Ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion

Abstract

This invention discloses an ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion, belonging to the field of medical robot technology. It includes a shell, adjustment mechanism, stabilization mechanism, and fusion mechanism. The stabilization mechanism provides a stable foundation for overall movement through belt transmission. The adjustment mechanism employs dual drive motors for coordinated drive, utilizing a multi-link articulated structure including drive rods, transmission rods, and swing arms to convert the independent movement of the two motors into precise three-dimensional spatial displacement of the mounting components. The fusion mechanism uses a single third drive motor as the power source, employing worm gears, gear transmissions, and other structures to simultaneously achieve precise installation and positioning of modular workpieces and stable limiting of cable connections. This invention improves motion accuracy through decoupled RCM mechanism optimization and enhances operational flexibility through modular instrument fusion design, meeting the stringent requirements of ophthalmic surgery for high precision and stability, effectively reducing surgical risks and improving surgical outcomes.

Description

Technical Field

[0001] This invention relates to the field of medical robot technology, specifically to an ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion. Background Technology

[0002] Ophthalmic surgery, due to its manipulation of delicate human organs, places extremely high demands on the precision, stability, and operational flexibility of surgical instruments. Traditional ophthalmic surgery primarily relies on manual manipulation by surgeons; however, manual operation is susceptible to factors such as hand tremors and fatigue, making it difficult to achieve micron-level precision control. This is especially true in complex surgeries such as vitrectomy and retinal repair, where even minute deviations in precision can lead to serious complications such as visual impairment. To overcome the limitations of manual operation, ophthalmic surgical robots have emerged. While existing ophthalmic surgical robots have improved operational precision to some extent, they still have many shortcomings: First, most robots use a coupled design for their motion mechanisms, with each degree of freedom interfering with the others, resulting in limited posture adjustment accuracy and making it difficult to meet the multi-dimensional precision operation requirements in complex surgical scenarios; Second, they have low modularity, requiring different types of surgical instruments to be replaced through dedicated interfaces, which is cumbersome and can affect positioning accuracy, reducing surgical efficiency; Third, some robots only focus on the drive control of surgical instruments, neglecting the limiting and fixing of cable connections, which may interfere with instrument movement or even cause safety hazards during surgery due to cable displacement or entanglement. Mechanism design based on the RCM principle allows surgical instruments to move around a fixed point, which conforms to the operating procedures of ophthalmic surgery. However, existing ophthalmic robots based on RCM mechanisms generally suffer from problems such as incomplete decoupling and low power transmission efficiency. At the same time, the integration stability of modular instruments and the robot body and the rationality of cable management remain key bottlenecks restricting the performance improvement of existing equipment. Therefore, those skilled in the art have provided an ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument integration to solve the problems mentioned in the background art. Summary of the Invention

[0003] The purpose of this invention is to provide an ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: An ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion includes a shell, adjustment mechanism, stabilization mechanism, fusion mechanism, mounting bolts, mounting base, partition and cable positioning holes. The shell includes an upper shell and a lower shell, which are connected to each other by mounting bolts. The upper and lower shells are equipped with belt-driven stabilization mechanisms. An adjustment mechanism is provided on the upper side of the shell, and a gear-driven fusion mechanism is provided on the side of the adjustment mechanism away from the shell.

[0005] As a further embodiment of the present invention: the stabilizing mechanism includes a synchronous pulley, a synchronous belt, a limiting cylinder, a driving pulley, a rotating motor, and a stabilizing groove. A stabilizing groove is provided inside the housing. A synchronous pulley is movably connected to one side of the stabilizing groove, and a driving pulley is movably connected to the side of the stabilizing groove away from the synchronous pulley. A rotating motor is fixedly connected to the lower side of one side of the housing. The output end of the rotating motor is fixedly connected to the driving pulley. A synchronous belt is fitted on the driving pulley and the synchronous pulley. Limiting cylinders are symmetrically arranged on the side of the stabilizing groove near the driving pulley. The limiting cylinders cooperate with the synchronous belt.

[0006] As a further embodiment of the present invention: the adjustment mechanism includes an adjustment seat, a fixed frame, a first drive motor, a drive rod, a first transmission rod, a second drive motor, a movable rod, a drive arm, a linkage plate, a swing arm, a mounting component, and a second transmission rod. The synchronous wheel is provided with an adjustment seat, and the adjustment seat is provided with a fixed frame through the housing. Two sets of fixed frames are symmetrically arranged. The first drive motor is fixedly connected to one side of the fixed frame, and the output end of the first drive motor is fixedly connected to the drive rod. The first transmission rod is movably connected to one side of the drive rod, and the swing arm is movably connected to the side of the first transmission rod away from the drive rod.

[0007] As a further embodiment of the present invention: a second drive motor is provided on the side of the fixed frame away from the first drive motor, a drive arm is fixedly connected to the output end of the second drive motor, a swing arm is movably connected to one side of the drive arm, and a linkage plate is movably connected to the side of the drive arm away from the second drive motor, a movable rod is movably connected to the side of the fixed frame close to the second drive motor, and a linkage plate is movably connected to one side of the movable rod.

[0008] As a further embodiment of the present invention: a second transmission rod is movably connected to the side of the linkage plate away from the movable rod, and a mounting component is movably connected to the side of the second transmission rod away from the linkage plate; a mounting component is movably connected to the side of the swing arm away from the drive arm.

[0009] As a further embodiment of the present invention: the fusion mechanism includes a fusion frame, a rotating component, a third drive motor, a fixed base, a rotating rod, a movable shaft, a transmission wheel, a worm gear, a top plate, a worm, a limiting component, a rotating wheel, a guide groove, a guide rod, a rotating shaft, a rotating frame, and a limiting rod. The fusion frame is fixedly connected to one side of the mounting component. A fixed base is arranged in a ring inside the fusion frame. A rotating component is movably connected to the fixed base. A worm gear is provided on the rotating component. A movable shaft is provided on the side of the fusion frame near the fixed base. A worm is provided on the movable shaft. The worm and the worm gear cooperate with each other. A transmission wheel is provided on the screw. A third drive motor is provided in the middle of the fusion frame. A rotating rod is fixedly connected to the output end of the third drive motor. A rotating wheel is provided on the rotating rod. Gears mesh between the rotating wheel and the transmission wheel.

[0010] As a further embodiment of the present invention: a top plate is fixedly connected to the side of the fusion frame away from the mounting component, and a rotating frame is arranged in a ring on the top plate. Each rotating frame is provided with a limit rod, and a positioning rod is movably connected to the rotating frame through the limit rod. A rotating component is movably connected to the side of the positioning rod away from the rotating frame.

[0011] As a further embodiment of the present invention: a mounting base is fixedly connected to the middle of the top plate, the mounting base has a cable positioning hole on the top plate, and a partition is fixedly connected inside the fusion frame. A guide groove is circumferentially opened on the partition, and a guide rod is fixedly connected to the rotating wheel in the guide groove. A rotating shaft is circumferentially arranged on the side of the top plate near the limiting positioning hole, and a limiting component is movably connected to the rotating shaft. A limiting component is movably connected to the side of the guide rod away from the rotating wheel. A gasket is provided on the limiting component, and the gasket cooperates with the cable positioning hole.

[0012] Compared with the prior art, the beneficial effects of the present invention are: The first drive motor on one side of the fixed frame starts, and its output drives the drive rod to rotate. The drive rod, through the first transmission rod connected to it, converts the rotational motion into the directional swing of the swing arm, realizing the first-level posture adjustment of the mounting component. The second drive motor on the other side of the fixed frame drives the drive arm to rotate. The drive arm directly drives the swing arm to perform compound motion. At the same time, its end pulls the movable rod through the linkage plate. The linkage plate pushes the second transmission rod synchronously. The swing arm receives the power from the first transmission rod and the drive arm at the same time. Combined with the pushing force of the second transmission rod, through the synergistic effect of the multi-link hinge, the independent motion of the two motors is converted into the precise three-dimensional spatial displacement of the mounting component. Finally, the fusion mechanism is driven to realize the target posture and position adjustment of the surgical instrument, meeting the high-precision operation requirements of ophthalmic surgery. The first drive motor on one side of the fixed frame starts, and its output drives the drive rod to rotate. The drive rod, through the first transmission rod connected to it, converts the rotational motion into the directional swing of the swing arm, realizing the first-level posture adjustment of the mounting component. The second drive motor on the other side of the fixed frame drives the drive arm to rotate. The drive arm directly drives the swing arm to perform compound motion. At the same time, its end pulls the movable rod through the linkage plate. The linkage plate pushes the second transmission rod synchronously. The swing arm receives the power from the first transmission rod and the drive arm at the same time. Combined with the pushing force of the second transmission rod, through the synergistic effect of the multi-link hinge, the independent motion of the two motors is converted into the precise three-dimensional spatial displacement of the mounting component. Finally, the fusion mechanism is driven to realize the target posture and position adjustment of the surgical instrument, meeting the high-precision operation requirements of ophthalmic surgery. When modular workpieces need to be installed and positioned, the third drive motor starts, and its output end drives the fixedly connected rotating rod to rotate. The rotating rod then drives the rotating wheel on it to rotate synchronously. Since the rotating wheel meshes with the transmission gears arranged in a ring inside the fusion frame, the rotational power of the rotating wheel is evenly transmitted to multiple transmission wheels, realizing the synchronous drive of a single motor to multiple sets of actuators. Each transmission wheel is fixed on the movable shaft. The rotation of the transmission wheel directly drives the movable shaft to rotate, and the worm gear set on the movable shaft rotates synchronously. Because the worm gear and the worm wheel on the rotating part cooperate with each other, the rotational motion of the worm gear is converted into the low-speed rotation of the worm wheel, which in turn drives the rotating part fixed to the worm wheel to rotate smoothly on the fixed seat. The side of the rotating part away from the worm wheel is movably connected to the positioning rod. The rotation of the rotating part will pull the positioning rod to generate linkage. The end of the positioning rod can accurately dock with the positioning interface of the modular workpiece. Through the coordinated action of multiple sets of ring-distributed positioning rods, the concentricity calibration and stable clamping of the modular workpiece are realized, and the precise installation of the modular instrument is completed. While the third drive motor drives the rotating wheel to rotate, the guide rod fixedly connected to the rotating wheel moves synchronously. The partition plate fixed inside the fusion frame has an annular guide groove that cooperates with the guide rod. The guide rod moves in a circle with the rotating wheel in the guide groove. The guide groove precisely constrains the movement trajectory of the guide rod to ensure its movement stability. The side of the guide rod away from the rotating wheel is movably connected to the limiting component. The circular motion of the guide rod is converted into the swinging power of the limiting component through the hinge point. The limiting component is movably connected to the top plate through the rotating shaft. The rotating shaft provides a fixed rotation fulcrum for the limiting component, allowing the limiting component to swing in a directional manner around the rotating shaft, thereby achieving precise adjustment of the limiting angle. The mounting seat in the middle of the top plate has a cable positioning hole. Multiple sets of annularly distributed limiting components work together to form a uniform clamping force on the cable connection line from the circumference, preventing the cable from shifting or tangling during the operation. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of an ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument integration.

[0014] Figure 2 This is a schematic diagram of the adjustment mechanism in an ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion.

[0015] Figure 3 This is a schematic diagram of the stabilizing frame mechanism in an ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion.

[0016] Figure 4 This is a schematic diagram of the fusion frame in the fusion mechanism of an ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion.

[0017] Figure 5 for Figure 4 A schematic diagram of the structure along the AA direction.

[0018] Figure 6 This is a schematic diagram of the worm gear and worm shaft interaction in an ophthalmic surgical robot fusion mechanism based on decoupled RCM mechanism optimization and modular instrument fusion.

[0019] Figure 7 for Figure 5 A magnified view of part A in the diagram.

[0020] Figure 8 This is a schematic diagram of the interaction between the limiting component and the guide rod in the fusion mechanism of an ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion.

[0021] In the diagram: 1. Housing; 2. Adjustment mechanism; 201. Adjustment seat; 202. Fixing frame; 203. First drive motor; 204. Drive rod; 205. First transmission rod; 206. Second drive motor; 207. Movable rod; 208. Drive arm; 209. Linkage plate; 210. Swing arm; 211. Mounting component; 212. Second transmission rod; 3. Stabilizing mechanism; 301. Synchronous pulley; 302. Synchronous belt; 303. Limit cylinder; 304. Drive wheel; 305. Rotary motor; 306. Stabilizing groove 4. Fusion Mechanism; 401. Fusion Frame; 402. Rotating Component; 403. Third Drive Motor; 404. Fixed Base; 405. Rotating Rod; 406. Movable Shaft; 407. Transmission Wheel; 408. Worm Gear; 409. Top Plate; 410. Worm; 411. Limiting Component; 412. Rotating Wheel; 413. Guide Groove; 414. Guide Rod; 415. Rotating Shaft; 416. Rotating Frame; 417. Limiting Rod; 418. Positioning Rod; 5. Mounting Bolt; 6. Mounting Base; 7. Partition Plate; 8. Cable Positioning Hole. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and 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.

[0023] Example 1

[0024] Reference Figures 1-8 This embodiment provides an ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion, including a housing 1, an adjustment mechanism 2, a stabilizing mechanism 3, a fusion mechanism 4, mounting bolts 5, a mounting base 6, a partition 7, and a cable positioning hole 8. The housing 1 includes an upper housing and a lower housing, which are connected to each other by mounting bolts 5. The upper housing and the lower housing are provided with belt-driven stabilizing mechanisms 3. The upper housing and the lower housing are provided with adjustment mechanisms 2 on the upper side of the housing 1. The side of the adjustment mechanism 2 away from the housing 1 is provided with gear-driven fusion mechanism 4. In this embodiment, specifically, the stabilizing mechanism 3 includes a synchronous pulley 301, a synchronous belt 302, a limiting cylinder 303, a driving pulley 304, a rotating motor 305, and a stabilizing groove 306. The housing 1 has a stabilizing groove 306. The synchronous pulley 301 is movably connected to one side of the stabilizing groove 306, and the driving pulley 304 is movably connected to the side of the stabilizing groove 306 away from the synchronous pulley 301. The rotating motor 305 is fixedly connected to the lower side of one side of the housing 1. The output end of the rotating motor 305 is fixedly connected to the driving pulley 304. The synchronous belt 302 is sleeved on the driving pulley 304 and the synchronous pulley 301. The limiting cylinder 303 is symmetrically arranged on the side of the stabilizing groove 306 near the driving pulley 304. The limiting cylinder 303 and the synchronous belt 302 cooperate with each other. The rotating motor 305 located on one side of the housing 1 is started, and its output directly drives the drive wheel 304 on the side away from the synchronous pulley 301 in the stabilizing groove 306 to rotate. The drive wheel 304 drives the synchronous pulley 301 on the other side of the stabilizing groove 306 to rotate synchronously through the sleeved synchronous belt 302. The limiting cylinders 303 symmetrically arranged on the side of the stabilizing groove 306 near the drive wheel 304 cooperate with the synchronous belt 302. The cylinders extend and retract to apply appropriate pressure to the synchronous belt 302, limiting the jumping or deviation of the synchronous belt during the transmission process. At the same time, when the mechanism needs to start, stop or change direction, the limiting cylinders can quickly adjust the pressure, which not only ensures the transmission accuracy, but also helps to achieve smooth switching of motion.

[0025] Example 2

[0026] Reference Figure 2 and Figure 3This embodiment is based on the previous embodiment, but differs from the previous embodiment in that the adjustment mechanism 2 includes an adjustment seat 201, a fixed frame 202, a first drive motor 203, a drive rod 204, a first transmission rod 205, a second drive motor 206, a movable rod 207, a drive arm 208, a linkage plate 209, a swing arm 210, a mounting piece 211, and a second transmission rod 212. The synchronous wheel 301 is provided with an adjustment seat 201, and the adjustment seat 201 is provided with a fixed frame 202 through the housing 1. Two sets of fixed frames 202 are symmetrically arranged. The first drive motor 203 is fixedly connected to one side of the fixed frame 202, and the output end of the first drive motor 203 is fixedly connected to the drive rod 204. The first transmission rod 205 is movably connected to one side of the drive rod 204, and the swing arm 210 is movably connected to the side of the first transmission rod 205 away from the drive rod 204. A second drive motor 206 is provided on the side of the fixed frame 202 away from the first drive motor 203. A drive arm 208 is fixedly connected to the output end of the second drive motor 206. A swing arm 210 is movably connected to one side of the drive arm 208. A linkage plate 209 is movably connected to the side of the drive arm 208 away from the second drive motor 206. A movable rod 207 is movably connected to the side of the fixed frame 202 close to the second drive motor 206. A linkage plate 209 is movably connected to one side of the movable rod 207. The second transmission rod 212 is movably connected to the side of the linkage plate 209 away from the movable rod 207, and the mounting part 211 is movably connected to the side of the second transmission rod 212 away from the linkage plate 209. The mounting part 211 is movably connected to the side of the swing arm 210 away from the drive arm 208. The first drive motor 203 on one side of the fixed frame 202 starts, and its output drives the drive rod 204 to rotate. The drive rod 204 converts the rotational motion into the directional swing of the swing arm 210 through the first transmission rod 205, realizing the first-level posture adjustment of the mounting component 211. The second drive motor 206 on the other side of the fixed frame 202 drives the drive arm 208 to rotate. The drive arm 208 directly drives the swing arm 210 to perform compound motion. At the same time, its end pulls the movable rod 207 through the linkage plate 209. The linkage plate 209 pushes the second transmission rod 212 in sync. The swing arm 210 receives the power from the first transmission rod 205 and the drive arm 208 at the same time. Combined with the pushing force of the second transmission rod 212, through the synergistic effect of the multi-link hinge, the independent motion of the two motors is converted into the three-dimensional precise displacement of the mounting component 211. Finally, the fusion mechanism 4 is driven to realize the target posture and position adjustment of the surgical instrument, meeting the high-precision operation requirements of ophthalmic surgery.

[0027] Example 3

[0028] Reference Figures 4-8This embodiment is based on the previous embodiment, but differs in that the fusion mechanism 4 includes a fusion frame 401, a rotating component 402, a third drive motor 403, a fixed base 404, a rotating rod 405, a movable shaft 406, a transmission wheel 407, a worm gear 408, a top plate 409, a worm 410, a limiting component 411, a rotating wheel 412, a guide groove 413, a guide rod 414, a rotating shaft 415, a rotating frame 416, and a limiting rod 417. The fusion frame 401 is fixedly connected to one side of the mounting component 211, and the fixed base 404 is arranged in a ring inside the fusion frame 401. A rotating component 402 is movably connected to the fixed base 404. A worm gear 408 is provided on the rotating component 402. A movable shaft 406 is provided on the side of the fusion frame 401 near the fixed base 404. A worm 410 is provided on the movable shaft 406. The worm 410 and the worm gear 408 cooperate with each other. A transmission wheel 407 is provided on the screw. A third drive motor 403 is provided in the middle of the fusion frame 401. A rotating rod 405 is fixedly connected to the output end of the third drive motor 403. A rotating wheel 412 is provided on the rotating rod 405. The rotating wheel 412 and the transmission wheel 407 are meshed with each other. The fusion frame 401 is fixedly connected to a top plate 409 on the side away from the mounting component 211. A rotating frame 416 is arranged in a ring on the top plate 409. Each rotating frame 416 is provided with a limit rod 417. The rotating frame 416 is movably connected to a positioning rod 418 through the limit rod 417. A rotating component 402 is movably connected to the side of the positioning rod 418 away from the rotating frame 416. A mounting base 6 is fixedly connected to the upper center of the top plate 409. The mounting base 6 has a cable positioning hole 8 on the top plate 409. A partition 7 is fixedly connected inside the fusion frame 401. A guide groove 413 is circumferentially opened on the partition 7. A guide rod 414 is fixedly connected to the rotating wheel 412 inside the guide groove 413. A rotating shaft 415 is circumferentially arranged on the side of the top plate 409 near the limiting positioning hole. A limiting component 411 is movably connected to the rotating shaft 415. A limiting component 411 is movably connected to the side of the guide rod 414 away from the rotating wheel 412. A gasket is provided on the limiting component 411. The gasket and the cable positioning hole 8 cooperate with each other. When modular workpieces need to be installed and positioned, the third drive motor 403 starts, and its output drives the fixedly connected rotating rod 405 to rotate. The rotating rod 405 then drives the rotating wheel 412 on it to rotate synchronously. Since the rotating wheel 412 meshes with the gears of the transmission wheel 407 arranged in a ring inside the fusion frame 401, the rotational power of the rotating wheel 412 is evenly transmitted to multiple transmission wheels 407, realizing the synchronous drive of a single motor to multiple sets of actuators. Each transmission wheel 407 is fixed on the movable shaft 406. The rotation of the transmission wheel 407 directly drives the movable shaft 406 to rotate, and the worm gear 410 set on the movable shaft 406 rotates synchronously. The rotation is achieved by the worm gear 410 and the worm wheel 408 on the rotating part 402 cooperating with each other. The rotational motion of the worm gear 410 is converted into the low-speed rotation of the worm wheel 408, which in turn drives the rotating part 402, which is fixed to the worm wheel 408, to rotate smoothly on the fixed seat 404. The side of the rotating part 402 away from the worm wheel 408 is movably connected to the positioning rod 418. The rotation of the rotating part 402 will pull the positioning rod 418 to generate linkage. The end of the positioning rod 418 can accurately dock with the positioning interface of the modular workpiece. Through the coordinated action of multiple sets of ring-shaped positioning rods 418, the concentricity calibration and stable clamping of the modular workpiece are achieved, and the precise installation of the modular instrument is completed. While the third drive motor 403 drives the rotating wheel 412 to rotate, the guide rod 414 fixedly connected to the rotating wheel 412 moves synchronously. An annular guide groove 413 is provided on the partition 7 fixed inside the fusion frame 401 to cooperate with the guide rod 414. The guide rod 414 moves in a circular motion with the rotating wheel 412 within the guide groove 413. The guide groove 413 precisely constrains the movement trajectory of the guide rod 414 to ensure its stability. The side of the guide rod 414 away from the rotating wheel 412 is movably connected to the limiting member 411. The circular... The circumferential motion is converted into the swinging power of the limiting member 411 through the hinge point. The limiting member 411 is movably connected to the top plate 409 through the rotating shaft 415. The rotating shaft 415 provides a fixed rotation fulcrum for the limiting member 411, so that the limiting member 411 swings in a directional manner around the rotating shaft 415, thereby achieving precise adjustment of the limiting angle. The mounting seat 6 in the upper middle part of the top plate 409 has a cable positioning hole 8. Multiple sets of ring-shaped limiting members 411 work together to form a uniform clamping force on the cable connection line in the circumferential direction, so as to prevent the cable from shifting or tangling during the operation.

[0029] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0030] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion, characterized in that, The device includes a housing (1), an adjustment mechanism (2), a stabilizing mechanism (3), a fusion mechanism (4), mounting bolts (5), a mounting base (6), a partition (7), and a cable positioning hole (8). The housing (1) includes an upper housing and a lower housing, which are connected to each other by mounting bolts (5). The upper housing and the lower housing are equipped with belt-driven stabilizing mechanisms (3). The upper housing (1) is equipped with an adjustment mechanism (2), and the adjustment mechanism (2) is equipped with a gear-driven fusion mechanism (4) on the side away from the housing (1). The fusion mechanism (4) includes a fusion frame (401), a rotating component (402), a third drive motor (403), a fixed seat (404), a rotating rod (405), a movable shaft (406), a transmission wheel (407), a worm gear (408), a top plate (409), a worm (410), a limiting component (411), a rotating wheel (412), a guide groove (413), a guide rod (414), a rotating shaft (415), a rotating frame (416), and a limiting rod (417). The fusion frame (401) has a fixed seat (404) arranged in a ring inside. There are four sets of fixed seats (404). The fixed seats (404) are movably connected to the rotating components. The rotating part (402) is provided with a worm gear (408), and the fusion frame (401) is provided with a movable shaft (406) on the side near the fixed seat (404). The movable shaft (406) is provided with a worm (410). The worm (410) and the worm gear (408) cooperate with each other. The screw is provided with a transmission wheel (407). The middle part of the fusion frame (401) is provided with a third drive motor (403). The output end of the third drive motor (403) is fixedly connected to a rotating rod (405). The rotating rod (405) is provided with a rotating wheel (412). The rotating wheel (412) and the transmission wheel (407) mesh with each other. The fusion frame (401) is fixedly connected to a top plate (409) on one side. A rotating frame (416) is arranged in a ring on the top plate (409). There are four sets of rotating frames (416). Each rotating frame (416) is provided with a limit rod (417). The rotating frame (416) is movably connected to a positioning rod (418) through the limit rod (417). A rotating component (402) is movably connected to the side of the positioning rod (418) away from the rotating frame (416). A mounting base (6) is fixedly connected to the upper center of the top plate (409). The mounting base (6) has a cable positioning hole (8) on the top plate (409). A partition plate (7) is fixedly connected inside the fusion frame (401). A guide groove (413) is circumferentially opened on the partition plate (7). A guide rod (414) is fixedly connected to the rotating wheel (412) inside the guide groove (413). A rotating shaft (415) is circumferentially arranged on the side of the top plate (409) near the cable positioning hole (8). There are four sets of rotating shafts (415). Each rotating shaft (415) is movably connected to a limiting member (411). Each guide rod (414) is movably connected to a limiting member (411) on the side away from the rotating wheel (412). Each limiting member (411) is provided with a gasket, and the gasket cooperates with the cable positioning hole (8).

2. The ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion as described in claim 1, characterized in that, The stabilizing mechanism (3) includes a synchronous pulley (301), a synchronous belt (302), a limiting cylinder (303), a driving pulley (304), a rotating motor (305), and a stabilizing groove (306). The housing (1) has a stabilizing groove (306). The synchronous pulley (301) is movably connected to one side of the stabilizing groove (306), and the driving pulley (304) is movably connected to the side of the stabilizing groove (306) away from the synchronous pulley (301). The rotating motor (305) is fixedly connected to the lower side of one side of the housing (1). The driving pulley (304) is fixedly connected to the output end of the rotating motor (305). The synchronous belt (302) is sleeved on the driving pulley (304) and the synchronous pulley (301). The limiting cylinder (303) is symmetrically arranged on the side of the stabilizing groove (306) close to the driving pulley (304). The limiting cylinder (303) and the synchronous belt (302) cooperate with each other.

3. The ophthalmic surgical robot based on decoupled RCM mechanism optimization and modular instrument fusion as described in claim 2, characterized in that, The adjustment mechanism (2) includes an adjustment seat (201), a fixed frame (202), a first drive motor (203), a drive rod (204), a first transmission rod (205), a second drive motor (206), a movable rod (207), a drive arm (208), a linkage plate (209), a swing arm (210), a mounting piece (211), and a second transmission rod (212). The synchronous wheel (301) is provided with an adjustment seat (201). The fixed frame (202) is fixedly connected to the upper side of the adjustment seat (201). Two sets of fixed frames (202) are symmetrically arranged. The first drive motor (203) is fixedly connected to one side of the fixed frame (202). The drive rod (204) is fixedly connected to the output end of the first drive motor (203). The first transmission rod (205) is movably connected to one side of the drive rod (204). The swing arm (210) is movably connected to the side of the first transmission rod (205) away from the drive rod (204). A second drive motor (206) is provided on the side of the fixed frame (202) away from the first drive motor (203). A drive arm (208) is fixedly connected to the output end of the second drive motor (206). A swing arm (210) is movably connected to one side of the drive arm (208). A linkage plate (209) is movably connected to the side of the drive arm (208) away from the second drive motor (206). A movable rod (207) is movably connected to the side of the fixed frame (202) close to the second drive motor (206). A linkage plate (209) is movably connected to the side of the movable rod (207). The second transmission rod (212) is movably connected to the side of the linkage plate (209) away from the movable rod (207). The mounting part (211) is movably connected to the side of the second transmission rod (212) away from the linkage plate (209). The mounting part (211) is movably connected to the side of the swing arm (210) away from the drive arm (208). The fusion frame (401) is fixedly connected to the side of the mounting part (211).

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