Piezoelectric-driven ophthalmic surgical robot

Abstract

The invention provides a piezoelectric-driven ophthalmic surgical robot. The piezoelectric-driven ophthalmic surgical robot comprises a supporting mechanism, a bottom plate, a folding mechanism, a tail end executing mechanism, a rotary driving mechanism, a first piezoelectric driving mechanism and a second piezoelectric driving mechanism. The bottom plate is movably connected with the supporting mechanism, the folding mechanism is installed on the bottom plate, the second piezoelectric driving mechanism is arranged on the folding mechanism, and the second piezoelectric driving mechanism can drive the tail end executing mechanism to move linearly; the rotary driving mechanism can drive the bottom plate to turn left and right; the first piezoelectric driving mechanism is arranged below the bottom plate, is in driving connection with the folding mechanism and can drive the folding mechanism to deform so as to adjust the angle of the tail end executing mechanism; a piezoelectric pre-tightening compensation mechanism is further arranged to prevent the tail end executing mechanism from sliding down due to gravity, and the operation stability is guaranteed. The piezoelectric characteristic is combined with the advantages of the guide rail, accurate, rapid, stable and compact motion control of the ophthalmologic operation executing mechanism can be achieved, the fine operation requirement of the ophthalmologic operation is met, and the tissue damage risk is reduced.

Description

Technical Field

[0001] This invention relates to the field of puncture positioning device technology, and more specifically to a piezoelectrically driven ophthalmic surgical robot. Background Technology

[0002] Currently, in the field of ophthalmic surgery, the requirements for the operational precision and stability of ocular surgical machines are becoming increasingly stringent. However, existing manual and motor-driven ocular surgical robots have significant limitations. Manually operated robots are constrained by physiological limits and cannot meet the micron-level precision requirements for procedures such as retinal vein cannulation. Conventional motor-driven robots rely on intermediate transmission components, which are prone to motion errors due to mechanical backlash and other factors. Furthermore, they are difficult to precisely control the interaction forces with the delicate intraocular tissues, and their large size, lack of flexibility, and poor adaptability also contribute to their limitations. Piezoelectric ceramics, with their advantages of fast response speed and large stroke range due to the inverse piezoelectric effect, are widely used.

[0003] Therefore, there is an urgent need for a guide rail-type piezoelectric driven ophthalmic surgical robot actuator that utilizes the piezoelectric properties combined with the advantages of guide rails to solve the problem of insufficient positioning accuracy for the puncture site in ocular puncture surgery. Summary of the Invention

[0004] This invention addresses the problems existing in the prior art by providing a piezoelectrically driven ophthalmic surgical robot to solve the problem of insufficient positioning accuracy at the puncture site during ocular puncture surgery.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention provides a piezoelectrically driven ophthalmic surgical robot, comprising a support mechanism, a base plate, a folding mechanism, an end effector, a rotary drive mechanism, a first piezoelectric drive mechanism, and a second piezoelectric drive mechanism. The base plate is movably connected to the support mechanism, the folding mechanism is mounted on the base plate, the second piezoelectric drive mechanism is disposed on the folding mechanism, and is drivenly connected to the end effector, enabling the end effector to move linearly. The rotary drive mechanism is disposed on one side of the support mechanism and is drivenly connected to the base plate, enabling the base plate to flip left and right. The first piezoelectric drive mechanism is disposed below the base plate, and the base plate has a through slot. The first piezoelectric drive mechanism passes through the through slot and is drivenly connected to the folding mechanism, enabling the folding mechanism to deform and thereby adjust the angle of the end effector.

[0007] Furthermore, the base plate is connected to the support mechanism via a first connector; the first connector includes two connecting plates that are rotatably connected, one connecting plate being fixedly connected to the support mechanism and the other connecting plate being fixedly connected to the base plate.

[0008] Furthermore, the rotary drive mechanism includes a motor, a motor mounting bracket, a corner block, and a rocker arm; the motor mounting bracket is fixedly mounted on one side of the support mechanism, the motor is fixedly mounted inside the motor mounting bracket, the drive shaft of the motor is fixedly connected to one end of the rocker arm, the other end of the rocker arm is connected to the corner block, and the corner block is fixedly connected to the base plate.

[0009] Furthermore, the first piezoelectric drive mechanism includes a first mounting component, a first piezoelectric stack, a first guide rail, a first slider, a slider fixing plate, and a push plate; the lower surface of the base plate is provided with a first piezoelectric fixing component, one end of the first mounting component is fixedly connected to the base plate through the first piezoelectric fixing component, the other end of the first mounting component is fixedly connected to the first guide rail, and the first slider is slidably connected to the first guide rail; the slider fixing plate is fixed on the first slider, one end of the push plate is connected to the folding mechanism, and the other end is connected to the slider fixing plate; the first mounting component is provided with a mounting groove, the first piezoelectric stack is disposed in the mounting groove and fixedly connected to the first mounting component; after the first piezoelectric stack is energized, it can generate expansion and contraction deformation due to the inverse piezoelectric effect, the first piezoelectric stack drives the first mounting component to deform, thereby driving the first guide rail to generate a momentary small displacement, driving the first slider to slide along the first guide rail and generate an amplified displacement, thereby the first slider and the slider fixing plate move horizontally, so that the push plate applies force to the folding mechanism.

[0010] Furthermore, the folding mechanism includes an upper parallel plate, a lower parallel plate, and an actuator fixing plate; the upper and lower parallel plates are distributed vertically and parallel to each other, the top end of the actuator fixing plate is rotatably connected to the end of the upper parallel plate, and the bottom end is rotatably connected to the end of the lower parallel plate; the second piezoelectric drive mechanism is connected to the actuator fixing plate; four upper connecting plates are rotatably mounted on the upper parallel plate, and four lower connecting plates are rotatably mounted on the lower parallel plate, the four upper connecting plates and the four lower connecting plates are vertically corresponding, and the four upper connecting plates are respectively fixedly connected to the four lower connecting plates corresponding to their positions through a second connector; a main connecting plate is rotatably mounted on the bottom end of each of the four lower connecting plates, and the main connecting plate is fixedly connected to the bottom plate; among the four lower connecting plates, a horizontal plate parallel to the bottom plate is provided between the two lower connecting plates closest to the actuator fixing plate, and the two ends of the horizontal plate are respectively fixedly connected to the two lower connecting plates, and the first piezoelectric drive mechanism is drivenly connected to the horizontal plate.

[0011] Furthermore, the upper and lower parallel plates have the same structure and are both axially symmetric figures; the four upper connecting plates are parallel to each other and arranged in two rows, with the two upper connecting plates in each row symmetrically distributed with the axis of the upper parallel plate as the central axis, and the distance between the two upper connecting plates closer to the actuator fixing plate is smaller than the distance between the two upper connecting plates farther from the actuator fixing plate; the four lower connecting plates are parallel to each other and arranged in two rows, with the two lower connecting plates in each row symmetrically distributed with the axis of the lower parallel plate as the central axis, and the distance between the two lower connecting plates closer to the actuator fixing plate is smaller than the distance between the two lower connecting plates farther from the actuator fixing plate.

[0012] Furthermore, the second piezoelectric drive mechanism includes a second mounting component, a second piezoelectric stack, a second guide rail, and a second slider. One end of the second mounting component is connected to the actuator fixing plate of the folding mechanism via a second piezoelectric fixing component, and the other end of the second mounting component is fixedly connected to the second guide rail. The second slider is slidably connected to the second guide rail, and the end actuator is connected to the second slider. The second mounting component is provided with a mounting groove, and the second piezoelectric stack is disposed in the mounting groove and fixedly connected to the second mounting component. When the second piezoelectric stack is energized, it can generate expansion and contraction deformation due to the inverse piezoelectric effect, which drives the second mounting component to deform, thereby causing the second guide rail to generate a momentary small displacement. This causes the second slider to slide along the second guide rail and generate an amplified displacement, thereby driving the end actuator to move linearly along the second guide rail.

[0013] Furthermore, an end effector mounting component is also provided; the end effector mounting component is fixedly connected to the second slider; the end effector includes a puncture needle and a puncture needle fixing component; the puncture needle fixing component is fixed to the outer surface of the end effector mounting component, and the puncture needle is disposed inside the puncture needle fixing component.

[0014] Furthermore, the end effector mounting component has an internal through-groove structure, nested outside the second guide rail and the second slider; a partition plate is provided inside the through-groove, fixed to the inner wall of the end effector mounting component, and the partition plate divides the through-groove into two spaces; a piezoelectric ceramic is provided on one side of the partition plate, and the second guide rail and the second slider are distributed on the other side of the partition plate. A first alumina ceramic strip is provided on the side of the partition plate facing the second guide rail, and a second alumina ceramic strip is provided on the side of the second guide rail facing the partition plate, with the second alumina ceramic strip and the second slider distributed on both sides of the second guide rail; when the piezoelectric ceramic is energized, it expands and contracts due to the inverse piezoelectric effect, which can drive the partition plate and the first alumina ceramic strip to move toward or away from the second guide rail, thereby adjusting the friction between the first alumina ceramic strip and the second alumina ceramic strip.

[0015] Furthermore, a notch is provided on one side wall of the end effector mounting component, and a pre-tightening device is provided at the notch; the pre-tightening device includes a pre-tightening block and a bolt, one end of the bolt is connected to the side wall below the notch, and the other end passes through the through hole in the side wall above the notch and is threadedly connected to the pre-tightening block.

[0016] The beneficial effects of this invention are:

[0017] This invention enables the end effector to be rotated left and right by a rotary drive mechanism; it enables the end effector to be rotated forward and backward by a first piezoelectric drive mechanism; it enables the end effector to be adjusted to move closer to or further away from the part to be operated by a second piezoelectric drive mechanism; and it prevents the second slider and the end effector from sliding down due to gravity by an end effector mounting component (i.e., a piezoelectric preload compensation mechanism), thus ensuring operational stability.

[0018] This invention uses two piezoelectric actuators, one for driving the folding mechanism to move back and forth, and the other for driving the puncture needle to move up and down. The overall mechanism operates by driving the rotating shaft to rotate via a servo motor, causing the folding mechanism to swing left and right, thus achieving flexible adjustment of the puncture needle from multiple dimensions. The coordinated operation of each structure enables the puncture needle to achieve high-precision displacement and high-accuracy positioning.

[0019] This invention utilizes piezoelectric properties combined with the advantages of guide rails to achieve precise, rapid, stable, and compact motion control of ophthalmic surgical execution mechanisms, meeting the delicate operational needs of ophthalmic surgery and reducing the risk of tissue damage. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the piezoelectrically driven ophthalmic surgical robot of the present invention;

[0021] Figure 2 This is a distribution diagram of the base plate, support mechanism, and rotary drive mechanism of the present invention;

[0022] Figure 3 This is a schematic diagram of the support mechanism of the present invention;

[0023] Figure 4 This is a schematic diagram showing the connection between the first connector and the base plate and support mechanism of the present invention;

[0024] Figure 5 This is a schematic diagram of the first piezoelectric drive mechanism of the present invention;

[0025] Figure 6 This is a schematic diagram of the second piezoelectric drive mechanism of the present invention;

[0026] Figure 7 This is a schematic diagram of the folding mechanism of the present invention;

[0027] Figure 8This is a diagram illustrating the fabrication process of the folding mechanism of the present invention.

[0028] Figure 9 This is a schematic diagram of the mounting components for the end effector of the present invention;

[0029] Figure 10 This is a schematic diagram showing the connection between the end effector mounting component and the second guide rail and the second slider of the present invention;

[0030] Figure 11 This is an overall diagram of the piezoelectrically driven ophthalmic surgical robot of the present invention;

[0031] Figures 12-13 This is a deformed diagram of the folding mechanism of the piezoelectrically driven ophthalmic surgical robot of the present invention;

[0032] Label name in the image:

[0033] 1. Support mechanism; 2. Base plate; 3. Corner block; 4. Motor mounting bracket; 5. Motor; 6. Rocker arm; 7. First connecting piece; 8. First piezoelectric fixing piece; 9. First piezoelectric stack; 10. Preload screw; 11. First mounting piece; 12. Second alumina ceramic strip; 13. First slider; 14. First guide rail; 15. Puncture needle fixing piece; 16. Piezoelectric ceramic; 17. First alumina ceramic strip; 18. End effector mounting piece; 19. Bolt; 20. Second piezoelectric fixing piece; 21. Actuator fixing plate; 22. Upper parallel plate; 23. Upper connecting plate; 24. Second connecting piece; 25. Lower connecting plate; 26. Lower parallel plate; 27. Main body connecting plate; 28. Horizontal plate; 29. ​​Push plate; 30. Slider fixing plate; 31. Second mounting piece; 32. Second piezoelectric stack; 33. Second guide rail; 34. Second slider; 35. Divider plate; 36. Preload block. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the embodiments and accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] like Figures 1-10 As shown, this embodiment of the invention provides a piezoelectrically driven ophthalmic surgical robot, including a support mechanism 1, a base plate 2, a folding mechanism, an end effector, a rotation drive mechanism, a first piezoelectric drive mechanism, and a second piezoelectric drive mechanism.

[0036] like Figures 2-4As shown, the base plate 2 is movably connected to the support mechanism 1. Specifically, the base plate 2 and the support mechanism 1 are connected via a first connecting member 7. The first connecting member 7 includes two rectangular connecting plates with identical structures. The two connecting plates are rotatably connected. One connecting plate is fixedly connected to the support mechanism 1 by screws, and the other connecting plate is fixedly connected to the base plate 2 by screws. The base plate 2 can be flipped relative to the support mechanism 1. Figure 1 As shown, the folding mechanism is mounted on the base plate 2, and the second piezoelectric drive mechanism is mounted on the folding mechanism. The second piezoelectric drive mechanism is connected to the end effector and can drive the end effector to move linearly, thereby driving the puncture needle of the end effector to move toward or away from the part to be operated on.

[0037] A rotary drive mechanism is located on one side of the support mechanism 1 and is driven to the base plate 2. It drives the base plate 2 to rotate left and right, thereby synchronously rotating the folding mechanism, the second piezoelectric drive mechanism, and the end effector. This causes the puncture needle of the end effector to rotate, adjusting its angle in the corresponding dimension. Specifically, the rotary drive mechanism includes a motor 5, a motor mounting bracket 4, a corner block 3, and a rocker arm 6. The motor mounting bracket 4 is fixedly located on one side of the support mechanism 1, and the motor 5 is fixedly installed inside the motor mounting bracket 4. The drive shaft of the motor 5 is fixedly connected to one end of the rocker arm 6, and the other end of the rocker arm 6 is connected to the corner block 3. The corner block 3 is fixedly connected to the base plate 2. In application, the motor 5 drives the rocker arm 6 to rotate, which in turn causes the corner block 3 to rotate, thereby causing the base plate 2 to rotate left and right.

[0038] like Figure 2 and Figure 11 As shown, the first piezoelectric drive mechanism is located below the base plate 2. The base plate 2 has a through slot. The first piezoelectric drive mechanism passes through the through slot and is connected to the folding mechanism. It can drive the folding mechanism to deform (move back and forth), thereby driving the second piezoelectric drive mechanism and the end effector to move, thereby adjusting the angle of the puncture needle of the end effector in the corresponding dimension.

[0039] Specifically, in this embodiment, the folding mechanism includes an upper parallel plate 22, a lower parallel plate 26, and an actuator fixing plate 21. The upper parallel plate 22 and the lower parallel plate 26 have the same structure and are both axisymmetric figures. The upper parallel plate 22 and the lower parallel plate 26 are distributed vertically and parallel to each other. The actuator fixing plate 21 is a rectangular plate structure, with its top end rotatably connected to the end of the upper parallel plate 22 and its bottom end rotatably connected to the end of the lower parallel plate 26. The second piezoelectric drive mechanism is connected to the actuator fixing plate 21. Four upper connecting plates 23 are rotatably mounted on the upper parallel plate 22, and four lower connecting plates 25 are rotatably mounted on the lower parallel plate 26. The four upper connecting plates 23 and the four lower connecting plates 25 are vertically corresponding. The four upper connecting plates 23 are fixedly connected to the four lower connecting plates 25 corresponding to their respective positions through a second connecting member 24, so that the four upper connecting plates 23 and the four lower connecting plates 25 form an integral straight structure. The bottom ends of the four lower connecting plates 25 are respectively rotatably mounted with main connecting plates 27, and the main connecting plates 27 are fixedly connected to the base plate 2 by screws.

[0040] like Figure 7 As shown, the four upper connecting plates 23 are parallel to each other and arranged in two rows. The two upper connecting plates 23 in each row are symmetrically distributed with the axis of the upper parallel plate 22 as the central axis. The distance between the two upper connecting plates 23 closer to the actuator fixing plate 21 is smaller than the distance between the two upper connecting plates 23 farther away from the actuator fixing plate 21. That is, the shape of the line connecting the ends of the four upper connecting plates 23 is an isosceles trapezoid.

[0041] like Figure 7 As shown, the four lower connecting plates 25 are parallel to each other and arranged in two rows. The two lower connecting plates 25 in each row are symmetrically distributed with the axis of the lower parallel plate 26 as the central axis. The distance between the two lower connecting plates 25 closer to the actuator fixing plate 21 is smaller than the distance between the two lower connecting plates 25 farther from the actuator fixing plate 21; that is, the shape of the line connecting the ends of the four lower connecting plates 25 is an isosceles trapezoid. Among the four lower connecting plates 25, a horizontal plate 28 parallel to the base plate 2 is provided between the two lower connecting plates 25 closest to the actuator fixing plate 21. The two ends of the horizontal plate 28 are fixedly connected to the two lower connecting plates 25 respectively, and the first piezoelectric drive mechanism is drivenly connected to the horizontal plate 28.

[0042] In this invention, the folding mechanism can be formed by cutting and folding a single sheet of aluminum. For example... Figure 8As shown, the upper parallel plate 22 / lower parallel plate 26 is movably connected to the actuator fixing plate 21 via flexible hinges. The upper parallel plate 22, lower parallel plate 26 are also movably connected to the four upper connecting plates 23 and four lower connecting plates 25 via flexible hinges. The flexible hinges are made of polyimide film, and the flexible polyimide is laminated and bonded to each connecting plate using a heat-activated sheet adhesive. The flexibility of the polyimide buffers movement stress while ensuring connection strength. The use of a folding mechanism simplifies the overall structure, and the parallelogram structure formed by the folding allows the puncture needle to always move around a fixed point, enabling precise puncture at the designated location. The deformation process of the folding mechanism is shown in [details omitted]. Figure 12 and Figure 13 .

[0043] like Figure 5 and Figure 7 As shown, the first piezoelectric drive mechanism includes a first mounting component 11, a first piezoelectric stack 9, a first guide rail 14, a first slider 13, a slider fixing plate 30, and a push plate 29. A first piezoelectric fixing component 8 is provided on the lower surface of the base plate 2. One end of the first mounting component 11 is fixedly connected to the base plate 2 via the first piezoelectric fixing component 8, and the first mounting component 11 is parallel to the base plate 2. The other end of the first mounting component 11 is fixedly connected to the first guide rail 14, which is parallel to the base plate 2. The first slider 13 is slidably connected to the first guide rail 14. The slider fixing plate 30 is fixed to the first slider 13 with screws. One end of the push plate 29 is connected to the horizontal plate 28 of the folding mechanism, and the other end is connected to the slider fixing plate 30. The first mounting component 11 is provided with a mounting groove, and the first piezoelectric stack 9 is disposed in the mounting groove and fixedly connected to the first mounting component 11 via pre-tightening screws 10. When the first piezoelectric stack 9 is energized, it undergoes expansion and contraction due to the inverse piezoelectric effect. This expansion and contraction causes the first mounting component 11 to deform (elongate or shorten within a certain range), which in turn causes the first guide rail 14 to produce a momentary micro-displacement. This momentary micro-displacement can be amplified, causing the first slider 13 to slide along the first guide rail 14 and produce an amplified displacement. As a result, the first slider 13 and the slider fixing plate 30 move horizontally, causing the push plate 29 to apply force to the folding mechanism. After the push plate 29 applies force to the folding mechanism, the folding mechanism will deform. The four upper connecting plates 23 and the four lower connecting plates 25 will simultaneously flip forward or backward, and the angle of the actuator fixing plate 21 will change accordingly. This allows the end actuator to move back and forth, with the angle changing accordingly.

[0044] like Figure 6As shown, the second piezoelectric drive mechanism includes a second mounting member 31, a second piezoelectric stack 32, a second guide rail 33, and a second slider 34. One end of the second mounting member 31 is connected to the actuator fixing plate 21 of the folding mechanism via a second piezoelectric fixing member 20, and the other end of the second mounting member 31 is fixedly connected to the second guide rail 33. The second slider 34 is slidably connected to the second guide rail 33, and the end actuator is connected to the second slider 34. The second mounting member 31 is provided with a mounting groove, and the second piezoelectric stack 32 is set in the mounting groove by screws and fixedly connected to the second mounting member 31. When the second piezoelectric stack 32 is energized, it undergoes expansion and contraction due to the inverse piezoelectric effect, causing the second mounting member 31 to deform (elongation or shortening within a certain range), which in turn causes the second guide rail 33 to produce a momentary micro-displacement. This momentary micro-displacement can be amplified, causing the second slider 34 to slide along the second guide rail 33 and produce an amplified displacement, thereby driving the end actuator to move linearly along the second guide rail 33, causing the end actuator to move toward or away from the part to be operated.

[0045] In this device, the first mounting member 11 and the second mounting member 31 can be made of 45 steel. When the piezoelectric stack shrinks, the first mounting member 11 / second mounting member 31 can extend along the direction of the guide rail.

[0046] As a further preferred embodiment of the present invention, the device is further provided with an end effector mounting member 18, which is fixedly connected to the second slider 34. The end effector includes a puncture needle and a puncture needle fixing member 15. The puncture needle fixing member 15 is fixed to the outer surface of the end effector mounting member 18 by screws, and the puncture needle is disposed inside the puncture needle fixing member 15.

[0047] like Figures 9-10As shown, the end effector mounting component 18 is a cuboid structure with an internal through-groove, nested outside the second guide rail 33 and the second slider 34. A partition plate 35 is installed inside the through-groove, perpendicularly fixed to the inner wall of the end effector mounting component 18, dividing the through-groove into two spaces. A piezoelectric ceramic 16 is installed in one space of the partition plate 35, fixed to both the partition plate 35 and the inner wall of the end effector mounting component 18. The second guide rail 33 and the second slider 34 are distributed in the other space of the partition plate 35. A first alumina ceramic strip 17 is installed on the side of the partition plate 35 facing the second guide rail 33, and a second alumina ceramic strip 12 is installed on the side of the second guide rail 33 facing the partition plate 35. The second alumina ceramic strip 12 and the second slider 34 are distributed on both sides of the second guide rail 33. When the piezoelectric ceramic 16 is energized, it undergoes expansion and contraction due to the inverse piezoelectric effect (elongation or shortening within a certain range), which can drive the partition plate 35 and the first alumina ceramic strip 17 to move toward or away from the second guide rail 33, thereby adjusting the friction between the first alumina ceramic strip 17 and the second alumina ceramic strip 12 and preventing the second slider 34 from sliding down due to gravity.

[0048] As a further preferred embodiment of the present invention, a notch is provided on one side wall of the end effector mounting member 18, the width of which is the same as the width of the side wall of the end effector mounting member 18. A pre-tightening device is provided at the notch, the pre-tightening device including a pre-tightening block 36 and a bolt 19. One end of the bolt 19 is connected to the lower side wall of the notch, and the other end passes through a through hole in the upper side wall of the notch and is threadedly connected to the pre-tightening block 36. The distance between the upper and lower side walls of the notch can be adjusted by screwing the pre-tightening block 36, which can both pre-tighten the piezoelectric ceramic and provide pre-pressure.

[0049] To continuously press and prevent the second slider 34 from falling, a high-level output is maintained to keep the piezoelectric ceramic 16 elongated, thereby applying pressure downward along the second guide rail 33. The pre-tightening device also has a pre-pressure function. Together, they ensure that the friction between the second slider 34 and the guide rail can counteract its own weight.

[0050] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A piezoelectrically driven ophthalmic surgical robot, characterized in that, It includes a support mechanism (1), a base plate (2), a folding mechanism, an end effector, a rotary drive mechanism, a first piezoelectric drive mechanism, and a second piezoelectric drive mechanism; The base plate (2) is movably connected to the support mechanism (1). The folding mechanism is installed on the base plate (2). The second piezoelectric drive mechanism is installed on the folding mechanism and is driven to the end effector, which can drive the end effector to move linearly. The rotation drive mechanism is installed on one side of the support mechanism (1) and is driven to the base plate (2), which can drive the base plate (2) to flip left and right. The first piezoelectric drive mechanism is installed below the base plate (2). The base plate (2) has a through slot. The first piezoelectric drive mechanism passes through the through slot and is driven to the folding mechanism, which can drive the folding mechanism to deform, thereby adjusting the angle of the end effector.

2. The piezoelectrically driven ophthalmic surgical robot according to claim 1, characterized in that, The base plate (2) is connected to the support mechanism (1) via the first connector (7); The first connector (7) includes two connecting plates that are rotatably connected. One connecting plate is fixedly connected to the support mechanism (1), and the other connecting plate is fixedly connected to the base plate (2).

3. The piezoelectrically driven ophthalmic surgical robot according to claim 1, characterized in that, The rotary drive mechanism includes a motor (5), a motor mounting bracket (4), a corner block (3), and a rocker arm (6); The motor mounting bracket (4) is fixedly installed on one side of the support mechanism (1), the motor (5) is fixedly installed inside the motor mounting bracket (4), the drive shaft of the motor (5) is fixedly connected to one end of the rocker arm (6), the other end of the rocker arm (6) is connected to the corner block (3), and the corner block (3) is fixedly connected to the base plate (2).

4. The piezoelectrically driven ophthalmic surgical robot according to claim 1, characterized in that, The first piezoelectric drive mechanism includes a first mounting component (11), a first piezoelectric stack (9), a first guide rail (14), a first slider (13), a slider fixing plate (30), and a push plate (29); The lower surface of the base plate (2) is provided with a first piezoelectric fixing member (8). One end of the first mounting member (11) is fixedly connected to the base plate (2) through the first piezoelectric fixing member (8), and the other end of the first mounting member (11) is fixedly connected to the first guide rail (14). The first slider (13) is slidably connected to the first guide rail (14). The slider fixing plate (30) is fixed on the first slider (13). One end of the push plate (29) is connected to the folding mechanism, and the other end is connected to the slider fixing plate (30). The first mounting component (11) is provided with a mounting groove, and the first piezoelectric stack (9) is disposed in the mounting groove and fixedly connected to the first mounting component (11). When the first piezoelectric stack (9) is energized, it can generate expansion and contraction due to the inverse piezoelectric effect. The first piezoelectric stack (9) drives the first mounting component (11) to deform, which in turn drives the first guide rail (14) to generate a minute displacement, which drives the first slider (13) to slide along the first guide rail (14) and generate an amplified displacement. Thus, the first slider (13) and the slider fixing plate (30) move horizontally, so that the push plate (29) applies force to the folding mechanism.

5. The piezoelectrically driven ophthalmic surgical robot according to claim 1, characterized in that, The folding mechanism includes an upper parallel plate (22), a lower parallel plate (26), and an actuator fixing plate (21); The upper parallel plate (22) and the lower parallel plate (26) are distributed vertically and parallel to each other. The top end of the actuator fixing plate (21) is rotatably connected to the end of the upper parallel plate (22), and the bottom end is rotatably connected to the end of the lower parallel plate (26). The second piezoelectric drive mechanism is connected to the actuator fixing plate (21). The upper parallel plate (22) is rotatably mounted with four upper connecting plates (23), and the lower parallel plate (26) is rotatably mounted with four lower connecting plates (25). The four upper connecting plates (23) and the four lower connecting plates (25) are vertically aligned. The four upper connecting plates (23) are fixedly connected to the four lower connecting plates (25) corresponding to their respective positions via a second connecting member (24). The bottom ends of the four lower connecting plates (25) are rotatably mounted with main connecting plates (27), and the main connecting plates (27) are fixedly connected to the base plate (2). Among the four lower connecting plates (25), a horizontal plate (28) parallel to the bottom plate (2) is provided between the two lower connecting plates (25) near the actuator fixing plate (21). The two ends of the horizontal plate (28) are fixedly connected to the two lower connecting plates (25) respectively, and the first piezoelectric drive mechanism is driven connected to the horizontal plate (28).

6. The piezoelectrically driven ophthalmic surgical robot according to claim 5, characterized in that, The upper parallel plate (22) and the lower parallel plate (26) have the same structure and are both axisymmetric figures; The four upper connecting plates (23) are parallel to each other and arranged in two rows. The two upper connecting plates (23) in each row are symmetrically distributed with the axis of the upper parallel plate (22) as the central axis. The distance between the two upper connecting plates (23) closer to the actuator fixing plate (21) is smaller than the distance between the two upper connecting plates (23) farther away from the actuator fixing plate (21). The four lower connecting plates (25) are parallel to each other and arranged in two rows. The two lower connecting plates (25) in each row are symmetrically distributed with the axis of the lower parallel plate (26) as the central axis. The distance between the two lower connecting plates (25) closer to the actuator fixing plate (21) is smaller than the distance between the two lower connecting plates (25) farther away from the actuator fixing plate (21).

7. The piezoelectrically driven ophthalmic surgical robot according to claim 1, characterized in that, The second piezoelectric drive mechanism includes a second mounting component (31), a second piezoelectric stack (32), a second guide rail (33), and a second slider (34); One end of the second mounting member (31) is connected to the actuator fixing plate (21) of the folding mechanism via the second piezoelectric fixing member (20), the other end of the second mounting member (31) is fixedly connected to the second guide rail (33), the second slider (34) is slidably connected to the second guide rail (33), and the end actuator is connected to the second slider (34). The second mounting component (31) is provided with a mounting groove, and the second piezoelectric stack (32) is disposed in the mounting groove and fixedly connected to the second mounting component (31). When the second piezoelectric stack (32) is energized, it can generate expansion and contraction due to the inverse piezoelectric effect, which causes the second mounting component (31) to deform, thereby causing the second guide rail (33) to generate a small instantaneous displacement, causing the second slider (34) to slide along the second guide rail (33) and generate an amplified displacement, thereby driving the end effector to move linearly along the second guide rail (33).

8. The piezoelectrically driven ophthalmic surgical robot according to claim 7, characterized in that, It is also equipped with an end effector mounting component (18); The end effector mounting component (18) is fixedly connected to the second slider (34); The end effector includes a puncture needle and a puncture needle retainer (15); the puncture needle retainer (15) is fixed to the outer surface of the end effector mounting component (18), and the puncture needle is disposed inside the puncture needle retainer (15).

9. The piezoelectrically driven ophthalmic surgical robot according to claim 8, characterized in that, The end effector mounting component (18) has an internal through groove structure and is nested outside the second guide rail (33) and the second slider (34); a partition plate (35) is provided inside the through groove, and the partition plate (35) is fixed to the inner wall of the end effector mounting component (18). The partition plate (35) divides the through groove into two spaces. A piezoelectric ceramic (16) is provided on one side of the partition plate (35), and the second guide rail (33) and the second slider (34) are distributed on the other side of the partition plate (35). A first alumina ceramic strip (17) is provided on the side of the partition plate (35) facing the second guide rail (33), and a second alumina ceramic strip (12) is provided on the side of the second guide rail (33) facing the partition plate (35). The second alumina ceramic strip (12) and the second slider (34) are distributed on both sides of the second guide rail (33). When the piezoelectric ceramic (16) is energized, it expands and contracts due to the inverse piezoelectric effect, which can drive the partition plate (35) and the first alumina ceramic strip (17) to move toward or away from the second guide rail (33), thereby adjusting the friction between the first alumina ceramic strip (17) and the second alumina ceramic strip (12).

10. The piezoelectrically driven ophthalmic surgical robot according to claim 9, characterized in that, The end effector mounting component (18) has a notch on one side wall, and a pre-tightening device is provided at the notch; The pre-tightening device includes a pre-tightening block (36) and a bolt (19). One end of the bolt (19) is connected to the lower side wall of the notch, and the other end passes through the through hole in the upper side wall of the notch and is threadedly connected to the pre-tightening block (36).

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