Mirror holding robot

Abstract

The application relates to the technical field of medical instruments, in particular to a mirror holding robot, which comprises a general base, a plurality of branch chains, a movable platform and a laparoscope. The first ends of the branch chains are rotatably arranged relative to the general base, and the first ends of at least three branch chains are arranged in a circumferential interval around a same center point. The movable platform is rotatably connected to the second ends of the branch chains, and the branch chains are driven to cooperate with the laparoscope through the movable platform. The plurality of branch chains form a parallel mechanism, and are connected to the laparoscope through the movable platform. A constraint relationship is formed among the plurality of branch chains, and the translation freedom of the laparoscope is limited. That is to say, the parallel mechanism formed by the plurality of branch chains can make the laparoscope rotate around a telecentric fixed point, and the telecentric fixed point does not need to be fixed by an algorithm of a control system. No matter how the algorithm is, the laparoscope will not produce a transverse displacement under the driving of the plurality of branch chains, so that tearing and damage to the body tissue of a patient can be avoided.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a mirror-holding robot. Background Technology

[0002] Minimally invasive laparoscopic surgery has become a standard procedure in many fields, including general surgery, gynecology, and urology. During laparoscopic surgery, the endoscope is inserted into the body through a trocar. The trocar incision site serves as the distal fixed point. The manual manipulation of the endoscope involves adjusting its position around this fixed point to provide the surgeon with an accurate surgical field. Traditional manual endoscope holding is problematic because the surgery is lengthy, and physiological tremors in the holding hand cause the surgical field to shake, hindering the surgeon's technique. This necessitates the use of robots to perform the endoscope holding task.

[0003] There is a safety prerequisite for this type of laparoscopic surgery: the endoscope must not undergo lateral displacement at the trocar position (i.e., the distal fixed point); it can only rotate around the distal fixed point to avoid the risk of traction or tearing of the patient's tissues. However, current endoscope-holding robots all use a serial robotic arm structure, which can only fix the distal fixed point through the control system's algorithm to meet the surgical safety requirement of rotating the endoscope around the distal fixed point. Once the control system malfunctions, this type of endoscope-holding robot is very prone to unnecessary lateral displacement at the distal fixed point, causing tearing damage to the patient's tissues. Summary of the Invention

[0004] This application provides a mirror-holding robot to solve the problem that mirror-holding robots with serial robotic arm structures in the prior art are prone to lateral displacement of the telecentric fixed point due to deviations in the algorithm of the control system.

[0005] This application provides a mirror-holding robot, comprising: a main base; branches having a first end and a second end, the first end of the branches being rotatably configured relative to the main base, the branches being configured as multiple branches, with at least three branches having their first ends circumferentially spaced around the same center point, the branches being rotatably driven to rotate relative to the main base; a moving platform rotatably connected to the second end of the branches; and a cavity mirror, the branches being driven by the moving platform to engage with the cavity mirror, the cavity mirror being rotatably driven by the branches to rotate around a telecentric fixed point, the telecentric fixed point being located at the end of the cavity mirror opposite to the moving platform.

[0006] Preferably, the branch chain is set to three, and the mirror-holding robot also includes three rotary actuators that are connected to the branch chain one by one, and the rotary actuators are connected to the main base.

[0007] Preferably, the branch includes a drive rod connected to the rotary actuator and a driven rod rotatably connected to the drive rod, with an included angle between the drive rod and the driven rod.

[0008] Preferably, the driving rod includes a first connecting plate, a first rod, and a second connecting plate connected in sequence, and the driven rod includes a third connecting plate, a second rod, and a fourth connecting plate connected in sequence. The first and second connecting plates have an angle with the first rod, and the third and fourth connecting plates have an angle with the second rod. The first connecting plate is connected to a rotary driver, the second connecting plate is rotatably connected to the third connecting plate, and the fourth connecting plate is rotatably connected to a moving platform.

[0009] Preferably, the moving platform includes a plurality of first connectors, each of which is connected to a branch in a one-to-one manner. The connection points of the plurality of first connectors and their respective corresponding branches are arranged circumferentially at intervals around the same center point. The relative position of each connection point to other connection points is the same as the relative position of the first end of the branch corresponding to that connection point to other first ends of the branches.

[0010] Preferably, the lens-holding robot also includes a lens base connected to the moving platform, the cavity lens being movably disposed relative to the lens base and being driven to reciprocate relative to the lens base along its own axis.

[0011] Preferably, the lens base includes a support block with a first arc-shaped groove formed on it, and the cavity mirror is slidably disposed on the first arc-shaped groove.

[0012] Preferably, the lens-holding robot also includes a slider, the lens base is formed with a slide rail, the extension direction of the slide rail is the same as the axis of the cavity mirror, the slider is slidably connected to the slide rail, and the cavity mirror is fixedly set relative to the slider.

[0013] Preferably, a second arc-shaped groove is formed on the sliding member, and the support block and the sliding member are arranged sequentially at intervals along the axial direction of the cavity mirror, and the cavity mirror is fixedly mounted on the second arc-shaped groove.

[0014] Preferably, the lens-holding robot also includes a motion driver mounted on the lens base, the motion driver being connected to the endoscope to drive the endoscope to reciprocate along its axis.

[0015] The beneficial effects of this application are as follows:

[0016] Multiple branches form a parallel mechanism and are connected to the endoscope through a moving platform. The branches form a constraint relationship, which restricts the translational freedom of the endoscope. In other words, the parallel mechanism formed by the multiple branches can enable the endoscope to rotate around the telecentric fixed point without the need for the algorithm of the control system to fix the telecentric fixed point. Regardless of the algorithm, the endoscope will not have lateral displacement under the drive of the multiple branches, thus avoiding tearing damage to the patient's body tissues. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A perspective view of the mirror-holding robot provided in the embodiments of this application;

[0019] Figure 2 A perspective view of the mirror-holding robot provided in this embodiment of the application rotating to the first position around the telecentric fixed point;

[0020] Figure 3 A perspective view of the mirror-holding robot provided in this application embodiment rotating to a second position around the telecentric fixed point;

[0021] Figure 4 A perspective view of the mirror-holding robot provided in this embodiment of the application rotating to a third position around the telecentric fixed point;

[0022] Figure 5 This is a perspective view of the mirror-holding robot provided in this embodiment of the application rotating to the fourth position around the telecentric fixed point;

[0023] Figure 6 for Figure 1 A three-dimensional view of the main base, branches, moving platform, and rotary actuator of the central mirror robot;

[0024] Figure 7 for Figure 1 A 3D view of the branch of the central mirror robot;

[0025] Figure 8 for Figure 1 A 3D view of the motion platform of the mid-mounted mirror robot;

[0026] Figure 9 for Figure 1 A three-dimensional view of the moving platform, endoscope, lens base, slider, and motion actuator of the mid-mounted mirror robot;

[0027] Figure 10 for Figure 1 A 3D view of the lens base and sliding components of the mid-mounted camera robot; and

[0028] Figure 11 for Figure 1 A three-dimensional view of the endoscope of the mid-mounted endoscope robot.

[0029] Figure label:

[0030] 10. Main base; 20. Branch chain; 21. Driving rod; 211. First connecting plate; 212. First rod; 213. Second connecting plate; 22. Driven rod; 221. Third connecting plate; 222. Second rod; 223. Fourth connecting plate;

[0031] 30. Moving platform; 31. First connecting member; 32. Second connecting member; 321. First plate; 322. Second plate; 40. Endoscope; 50. Rotary actuator;

[0032] 60. Lens base; 61. Support block; 611. First arc-shaped groove; 62. Main body; 621. Slide rail; 63. Connecting block;

[0033] 70. Sliding component; 71. Second arc groove; 80. Motion actuator; R. Telecentric fixed point. Detailed Implementation

[0034] The technical solutions of this application will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] The following is combined Figures 1 to 11 The present application describes a mirror-holding robot provided in the embodiments of the present application, comprising: a main base 10; a branch 20 having a first end and a second end, the first end of the branch 20 being rotatable relative to the main base 10, the branch 20 being configured as a plurality of branches, at least three branches 20 having their first ends circumferentially spaced around the same center point, the branch 20 being able to be driven to rotate relative to the main base 10; a moving platform 30 rotatably connected to the second end of the branch 20; and a laparoscope 40, the branch 20 being driven to cooperate with the laparoscope 40 through the moving platform 30, the laparoscope 40 being able to be driven by the branch 20 to rotate around a telecentric fixed point R, the telecentric fixed point R being located at the end of the laparoscope 40 opposite to the moving platform 30.

[0036] Multiple branches 20 drive the endoscope 40 to rotate via the moving platform 30, enabling the endoscope 40 to rotate around the telecentric fixed point R. The rotation process is as follows: Figures 2 to 5 As shown, the rotation of the endoscope 40 does not depend on the algorithm of the control system. As long as the main base 10 is fixed, the endoscope 40 will always rotate around the telecentric fixed point R, regardless of how the branch 20 is driven, and will not produce lateral movement. Even if the algorithm of the control system has a problem, the endoscope 40 will not cause tearing damage to the patient's body tissue. In other words, from the structural level, the translational degree of freedom of the endoscope 40 at the telecentric fixed point R is eliminated, and the intrinsic telecentric safety of the endoscope holding robot is achieved.

[0037] Please refer to Figures 1 to 7 ,in, Figures 1 to 5 All are perspective views of the mirror-holding robot provided in the embodiments of this application. Figure 6 This is a perspective view of the main base 10, branch chain 20, moving platform 30, and rotary actuator 50. Figure 7 This is a 3D view of branch 20.

[0038] In some embodiments provided in this application, the branch chain 20 is configured as three, and the mirror-holding robot also includes three rotary actuators 50 connected to the branch chain 20 in a one-to-one correspondence, and the rotary actuators 50 are connected to the main base 10.

[0039] Three branches 20 can form a constraint relationship, which is the least number of branches required. This saves on the number of branches 20 while still meeting the requirement of driving the endoscope 40 to rotate around the distal fixed point R. Each branch 20 is driven by a rotary actuator 50. The cooperation of the three rotary actuators 50 with different rotation directions, rotation speeds, and rotation angles enables the endoscope 40 to rotate around the distal fixed point R at multiple angles and amplitudes, meeting the needs of complex operations of the endoscope 40 during surgery.

[0040] Specifically, the rotary driver 50 can be a rotary motor.

[0041] Please continue reading. Figures 1 to 7 In some embodiments provided in this application, the branch 20 includes an active rod 21 connected to the rotary driver 50 and a driven rod 22 rotatably connected to the active rod 21, with an included angle between the active rod 21 and the driven rod 22.

[0042] The rotation of the active rod 21 is restricted by the rotary actuator 50 and the driven rod 22, and can only rotate around the drive shaft of the rotary actuator 50 by a fixed angle. The driven rod 22 is restricted by the active rod 21 and the moving platform 30, and cannot rotate in any direction. In other words, the rotation orientation and rotation angle of a branch 20 are restricted by its own structure. A branch 20 has three revolute joints, which cooperate with the other two branches 20 to form a constraint relationship, jointly restricting the rotation position of the endoscope 40, that is, ensuring that the endoscope 40 can only rotate around the telecentric fixed point R.

[0043] Please continue reading. Figures 1 to 7In some embodiments provided in this application, the driving rod 21 includes a first connecting plate 211, a first rod 212, and a second connecting plate 213 connected in sequence, and the driven rod 22 includes a third connecting plate 221, a second rod 222, and a fourth connecting plate 223 connected in sequence. The first connecting plate 211 and the second connecting plate 213 have included angles with the first rod 212, and the third connecting plate 221 and the fourth connecting plate 223 have included angles with the second rod 222. The first connecting plate 211 is connected to the rotary driver 50, the second connecting plate 213 is rotatably connected to the third connecting plate 221, and the fourth connecting plate 223 is rotatably connected to the moving platform 30.

[0044] A first revolute joint is formed between the first connecting plate 211 and the rotary driver 50. The angle of the first connecting plate 211 relative to the first rod 212 is set to limit the rotation axis of the first rod 212. The second connecting plate 213 is parallel to the third connecting plate 221, and a second revolute joint is formed between them. The angle of the second connecting plate 213 relative to the first rod 212 and the angle of the third connecting plate 221 relative to the second rod 222 are set to limit the rotation range of the first rod 212 and the rotation axis of the second rod 222. A third revolute joint is formed between the fourth connecting plate 223 and the moving platform 30. The angle of the fourth connecting plate 223 relative to the second rod 222 is set to limit the rotation range of the second rod 222.

[0045] Please refer to Figure 6 , Figure 8 and Figure 9 ,in, Figure 8 A 3D view of the dynamic platform 30. Figure 9 A perspective view of the moving platform 30, the cavity mirror 40, the lens base 60, the slider 70, and the moving actuator 80.

[0046] In some embodiments provided in this application, the moving platform 30 includes a plurality of first connectors 31, each of which is connected to a branch 20. The connection points of the plurality of first connectors 31 and their respective corresponding branches 20 are arranged circumferentially around the same center point. The relative position of each connection point to other connection points is the same as the relative position of the first end of the branch 20 corresponding to that connection point to other first ends of the branch 20.

[0047] The first end of the branch 20 is the connection end between the branch 20 and the rotary actuator 50. The number of first connectors 31 is the same as the number of branches 20. Taking three first connectors 31 as an example, each first connector 31 and its corresponding branch 20 form a connection point. The angle between the first connection point and the other two connection points is the same as the angle between the first end of the branch 20 corresponding to the connection point and the first ends of the other two branches 20. That is to say, the relative position between the three connection points is exactly the same as the relative position of the three branches 20. In other words, the three connection points and the first ends of the three branches 20 have a corresponding mapping relationship. Only in this way can the over-constraint relationship between the three branches 20 be realized, and only in this way can the laparoscope 40 rotate around the telecentric fixed point R.

[0048] Specifically, the first ends of the three branches 20 can form a right triangle.

[0049] Please refer to Figure 9 and Figure 10 ,in, Figure 10 A perspective view of the lens base 60 and the slider 70.

[0050] In some embodiments provided in this application, the lens-holding robot also includes a lens base 60 connected to the moving platform 30, the cavity mirror 40 is movably disposed relative to the lens base 60, and can be driven to reciprocate relative to the lens base 60 along its own axis.

[0051] In addition to rotating around the telecentric fixed point R, the endoscope 40 also needs to move forward and backward. Since the axial length of the endoscope 40 is relatively long, a lens base 60 is provided to support the endoscope 40, so that the endoscope 40 can stably move forward and backward.

[0052] Specifically, such as Figure 9 As shown, the lens base 60 also includes a main body 62 and a connecting block 63 disposed below the main body 62. The moving platform 30 also includes a second connecting member 32 rotatably connected to the connecting block 63. The second connecting member 32 includes a first plate 321 and a second plate 322 respectively disposed on opposite sides of the connecting block 63. The first plate 321 and the second plate 322 are connected to the connecting block 63 by bolts, which can strengthen the connection strength between the second connecting member 32 and the connecting block 63, so that the moving platform 30 can stably drive the lens base 60 to move under the drive of the branch chain 20.

[0053] like Figure 10 As shown, in some embodiments provided in this application, the lens base 60 includes a support block 61, on which a first arcuate groove 611 is formed, and the cavity mirror 40 is slidably disposed on the first arcuate groove 611.

[0054] The support block 61 is positioned above the main body 62 to accommodate the position of the endoscope 40 so that it can contact the endoscope 40. The part of the endoscope 40 that mates with the lens base 60 is a cylindrical structure. Therefore, the support block 61 is provided with a first arc-shaped groove 611. The curvature of the first arc-shaped groove 611 is the same as the curvature of the cylindrical structure of the endoscope 40 so that the endoscope 40 can fit into the first arc-shaped groove 611, thereby achieving stable support for the endoscope 40.

[0055] Please continue reading. Figure 9 and Figure 10 In some embodiments provided in this application, the lens-holding robot also includes a slider 70, a lens base 60 having a slide rail 621, the extension direction of the slide rail 621 being the same as the axial direction of the cavity mirror 40, the slider 70 being slidably connected to the slide rail 621, and the cavity mirror 40 being fixedly disposed relative to the slider 70.

[0056] Since the endoscope 40 is used in surgery, it is necessary to strictly control the forward and backward directions of the endoscope 40. The cooperation between the slider 70 and the slide rail 621 is used to achieve guidance, thereby limiting the forward and backward directions of the endoscope 40.

[0057] Specifically, the slide rail 621 is set on the lens base 60, and a groove is formed on the lens base 60. The slide rail 621 is formed on the groove wall. The two ends of the groove extending in the same direction as the slide rail 621 form a stepped structure. When the slider 70 slides to the stepped structure, it is blocked by the stepped structure and cannot continue to slide. That is, the sliding range of the slider 70 is limited by the stepped structure, thereby limiting the advancing range of the endoscope 40 and ensuring the safety of the operation.

[0058] Please continue reading. Figure 9 and Figure 10 In some embodiments provided in this application, a second arcuate groove 71 is formed on the slider 70, the support block 61 and the slider 70 are arranged sequentially at intervals along the axial direction of the cavity mirror 40, and the cavity mirror 40 is fixedly mounted on the second arcuate groove 71.

[0059] The lens base 60 is fixed relative to the moving platform 30. When the cavity mirror 40 moves forward or backward, it slides relative to the lens base 60. The slider 70 is fixed relative to the cavity mirror 40. When the cavity mirror 40 moves forward or backward, the slider 70 moves synchronously with the cavity mirror 40 and moves along the slide rail 621. The lens base 60 provides dynamic support, and the slider 70 provides static support. The combination of dynamic and static support ensures the stability of the movement of the cavity mirror 40. The curvature of the second arc-shaped groove 71 is the same as the curvature of the part of the cavity mirror 40 that mates with the second arc-shaped groove 71, so that the cavity mirror 40 can fit against the groove wall of the second arc-shaped groove 71, increasing the contact area between the cavity mirror 40 and the slider 70, thereby increasing the stability of the connection between the two and preventing relative movement between the two from causing deviations in the forward or backward movement of the cavity mirror 40.

[0060] Please refer to Figure 9 In some embodiments provided in this application, the lens-holding robot also includes a motion driver 80 disposed on the lens base 60, the motion driver 80 being connected to the cavity mirror 40 to drive the cavity mirror 40 to reciprocate along its axial direction.

[0061] The fixed end of the motion actuator 80 is fixed to the main body 62 of the lens base 60, and the driving end is connected to the endoscope 40, driving the endoscope 40 to move relative to the lens base 60. The motion actuator 80 can precisely control the forward and backward movement of the endoscope 40 through algorithms or its own condition input, ensuring the safety of the surgery. In addition to supporting the endoscope 40 through the support block 61 and limiting the movement direction of the slider through the slide rail 621, the lens base 60 also provides a mounting position for the motion actuator 80, making the overall structure compact and space-efficient.

[0062] Specifically, the motion driver 80 can be a linear motor.

[0063] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0064] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0065] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between the components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0066] In this application, the term "some embodiments," etc., refers to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0067] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A mirror-holding robot, characterized in that, include: Main base; A branch chain has a first end and a second end. The first end of the branch chain is rotatably configured relative to the main base. Three branches are configured, with their first ends circumferentially spaced around the same center point. The branch chain can be driven to rotate relative to the main base. Each branch chain includes a driving rod and a driven rod rotatably connected to the driving rod. The driving rod and the driven rod have an included angle. The driving rod includes a first connecting plate, a first rod member, and a second connecting plate connected in sequence. The driven rod includes a third connecting plate, a second rod member, and a fourth connecting plate connected in sequence. Both the first and second connecting plates have included angles with the first rod member, and both the third and fourth connecting plates have included angles with the second rod member. The second connecting plate is rotatably connected to the third connecting plate. A rotary actuator is configured to be connected to three branches in a one-to-one correspondence. The rotary actuator is connected to the main base and the drive rod. The first connecting plate is connected to the rotary actuator. A moving platform, wherein the fourth connecting plate is rotatably connected to the moving platform, the moving platform includes a plurality of first connecting members, each of which is connected to a branch in a one-to-one manner. The connection points of the plurality of first connecting members and their respective corresponding branches are arranged circumferentially at intervals around a common center point. The relative position of each connection point to other connection points is the same as the relative position of the first end of a branch corresponding to that connection point to other first ends of the branch. The laparoscope is driven by the moving platform and is engaged with the laparoscope. The laparoscope can be driven by the moving platform to rotate about a telecentric fixed point, which is located at the end of the laparoscope away from the moving platform.

2. The mirror-holding robot according to claim 1, characterized in that, The lens-holding robot also includes a lens base connected to the moving platform. The cavity mirror is movably disposed relative to the lens base and can be driven to reciprocate relative to the lens base along its own axis.

3. The mirror-holding robot according to claim 2, characterized in that, The lens base includes a support block, on which a first arc-shaped groove is formed, and the cavity mirror is slidably disposed on the first arc-shaped groove.

4. The mirror-holding robot according to claim 3, characterized in that, The lens-holding robot also includes a slider, the lens base is formed with a slide rail, the extension direction of the slide rail is the same as the axis of the cavity mirror, the slider is slidably connected to the slide rail, and the cavity mirror is fixedly set relative to the slider.

5. The mirror-holding robot according to claim 4, characterized in that, A second arc-shaped groove is formed on the slider, and the support block and the slider are arranged sequentially at intervals along the axial direction of the cavity mirror. The cavity mirror is fixedly mounted on the second arc-shaped groove.

6. The mirror-holding robot according to claim 2, characterized in that, The lens-holding robot also includes a motion driver mounted on the lens base, the motion driver being connected to the cavity mirror to drive the cavity mirror to reciprocate along its axis.

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