transmits power sequentially to belt drive assembly 242 and ball screw pair. The nut of ball screw pair moves linearly, driving connecting part II 2410, connecting rod I 25 and connecting rod II 26 to move up and down together. By controlling the speed of the up and down movement of connecting rod I 25 and connecting rod II 26 or the distance of the up and down movement, the amplitude of the up and down swing of surgical instrument 27 can be realized, thereby meeting the auxiliary operation in microsurgery, achieving the purpose of precise surgical operation, and improving the stability of the operation.

[0065] Work process: Refer to Figures 1-7 Telescopic arm II controls the vertical movement of rotary joint II14, rotary joint II14 controls the rotation of rotary joint I12, telescopic arm I13 controls the horizontal movement of rotary joint I12, rotary joint I12 controls the horizontal rotation of crossbeam 21, joint motor module 232 controls the horizontal rotation of swing arm 23, and connecting member I22 is controlled to achieve horizontal movement (for example, connecting member 22 and crossbeam 21 are provided with a structure that is the same as or has the same principle as the linear drive mechanism of rotary arm 24, to achieve control of connecting member 22 movement; optionally, it includes a belt drive assembly, a geared motor, a linear drive assembly and a linear guide assembly and is installed on crossbeam 21, connecting member 22 is connected to the linear drive mechanism). The system includes a linear drive assembly and a linear guide assembly; the linear drive assembly uses a ball screw pair, and the linear guide assembly uses a slider guide rail structure. This drives the swing arm 23 and the rotating arm 24 to move laterally. The joint motor module 232 controls the horizontal rotation of the rotating arm 24, and the rotating arm 24 controls the vertical displacement of the connecting rods I25 and II26. By controlling the speed or displacement distance of the vertical movement of the connecting rods I25 and II26, the amplitude of the vertical swing of the surgical instrument 27 can be achieved. In this way, by controlling the four-degree-of-freedom surgical trolley 1 and the five-degree-of-freedom hybrid robotic arm 2, auxiliary operation in microsurgery can be achieved, thereby achieving precise surgical operation and improving surgical stability.

[0066] This application has disclosed the preferred embodiments above, but it is not intended to limit the invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the technical solution of this application, and all such modifications or alterations shall still fall within the scope of the technical solution of this application.

Claims

1. A microsurgical robot slave system based on a hybrid structure, characterized in that: It includes 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 degree-of-freedom operating trolley (1) and can move and rotate with the operating trolley (1); The five-degree-of-freedom hybrid robotic arm (2) is used to realize pose adjustment in the horizontal plane and pose adjustment in the vertical plane; the microscope adjustment platform (3) is installed on the hybrid robotic arm (2). The four-degree-of-freedom operating table (1) includes a vehicle body (16). The hybrid robotic arm (2) includes a crossbeam (21), a connector I (22), a swing arm (23), a rotating arm (24), a link I (25), a link II (26), and surgical instruments (27). A crossbeam (21) is mounted on the hybrid robotic arm (2) and can rotate relative to the vehicle body (16). A connector (22) is slidably mounted on the crossbeam (21). A swing arm (23) is mounted on the connector I (22) and can rotate relative to the connector I (22). A rotating arm (24) is mounted on the swing arm (23) and can rotate relative to the swing arm (23). Link I (25) and link II (26) are mounted on the rotating arm (24) and can move up and down relative to the rotating arm (24). A surgical instrument (27) is rotatably mounted on link I (25) and link II (26). The swing arm (23) includes 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 installed at the output end of one of the rotary joint motor modules (232), and the swing arm (24) is installed at the output end of the other rotary joint motor module (232); The rotating arm (24) includes an I-shaped component (241) and two sets of linear drive mechanisms. Link I (25) and link II (26) each correspond to a set of linear drive mechanisms. Each set of linear drive mechanisms includes a belt drive assembly, a geared motor, a linear drive assembly (249), a linear guide assembly, and a connector II (2410). The I-shaped component (241) is arranged vertically and installed at the output end of the joint motor module (232); The surface of the waist of the I-shaped component (241) is provided with a geared motor, a belt drive assembly (242) and a linear drive assembly (249). The surface of the legs of the I-beam (241) is fitted with a linear guide assembly; The power output end of the geared motor is connected to the belt drive assembly (242), the power output end of the belt drive 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). Link I (25) and link II (26) are respectively installed on the corresponding connector II (2410) and linear guide assembly, and can move up and down along the linear guide assembly.

2. The microsurgical robot slave system based on a hybrid structure according to claim 1, characterized in that: The four-degree-of-freedom operating table (1) includes a suspension arm (11), a rotary joint I (12), a telescopic arm I (13), a rotary joint II (14), and a telescopic arm II (15). 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 installed on the vehicle body (16), and the other end of the telescopic arm II (15) is installed with a rotary joint II (14). The suspension arm (11) is installed 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 microsurgical robot slave system based on a hybrid structure according to claim 1, characterized in that: The linear drive assembly (249) includes a ball screw pair; A fixed seat (248) is mounted on an I-shaped part (241), and the ball screw of the ball screw pair (249) is rotatably mounted on the fixed seat (248). Connector II (2410) is mounted on the nut of the ball screw pair (249).

4. The microsurgical robot slave system based on a hybrid structure according to claim 1, 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 connecting rod I (25) and connecting rod II (26) are respectively mounted on the corresponding slider (246).

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

Images