Double-arm trolley for ophthalmologic surgical robot

Abstract

The invention relates to a double-arm trolley for an ophthalmologic operation robot, and belongs to the technical field of ophthalmologic operation robot equipment. Through a motor-gear-lead screw linear driving mode, micron-sized linear motion of the X axis, the Y axis and the Z axis is achieved; wherein the X axis adopts a common linear guide rail as a uniform coordinate reference of the two arms, so that the consistency of space positioning of the RCM mechanisms at the two ends is ensured. Meanwhile, each shaft is provided with a mechanical hard limit and a contact soft limit, and the operation safety is improved by utilizing the self-locking characteristic of lead screw transmission. The problems that in the prior art, space coordinates of the two arms are inconsistent, motion precision is insufficient, safety is poor, and the switching efficiency of the left eye and the right eye is low are solved.

Description

[0001] Technical field.

[0002] This invention relates to a dual-arm trolley for ophthalmic surgical robots, belonging to the technical field of ophthalmic surgical robot equipment. Background Technology

[0003] Existing ophthalmic surgical robots or microsurgical-assisted surgical equipment typically require high-precision, low-vibration mechanical positioning control within a very small operating area of ​​the eyeball. Due to the fragility of the eyeball tissue, the movement of surgical instruments during surgery must be controlled at the micrometer level around a fixed point on the patient's eyeball (i.e., the surgical incision site), usually achieved through RCM (Remote Center of Motion).

[0004] However, the trolleys and three-axis motion mechanisms used to support the RCM mechanism in existing equipment generally have the following problems: 1. The XYZ linear motion mechanism has insufficient structural rigidity, making it difficult to balance large stroke adjustment with micron-level precision.

[0005] 2. The lack of a unified coordinate reference in the multi-arm robotic system leads to deviations in spatial positioning between the two arms.

[0006] 3. Inadequate limit and safety protection measures pose a high risk of overtravel.

[0007] 4. Switching between left and right eye surgeries requires repositioning of the mechanical structure, which is less efficient.

[0008] 5. Traditional robotic arms are large in size and prone to interference.

[0009] Therefore, an XYZ motion mechanism is needed that combines flexibility, compactness, high stability, high precision, and the ability to establish a unified reference for both arms, in order to meet the precise positioning requirements of the RCM structure in ophthalmic surgery. Summary of the Invention

[0010] To address the above problems, the present invention provides a dual-arm trolley for an ophthalmic surgical robot, comprising: The vehicle body includes a base and an X-axis assembly disposed on the base, wherein the X-axis assembly is movably connected to a Y-axis assembly and a Z-axis assembly in sequence; the bottom of the base is provided with a set of movable support wheels; The RCM mechanism includes a base module, a rotation mechanism, a pitch mechanism, and a feed mechanism sequentially connected to a Z-axis assembly. The rotation mechanism includes a rotation support connected to the base module and a rotary assembly hinged to the rotation support. The pitch mechanism includes a double parallelogram linkage assembly hinged to the rotary assembly. The feed mechanism includes a feed base connected to the end of the double parallelogram linkage assembly, and a feed motor and a feed screw mounted on the feed base. The end of the feed screw is connected to a surgical instrument. The surgical instrument is oscillating by driving the rotary assembly. The angle between the feed mechanism and the rotary mechanism can be changed by driving the double parallelogram linkage assembly to adjust the pitch angle of the surgical instrument. The surgical instrument is advanced by driving the feed screw. In some embodiments of the present invention, the X-axis assembly includes an X-axis motor fixed to the base, the X-axis motor being driven to connect to an X-axis lead screw via an X-axis transmission assembly, the X-axis lead screw being driven to connect to an X-axis platform, and the X-axis platform being connected to the base via an X-axis guide rail slider. The Y-axis assembly includes a Y-axis platform connected to the X-axis platform via a Y-axis guide rail slider. A Y-axis motor is fixed on the Y-axis platform. The Y-axis motor is driven and connected to the Y-axis lead screw via a Y-axis transmission assembly. The Y-axis lead screw is driven and connected to the Y-axis platform itself. The Z-axis assembly includes a Z-axis platform connected to the Y-axis platform via a Z-axis guide rail slider. A Z-axis motor is fixed on the Z-axis platform. The Z-axis motor is driven by a Z-axis lead screw via a Z-axis transmission assembly. The Z-axis lead screw is driven by the Z-axis platform itself.

[0011] In some embodiments of the present invention, multiple translation limit contacts are distributed on the base, X-axis platform, Y-axis platform, and Z-axis platform. When the X-axis platform contacts the translation limit contact on the base, when the Y-axis platform contacts the translation limit contact on the X-axis platform, and when the Z-axis platform contacts the translation limit contact on the Y-axis platform, a signal is sent to the controller to achieve the purpose of soft limiting. Each translation limit contact can be set to protrude.

[0012] In some embodiments of the present invention, a mode conversion component is provided on the base module. The mode conversion component includes a mode conversion drive motor and a mode conversion base. A worm gear assembly connecting the mode conversion drive motor and the rotating support is fitted inside the mode conversion base. Mechanical limiting structures are provided on both sides of the mode conversion base and rubber strips are fitted to achieve hard limiting and zero backlash of the mode conversion component.

[0013] In some embodiments of the present invention, the rotating support is an arc-shaped structure, the rotary assembly is a roller hinged to both sides inside the rotating support, the roller is equipped with a roller drive motor, and the rotary assembly is provided with rotation limit contacts on both sides.

[0014] In some embodiments of the present invention, the double parallelogram linkage assembly includes a linkage base connecting to the rotary assembly. A middle vertical rod and a rear vertical rod are hinged to both ends of the linkage base. Simultaneously, the middle and rear vertical rods are also hinged to the right side of the middle horizontal rod. The left side of the middle horizontal rod is hinged to an upper horizontal rod via a front vertical rod. The left ends of the upper and middle horizontal rods are simultaneously hinged to a feed base. The right side of the middle horizontal rod is supported by a pitch motor and hinged to the upper horizontal rod by the pitch motor. By driving the pitch motor, the angle between the feed mechanism and the rotary mechanism is changed, indirectly adjusting the angle of the feed base.

[0015] In some embodiments of the present invention, a bearing top seat is provided at the hinge point between the left end of the upper crossbar and the middle crossbar and the feed base.

[0016] In some embodiments of the present invention, fins are provided on both sides of the connecting rod base to achieve soft limiting of the movement space of the rotation limiting contacts provided on both sides of the rotary assembly.

[0017] In some embodiments of the present invention, the end of the feeding mechanism is provided with a feeding limit contact to achieve soft limiting.

[0018] In some embodiments of the present invention, the base is provided with an outer shell, and the outer shell is provided with a switch button, an emergency stop button, and a power wiring panel.

[0019] Advantages and effects of the present invention: This invention achieves micron-level linear motion along the X, Y, and Z axes through a linear drive system of motor-gear-lead screw. The X-axis utilizes a shared linear guide as a unified coordinate reference for both arms, ensuring consistent spatial positioning of the RCM mechanisms at both ends. Simultaneously, each axis is equipped with mechanical hard limits and contact soft limits, and the self-locking characteristic of the lead screw drive enhances operational safety. This invention solves the problems of inconsistent spatial coordinates between the two arms, insufficient motion accuracy, poor safety, and low efficiency in switching between the left and right eyes in existing technologies.

[0020] Furthermore, the present invention also has the following advantages: 1. High precision: The lead screw drive, combined with high-precision guide rails and control system, enables the XYZ three-axis positioning accuracy to be better than 1 μm, which meets the requirements of ophthalmic microsurgery.

[0021] 2. High stability: The double-end support structure of the lead screw improves the system rigidity and reduces the risk of motion vibration and deviation.

[0022] 3. Self-locking safety: The lead screw drive structure has a natural self-locking capability, which can maintain the current position even in the event of a power failure, thus improving clinical safety.

[0023] 4. Coordinate consistency of both arms: The shared guide rail design on the X-axis enables both arms to operate in the same spatial coordinate system, improving the geometric consistency of the coordinated operation of both arms and the parallelism of the movement of the RCM point.

[0024] 5. Rapid switching between left and right eyes: The left and right eye modes can be switched through the coordinated operation of the XYZ axes, eliminating the need for complex mechanical adjustments and improving surgical efficiency.

[0025] 6. Comprehensive stroke protection: The dual protection structure of mechanical hard limit and soft limit avoids over-stroke impact, reducing the risk of mechanism damage and misoperation.

[0026] Unique structure and compact overall design: The optimized XYZ layout and connection structure enable the robot to have a smaller size and better ease of use while ensuring flexibility and reliability. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the double-arm trolley of the present invention.

[0028] Figure 2 This is an assembly diagram of the X-axis assembly, Y-axis assembly and Z-axis assembly of the present invention.

[0029] Figure 3 This is a schematic diagram of the X-axis assembly of the present invention.

[0030] Figure 4 This is a schematic diagram of the Y-axis assembly of the present invention.

[0031] Figure 5 This is a schematic diagram of the Z-axis assembly of the present invention.

[0032] Figure 6 This is an assembly diagram of the RCM mechanism of the present invention.

[0033] Figure 7 This is a schematic diagram of the RCM mechanism of the present invention.

[0034] Figure 8 This is a schematic diagram of the feeding mechanism of the present invention.

[0035] Figure 9 This is a schematic diagram of the pitching mechanism of the present invention.

[0036] Figure 10 This is a schematic diagram of the rotating mechanism of the present invention.

[0037] Figure 11 This is a schematic diagram of the mode conversion component of the present invention.

[0038] In the diagram, 100 is the base module, 200 is the rotation mechanism, 300 is the pitch mechanism, 400 is the feed mechanism, 500 is the vehicle body, 600 is the X-axis assembly, 700 is the Y-axis assembly, 800 is the Z-axis assembly, 900 is the RCM mechanism, and 10 is the translation limit contact. 61. X-axis motor; 62. X-axis transmission assembly; 63. X-axis lead screw; 64. X-axis platform; 65. X-axis guide rail slider; 71. Y-axis motor; 72. Y-axis transmission assembly; 73. Y-axis lead screw; 74. Y-axis platform; 75. Y-axis guide rail slider; 81. Z-axis motor; 82. Z-axis transmission assembly; 83. Z-axis lead screw; 84. Z-axis platform; 85. Z-axis guide rail slider; 91. Feed limit contact; 92. Feed screw drive assembly; 93. Feed screw; 94. Upper crossbar; 95. Feed base; 96. Pitch screw nut; 97. Feed motor; 98. Pitch motor support; 99. Middle crossbar; 910. Pitch motor; 911. Middle vertical bar; 912. Double bearing top seat; 913. Pitch limit contact; 914. Rear vertical bar; 915. Connecting rod base; 916. Bearing top seat; 917. Drum drive motor; 918. Rotary assembly bearing end cover; 919. Rotary support; 920. Rotary limit contact; 921. Mode conversion base; 922. Mode conversion drive motor. Detailed Implementation

[0039] 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, not all, of the embodiments of the present invention. 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.

[0040] In this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] In this invention, the terms "first" and "second" are used only to distinguish similar components / parts in different positions or with different characteristics, and have no other limiting meaning; "upper" refers to the direction in which each component is away from the ground, and "lower" refers to the direction in which each component is away from the ground.

[0042] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0043] This invention provides a dual-arm trolley for ophthalmic surgical robots, comprising: The carriage 500 includes a base and an X-axis assembly 600 disposed on the base. The X-axis assembly 600 is movably connected to the Y-axis assembly 700 and the Z-axis assembly 800 in sequence. The bottom of the base is provided with a movable support wheel set. This movable support wheel set not only enables the carriage to move flexibly in the operating room, but also provides handles on the carriage 500 to meet the adaptation needs of different operating bed positions. When locked, it can also provide extremely high support stability and avoid surgical risks caused by accidental displacement of the carriage during the operation.

[0044] In some implementations, the X-axis range of motion is 100mm, the Y-axis range of motion is 60mm, and the Z-axis range of motion is 200mm, with a positioning accuracy of better than 1µm across the X, Y, and Z axes. The X-axis of both arms shares the same linear guide rail as a unified X-axis coordinate reference to ensure the positional synchronization and parallelism of the RCM mechanisms at both ends. The X, Y, and Z axes are coordinated and controlled by a control system to achieve switching between left and right eye surgical modes.

[0045] The RCM mechanism 900 includes a base module 100, a rotation mechanism 200, a pitch mechanism 300, and a feed mechanism 400, which are sequentially connected to the Z-axis assembly 800. The rotation mechanism 200 includes a rotation support 919 connected to the base module 100 and a rotary assembly hinged to the rotation support 919. The pitch mechanism 300 includes a double parallelogram linkage assembly hinged to the rotary assembly. The feed mechanism 400 includes a feed base 95 connected to the end of the double parallelogram linkage assembly and a feed motor 97 and a feed screw 93 mounted on the feed base 95. The end of the feed screw 93 is connected to a surgical instrument. The surgical instrument is oscillating by driving the rotary assembly. This oscillation action is responsive and the angle control is precise, which can flexibly adapt to the operational needs of different surgical areas in fundus surgery, greatly improving the movement coverage of the surgical instrument. At the same time, there is no obvious jamming during the oscillation, ensuring the smoothness of the surgical operation. By driving the oscillation of the double parallelogram linkage assembly, the angle between the feed mechanism 400 and the rotation mechanism 200 can be changed, thereby adjusting the pitch angle of the surgical instrument. This angle adjustment method ensures that the surgical instrument always maintains the preset posture during the pitch process, avoiding deviation or shaking, and providing reliable protection for delicate fundus surgical operations. The surgical instrument is advanced by driving the feed screw 93. The transmission efficiency is high and the positioning error is small, which can realize the micro-feed control of the surgical instrument, meet the stringent requirements of feed accuracy in fundus surgery, and at the same time, the feed action is smooth and impact-free, which can reduce mechanical stimulation to the fragile fundus tissues. In some embodiments of the present invention, the X-axis assembly 600 includes an X-axis motor 61 fixed to a base. The X-axis motor 61 is driven by an X-axis lead screw 63 via an X-axis transmission assembly 62. The X-axis lead screw 63 is driven by an X-axis platform 64. The X-axis platform 64 is also connected to the base via an X-axis guide rail slider 65. The X-axis transmission assembly 62 adopts a combination of synchronous belt and gear transmission design, which can effectively reduce transmission noise. At the same time, the elasticity of the synchronous belt can absorb the impact load when the motor starts, protecting the X-axis lead screw 63 from instantaneous overload damage. The X-axis guide rail slider 65 adopts a symmetrical arrangement of multiple sliders, further improving the load uniformity and motion guidance accuracy of the X-axis platform 64, ensuring that the translation error in the X-axis direction is controlled within the micrometer range, laying the foundation for the three-dimensional positioning of surgical instruments. The Y-axis assembly 700 includes a Y-axis platform 74 connected to the X-axis platform 64 via a Y-axis guide rail slider 75. A Y-axis motor 71 is fixed on the Y-axis platform 74. The Y-axis motor 71 is driven by a Y-axis lead screw 73 via a Y-axis transmission assembly 72. The Y-axis lead screw 73 is driven by the Y-axis platform 74 itself. The Y-axis assembly 700 and the X-axis assembly 600 adopt the same transmission architecture, ensuring the consistency and coordination of movement in the XY plane. The Y-axis guide rail slider 75 is equipped with a self-lubricating structure, which can reduce frictional loss during long-term operation and extend the maintenance cycle. At the same time, the Y-axis lead screw 73 adopts a pre-tightening design to eliminate transmission backlash, ensure the positioning repeatability of the Y-axis platform 74 during reciprocating movement, and avoid surgical instrument positioning deviation caused by backlash. The Z-axis assembly 800 includes a Z-axis platform 84 connected to the Y-axis platform 74 via a Z-axis guide rail slider 85. A Z-axis motor 81 is fixed on the Z-axis platform 84. The Z-axis motor 81 is driven by a Z-axis lead screw 83 via a Z-axis transmission assembly 82. The Z-axis lead screw 83 is driven by the Z-axis platform 84 itself. As a vertical motion mechanism, the Z-axis assembly 800 uses a high-precision ball screw structure for its Z-axis lead screw 83. Combined with the servo control of the Z-axis motor 81, it can achieve nanometer-level feed resolution, meeting the precise vertical positioning requirements of instruments in fundus surgery. The Z-axis guide rail slider 85 is designed to prevent falls, locking the Z-axis platform 84 even in the event of a power interruption to prevent accidental falls that could damage the equipment or pose surgical risks. In some embodiments of the present invention, multiple translational limiting contacts 10 are distributed on the base, X-axis platform 64, Y-axis platform 74, and Z-axis platform 84. When the X-axis platform 64 contacts the translational limiting contact 10 on the base, when the Y-axis platform 74 contacts the translational limiting contact 10 on the X-axis platform 64, and when the Z-axis platform 84 contacts the translational limiting contact 10 on the Y-axis platform 74, a signal is sent to the controller to achieve soft limiting. Each translational limiting contact 10 can be protruding. The translational limiting contacts 10 adopt a redundant design, with at least two sets of independent contacts in each axis to avoid limiting failure caused by a single contact failure. The protruding structure facilitates position calibration during installation and debugging. In addition, the trigger threshold of the translational limiting contact 10 can be adjusted by software programming to adapt to the movement stroke requirements in different surgical scenarios and improve the versatility of the equipment. In some embodiments of the present invention, the base module 100 serves as the mounting reference and load-bearing foundation for the entire RCM mechanism 900. It adopts an integrated processing and molding process, which effectively reduces the cumulative assembly error and provides a stable mounting support for subsequent motion mechanisms. Its high-strength structural design can withstand minor external collisions during the operation, effectively avoiding positioning deviations of surgical instruments caused by base deformation and ensuring the accuracy of fundus surgery. The base module 100 also reserves multiple interfaces to facilitate the integration of auxiliary components such as force feedback sensors and position encoders, providing a foundation for the functional expansion of the surgical robot. In some embodiments of the present invention, the rotating mechanism 200 includes a rotating support 919 connected to the base module 100 and a rotary assembly hinged to the rotating support 919; the rotary assembly is driven to realize the swinging of the surgical instrument. The swinging action is responsive and the angle is precisely controlled, which can flexibly adapt to the operation requirements of different surgical areas in fundus surgery and greatly improve the movement coverage of the surgical instrument; the hinge between the rotating support 919 and the rotary assembly adopts a high-precision bearing to reduce frictional resistance during the swinging process and reduce mechanical wear. At the same time, the bearing is equipped with a sealed dustproof structure to prevent contaminants in the surgical environment from entering and affecting the operating accuracy. The drive of the rotary assembly adopts torque servo control, which can adjust the swinging force according to the surgical requirements, providing a gentle movement feel during fine operation and providing sufficient power during rapid positioning. In some embodiments of the present invention, the pitch mechanism 300 includes a double parallelogram linkage assembly with a hinged rotary component; by driving the double parallelogram linkage assembly to swing, the angle between the feed mechanism 400 and the rotation mechanism 200 can be changed, thereby adjusting the pitch angle of the surgical instrument. This angle adjustment method ensures that the surgical instrument always maintains a preset posture during the pitch process, avoiding deviation or shaking, and providing reliable protection for delicate fundus surgery operations; each hinge point of the double parallelogram linkage assembly uses a self-lubricating bearing, reducing motion resistance and maintenance costs, and the symmetrical design of the linkage assembly ensures uniform force distribution and improves the fatigue resistance of the structure. In some embodiments of the present invention, the feeding mechanism 400 includes a feeding base 95 connected to the end of a double parallelogram linkage mechanism, and a feeding motor 97 and a feeding screw 93 mounted on the feeding base 95. The end of the feeding screw 93 is connected to a surgical instrument. By driving the feeding screw 93 to advance the surgical instrument, the transmission efficiency is high and the positioning error is small, which can realize the micro-feed control of the surgical instrument and meet the stringent requirements of fundus surgery for feeding accuracy. The feeding motor 97 adopts a brushless DC motor, which has low operating noise and avoids interference with voice communication in the operating room. At the same time, the motor is equipped with an encoder to realize closed-loop position control and provide real-time feedback of feeding position information to ensure accurate and controllable feeding action. The feeding screw 93 is equipped with a protective sleeve to prevent body fluids, tissue debris, etc. from contaminating the screw thread during surgery and to ensure transmission reliability. In some embodiments of the present invention, a mode conversion component is provided on the base module 100. The mode conversion component includes a mode conversion drive motor 922 and a mode conversion base 921. A worm gear assembly connecting the mode conversion drive motor 922 and the rotating support 919 is fitted inside the mode conversion base 921. The rotation of the worm gear is supported at both ends inside the mode conversion base 921. This double-end support structure not only ensures the stability of the conversion but also effectively disperses the force during the worm gear transmission process, reduces the load on a single support point, reduces transmission wear, extends the service life of the mode conversion component, and significantly improves transmission accuracy, avoiding transmission offset problems caused by single-end support. Mechanical limiting structures are provided on both sides of the mode conversion base 921 and are fitted with rubber strips to achieve hard limiting and zero backlash of the mode conversion component. The mechanical limiting structure can effectively limit the extreme stroke of the mode conversion and prevent excessive rotation from causing damage to the worm gear assembly or the rotating support 919. If damaged, the rubber strip can act as a buffer and shock absorber to avoid rigid collisions during mechanical limiting. At the same time, the elastic preload of the rubber strip eliminates transmission gaps, achieving zero backlash transmission, ensuring the repeatability and consistency of mode switching actions, and improving the reliability of surgical operations. In some embodiments, the mode switching drive motor 922 is equipped with a torque sensor. When abnormal resistance is encountered during mode switching, it can automatically stop and provide an alarm signal, further improving the safety of the equipment. In some embodiments of the present invention, the rotating support 919 has an arc-shaped structure. This arc-shaped structure is compact and can reduce the overall weight of the mechanism and the load pressure on the fundus surgical robot while ensuring structural strength. At the same time, the accommodating space formed inside the arc provides sufficient hinge mounting area for the rotary component, avoiding motion interference and improving the flexibility of the mechanism's movement. The rotary component is a roller hinged to both sides inside the rotating support 919. The roller is equipped with a roller drive motor 917. The built-in design of the roller drive motor 917 can reduce external structural interference, shorten the power transmission path, and improve transmission efficiency. At the same time, the cylindrical structure of the roller and the hinge of the rotating support 919 are smoothly matched, which can reduce the frictional resistance during the swing process and realize the smooth transition of the surgical instrument swing action. The surface of the roller is treated with anti-slip treatment to enhance the stability of the fit with the hinge and avoid slippage during high-speed swing. In some embodiments of the present invention, rotation limit contacts 920 are provided on both sides of the rotary component to limit the rotation component from swinging to a preset limit, while avoiding accidental injury to the patient's eyes caused by the surgical instruments swinging beyond their range, thus significantly improving the safety of the surgical operation; the rotation limit contacts 920 adopt a multi-level trigger design, including a warning contact and a limit contact. When the warning contact is triggered, the controller controls the rotary component to decelerate, and when the limit contact is triggered, the machine stops immediately, forming a graded protection mechanism that ensures safety while avoiding frequent sudden stops that affect the smoothness of the operation. In some embodiments of the present invention, the double parallelogram linkage assembly includes a linkage base 915 connecting to the rotary assembly. A middle vertical rod 911 and a rear vertical rod 914 are hinged to both ends of the linkage base 915. Simultaneously, the middle vertical rod 911 and the rear vertical rod 914 are also hinged to the right side of the middle horizontal rod 99. The left side of the middle horizontal rod 99 is hinged to an upper horizontal rod 94 via a front vertical rod. The left ends of the upper horizontal rod 94 and the middle horizontal rod 99 are simultaneously hinged to a feed base 95. The right side of the middle horizontal rod 99 is hinged to the upper horizontal rod 94 via a pitch motor support 98 and a pitch motor 910. By driving the pitch motor 910, the angle between the feed mechanism 400 and the rotary mechanism 200 is changed, indirectly adjusting the angle of the feed base 95. This double parallelogram linkage structure possesses excellent motion consistency, ensuring that the feed base 95 remains horizontal or in a preset posture during pitch angle adjustments, preventing unnecessary deflection of surgical instruments and guaranteeing the precision of surgical operations. Simultaneously, the symmetrical hinge structure formed by the middle vertical rod 911, rear vertical rod 914, middle horizontal rod 99, and upper horizontal rod 94 effectively distributes the force on the mechanism, reduces the load on individual hinge points, enhances the structural rigidity and fatigue resistance of the linkage assembly, and extends its service life. In some embodiments, a cross-type reinforcing link can be added between the middle horizontal rod 99 and the upper horizontal rod 94 to further improve the structural stability of the double parallelogram linkage assembly, making it particularly suitable for high-precision fundus surgery with stringent requirements for structural rigidity. In some embodiments of the present invention, a bearing top seat 916 is provided at the hinge point between the left end of the upper crossbar 94 and the middle crossbar 99 and the feed base 95. The bearing top seat 916 adopts a high-precision angular contact bearing, which can withstand radial and axial combined loads, improve the load-bearing capacity and rotational accuracy at the hinge point, and is equipped with a dust cover to prevent contaminants from entering the bearing and ensure smooth rotation. The installation height of the bearing top seat 916 can be finely adjusted to facilitate posture calibration during assembly and ensure the initial posture accuracy of the feed base 95. In some embodiments of the present invention, fins are provided on both sides of the connecting rod base 915 to softly limit the movement space of the rotation limit contacts 920 provided on both sides of the rotary assembly. The fins adopt an elastic structure design, which can make contact in advance when the rotation limit contacts 920 are close to the limit position and generate a linearly increasing buffer resistance to form soft limit protection, avoid direct collision between the rotation limit contacts 920 and the hard limit structure, and extend the service life of the contacts by more than 2 times. At the same time, the dual cooperation of soft limit and hard limit can further improve the limit reliability of the rotary mechanism 200 and prevent limit failure. The surface of the fins is smoothed to reduce friction and wear when in contact with the rotation limit contacts 920. In some embodiments, a pressure sensor is provided inside the fin. When the contact pressure reaches a preset threshold, it can send a warning signal to the controller to realize triple limit protection. In some embodiments of the present invention, the end of the feeding mechanism 400 is provided with a feeding limit contact 91 to achieve soft limiting. The feeding limit contact 91 adopts a pressure-sensing design. When the feeding screw 93 is advanced to the preset stroke, the feeding limit contact 91 senses the pressure and triggers the feeding motor 97 to stop. This not only effectively prevents mechanical damage caused by excessive advancement of the feeding screw 93, but also avoids damage to the patient's fundus tissue caused by the surgical instrument over-stroke. In some embodiments, the feeding limit contact 91 can be configured as an adjustable structure. By adjusting the position of the mounting seat through the thread, it can flexibly adapt to the feeding stroke requirements of different fundus surgeries, improving the versatility of the mechanism. At the same time, the feeding limit contact 91 and the feeding motor 97 form a closed-loop control, which can provide real-time feedback of feeding position information, further improving the accuracy of feeding control. In some embodiments, the feeding limit contact 91 is equipped with a backup contact to form a redundant design, avoiding limit failure caused by the failure of a single contact.

[0046] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Anyone skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the claims.

Claims

1. A dual-arm trolley for ophthalmic surgical robots, characterized in that, include: The vehicle body includes a base and an X-axis assembly disposed on the base, wherein the X-axis assembly is movably connected to a Y-axis assembly and a Z-axis assembly in sequence; the bottom of the base is provided with a set of movable support wheels; The RCM mechanism includes a base module, a rotation mechanism, a pitch mechanism, and a feed mechanism sequentially connected to a Z-axis assembly. The rotation mechanism includes a rotation support connected to the base module and a rotary assembly hinged to the rotation support. The pitch mechanism includes a double parallelogram linkage assembly hinged to the rotary assembly. The feed mechanism includes a feed base connected to the end of the double parallelogram linkage assembly, and a feed motor and a feed screw mounted on the feed base. The end of the feed screw is connected to a surgical instrument. The rotary assembly is driven to oscillate the surgical instrument. The oscillation of the double parallelogram linkage assembly allows for angle changes between the feed mechanism and the rotation mechanism, thereby adjusting the pitch angle of the surgical instrument. The feed screw is driven to advance the surgical instrument.

2. The double-arm trolley according to claim 1, characterized in that, The X-axis assembly includes an X-axis motor fixed to the base. The X-axis motor is driven to connect to an X-axis lead screw via an X-axis transmission assembly. The X-axis lead screw is driven to connect to an X-axis platform. The X-axis platform is also connected to the base via an X-axis guide rail slider. The Y-axis assembly includes a Y-axis platform connected to the X-axis platform via a Y-axis guide rail slider. A Y-axis motor is fixed on the Y-axis platform. The Y-axis motor is driven and connected to the Y-axis lead screw via a Y-axis transmission assembly. The Y-axis lead screw is driven and connected to the Y-axis platform itself. The Z-axis assembly includes a Z-axis platform connected to the Y-axis platform via a Z-axis guide rail slider. A Z-axis motor is fixed on the Z-axis platform. The Z-axis motor is driven by a Z-axis lead screw via a Z-axis transmission assembly. The Z-axis lead screw is driven by the Z-axis platform itself.

3. The double-arm trolley according to claim 2, characterized in that, The base, X-axis platform, Y-axis platform, and Z-axis platform are all equipped with multiple translation limit contacts. When the X-axis platform touches the translation limit contact on the base, when the Y-axis platform touches the translation limit contact on the X-axis platform, and when the Z-axis platform touches the translation limit contact on the Y-axis platform, a signal will be sent to the controller to achieve the purpose of soft limiting.

4. The double-arm trolley according to claim 1, characterized in that, The base module is equipped with a mode conversion component, which includes a mode conversion drive motor and a mode conversion base. The mode conversion base is fitted with a worm gear assembly that connects the mode conversion drive motor and the rotating support. The two sides of the mode conversion base are equipped with mechanical limiting structures and rubber strips to achieve hard limiting and zero backlash of the mode conversion component.

5. The double-arm trolley according to claim 1, characterized in that, The rotating support has an arc-shaped structure, and the rotary assembly is a roller hinged to both sides inside the rotating support. A roller drive motor is installed inside the roller, and rotation limit contacts are provided on both sides of the rotary assembly.

6. The double-arm trolley according to claim 5, characterized in that, The double parallelogram linkage assembly includes a linkage base connecting the rotary assembly. A middle vertical rod and a rear vertical rod are hinged to both ends of the linkage base. The middle and rear vertical rods are also hinged to the right side of the middle horizontal rod. The left side of the middle horizontal rod is hinged to the upper horizontal rod via the front vertical rod. The left ends of the upper and middle horizontal rods are simultaneously hinged to the feed base. The right side of the middle horizontal rod is supported by a pitch motor and hinged to the upper horizontal rod by the pitch motor. By driving the pitch motor, the angle between the feed mechanism and the rotary mechanism is changed, indirectly adjusting the angle of the feed base.

7. The double-arm trolley according to claim 6, characterized in that, Bearing top seats are provided at the hinge points between the left ends of the upper and middle crossbars and the feed base.

8. The double-arm trolley according to claim 6, characterized in that, Fins are provided on both sides of the connecting rod base to achieve soft limiting of the movement space of the rotation limit contacts provided on both sides of the rotary assembly.

9. The double-arm trolley according to claim 1, characterized in that, The end of the feeding mechanism is provided with a feed limit contact to achieve soft limiting.

10. The double-arm trolley according to claim 1, characterized in that, The base is provided with an outer shell, on which a switch button, an emergency stop button, and a power wiring panel are provided.

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