Fully linearly actuated dual-arm fundus surgery robotic system and methods of use
The fully linearly driven dual-arm fundus surgery robot system, employing linear drive and adaptive transmission mechanisms, solves the problems of human error and operator fatigue in traditional fundus surgery, achieving high-precision and flexible multi-degree-of-freedom operation, and improving surgical safety and efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2026-04-03
- Publication Date
- 2026-06-09
Smart Images
Figure CN121943490B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of surgical robot technology, and in particular to a fully linearly driven dual-arm fundus surgical robot system and its method of use. Background Technology
[0002] Fundus surgery is a typical example of microsurgery. This type of surgery requires manipulation of tissues at the sub-millimeter or even micrometer scale, characterized by limited operating space, restricted visual feedback, and complex surgical paths, demanding extremely high levels of hand-eye coordination, operational stability, and endurance from the surgeon.
[0003] Traditional fundus surgery relies primarily on surgeons manually manipulating microsurgical instruments. Even with the aid of tools such as microscopes, numerous technical limitations remain.
[0004] Human error is hard to avoid: physiological tremors in the doctor's hands limit the precision of surgical operations, and can easily cause secondary damage to the patient during procedures such as vascular suturing and nerve separation.
[0005] Operational fatigue affects efficiency: Microsurgery takes a long time, and doctors need to concentrate intensely for extended periods, which can easily lead to operational fatigue and thus affect the stability of the surgery.
[0006] Multi-degree-of-freedom paths are difficult to achieve: Traditional instruments are constrained by structural factors such as fulcrum and wrist range of motion, making it difficult to complete complex spatial trajectories.
[0007] Therefore, there is an urgent need for an intelligent surgical assistance system that can break through the limitations of traditional surgical operations and has high precision, high stability and flexible operation performance, so as to improve the safety and accuracy of fundus surgery, reduce the workload of doctors, and promote the development of fundus surgery towards a more refined and minimally invasive direction. Summary of the Invention
[0008] The purpose of this invention is to provide a fully linearly driven dual-arm fundus surgery robot system and its usage method to solve the problems existing in the prior art, effectively improve the safety, precision and efficiency of surgery.
[0009] To achieve the above objectives, the present invention provides the following solution:
[0010] This invention provides a fully linearly driven dual-arm fundus surgery robot system, comprising: a first base, a longitudinal movement mechanism, a second base, a first twisting mechanism, a second twisting mechanism, a first pitch movement mechanism, a second pitch movement mechanism, a dual-branch parallel manipulator arm, and a three-branch parallel manipulator arm. The first base is integrated into an operating table. The longitudinal movement mechanism is slidably connected to the first base in the longitudinal direction and can maintain its slidable position. The second base is mounted on the longitudinal movement mechanism to move longitudinally under the drive of the longitudinal movement mechanism and maintain its moved position. The first twisting mechanism and the second twisting mechanism are respectively mounted at both ends of the second base. The first pitch movement mechanism is mounted at the output end of the first twisting mechanism, and the second pitch movement mechanism is mounted at the output end of the second twisting mechanism. The dual-branch parallel manipulator arm is mounted at the output end of the first pitch movement mechanism to achieve pitch direction swing adjustment under the drive of the first pitch movement mechanism. The execution end of the dual-branch parallel manipulator arm is used to mount a first end effector and drive the first end effector to achieve multiple... The three-branch parallel manipulator is mounted on the output end of the second pitch movement mechanism to achieve pitch direction swing adjustment under the drive of the second pitch movement mechanism. The actuator end of the three-branch parallel manipulator is used to mount the second end effector, which then drives the second end effector to achieve multi-degree-of-freedom pose adjustment. The first twisting mechanism, second twisting mechanism, first pitch movement mechanism, second pitch movement mechanism, dual-branch parallel manipulator, and three-branch parallel manipulator all use linear drive units as power sources. The first twisting machine... The first and second twisting mechanisms can respectively drive the first and second pitch moving mechanisms connected to them to perform twisting actions around a specific axis, thereby driving the dual-branch parallel operating arm and the three-branch parallel operating arm to achieve fine operations similar to human hand twisting. The first pitch moving mechanism can drive the dual-branch parallel operating arm connected to it to swing in the pitch direction to adjust the pitch position of the dual-branch parallel operating arm. The second pitch moving mechanism can drive the three-branch parallel operating arm connected to it to swing in the pitch direction to adjust the pitch position of the three-branch parallel operating arm.
[0011] Preferably, the longitudinal movement mechanism includes at least one adapter, multiple first sliders, and a guide rail clamp. A first guide rail in the longitudinal direction is provided on the first base. The first slider slides in cooperation with the first guide rail. The bottom end of the adapter is fixedly connected to the first slider, and the side of the adapter is fixedly connected to the second base, so that the second base can be moved longitudinally by the sliding of the first slider along the first guide rail. The guide rail clamp is installed on the adapter, and its jaws contact the side or top surface of the first guide rail, so that when it is necessary to fix the position of the adapter, the guide rail clamp can lock the adapter and the first guide rail relative to each other by applying a clamping force.
[0012] Preferably, the first twisting mechanism includes a first drive motor, a first motor mounting plate, a first lead screw, a first lead nut, a first support base, a first bearing, a second slider, a first transmission plate, a second drive motor, a second motor mounting plate, a second lead screw, a second lead nut, a second support base, a second bearing, a third slider, a second transmission plate, and a first adaptive transmission mechanism. The top and bottom ends of the second base are respectively provided with a second guide rail and a third guide rail. The first drive motor is mounted on the second base via the first motor mounting plate. The first support base is mounted on the second base. One end of the first lead screw is fixedly connected to the output shaft of the first drive motor, and the other end is rotatably connected to the first support base via the first bearing. The first transmission plate is slidably connected to the second guide rail via the second slider. The first lead nut is fixedly connected to the first transmission plate, and the first lead nut is threaded onto the first lead screw. The second drive motor is mounted on the second base via the second motor mounting plate. The second support base is mounted on the second base. One end of the second lead screw is fixedly connected to the output shaft of the second drive motor, and the other end is rotatably connected to the second support base via the second bearing. The second lead screw is parallel to the first lead screw and located below the first lead screw. The second transmission plate is slidably connected to the third guide rail via the third slider. The second lead screw nut is fixedly connected to the second transmission plate and threadedly connected to the second lead screw. One end of the first adaptive transmission mechanism is rotatably connected to the first transmission plate, and the other end is rotatably connected to the second transmission plate. The side of the first adaptive transmission mechanism away from the second base is used for transmission connection with the first pitch movement mechanism to drive the first pitch movement mechanism to perform a twisting action around a specific axis.
[0013] Preferably, the first adaptive transmission mechanism includes a first active movable plate, a fourth slider, a first passive movable plate, a fifth slider, a first bearing positioning block, a second bearing positioning block, a third bearing, and a fourth bearing. The first pitch movement mechanism includes a third base, a third drive motor, a third motor mounting plate, a third lead screw, and a third lead screw nut. A fourth guide rail is provided on the third base. The first active movable plate is slidably connected to the fourth guide rail via the fourth slider. The first passive movable plate is slidably connected to the fourth guide rail via the fifth slider. The third drive motor is fixedly connected to the third base via the third motor mounting plate. One end of the third lead screw is fixedly connected to the output end of the third drive motor, and the other end is threadedly connected to the third lead screw nut. The third lead screw nut is fixedly connected to the first active movable plate. The first bearing positioning block is fixedly connected to the first passive movable plate. The second bearing positioning block is fixedly connected to the first active movable plate. The third bearing is installed on the first transmission plate. The fourth bearing is installed on the second transmission plate. The first bearing positioning block is assembled with the third bearing. The second bearing positioning block is assembled with the fourth bearing. The dual-branch parallel operating arm is installed on the side of the third base away from the second base.
[0014] Preferably, the second twisting mechanism includes a fourth drive motor, a fourth motor mounting plate, a fourth lead screw, a fourth lead screw nut, a third support base, a fifth bearing, a sixth slider, a third transmission plate, a fifth drive motor, a fifth motor mounting plate, a fifth lead screw, a fifth lead screw nut, a fourth support base, a sixth bearing, a seventh slider, a fourth transmission plate, and a second adaptive transmission mechanism. The fourth drive motor is mounted on the second base via the fourth motor mounting plate. The third support base is mounted on the second base. One end of the fourth lead screw is fixedly connected to the output shaft of the fourth drive motor, and the other end is rotatably connected to the third support base via the fifth bearing. The third transmission plate is slidably connected to the second guide rail via the sixth slider. The fourth lead screw nut is fixedly connected to the third transmission plate, and the fourth lead screw nut is threadedly connected to the fourth lead screw. The fifth drive motor is connected via the... The fifth motor mounting plate is mounted on the second base, the fourth support base is mounted on the second base, one end of the fifth lead screw is fixedly connected to the output shaft of the fifth drive motor, and the other end is rotatably connected to the fourth support base through the sixth bearing. The fifth lead screw is parallel to the fourth lead screw and located below the fourth lead screw. The fourth transmission plate is slidably connected to the third guide rail through the seventh slider. The fifth lead screw nut is fixedly connected to the fourth transmission plate and threadedly connected to the fifth lead screw. One end of the second adaptive transmission mechanism is rotatably connected to the third transmission plate, and the other end is rotatably connected to the fourth transmission plate. The side of the second adaptive transmission mechanism away from the second base is used for transmission connection with the second pitch movement mechanism to drive the second pitch movement mechanism to perform a twisting action around a specific axis.
[0015] Preferably, the second adaptive transmission mechanism includes a second active movable plate, an eighth slider, a second passive movable plate, a ninth slider, a third bearing positioning block, a fourth bearing positioning block, a seventh bearing, and an eighth bearing. The second pitch movement mechanism includes a fourth base, a sixth drive motor, a sixth motor mounting plate, a sixth lead screw, and a sixth lead screw nut. A fifth guide rail is provided on the fourth base. The second active movable plate is slidably connected to the fifth guide rail via the eighth slider. The second passive movable plate is slidably connected to the fifth guide rail via the ninth slider. The sixth drive motor is fixedly connected to the fourth base via the sixth motor mounting plate. One end of the sixth lead screw is fixedly connected to the output end of the sixth drive motor, and the other end is threadedly connected to the sixth lead screw nut. The sixth lead screw nut is fixedly connected to the second active movable plate. The third bearing positioning block is fixedly connected to the second passive movable plate. The fourth bearing positioning block is fixedly connected to the second active movable plate. The seventh bearing is installed on the third transmission plate. The eighth bearing is installed on the fourth transmission plate. The third bearing positioning block is assembled with the seventh bearing. The fourth bearing positioning block is assembled with the eighth bearing. The three-branch parallel operating arm is installed on the side of the fourth base away from the second base.
[0016] Preferably, the dual-branch parallel operating arm includes a first bracket, a first linear motor, a first magnetic shaft, a first moving block, a first sliding plate, a second linear motor, a second magnetic shaft, a second moving block, a second sliding plate, and a first actuator mounting plate. The first bracket has a first sliding groove and a second sliding groove on its two sides respectively. A sixth guide rail is provided along the top edge of the first sliding groove, and a seventh guide rail is provided along the top edge of the second sliding groove. The first linear motor is installed in the first sliding groove. One end of the first magnetic shaft is fixedly connected to the first linear motor and is disposed within the first sliding groove. The first moving block is slidably sleeved on the outside of the first magnetic shaft and slidably connected within the first sliding groove, and fixedly connected to the first sliding plate. The first sliding plate... The first actuator mounting plate is slidably connected to the sixth guide rail. The second linear motor is installed in the second slide groove. One end of the second magnetic shaft is fixedly connected to the second linear motor and the second magnetic shaft is set in the second slide groove. The second moving block is slidably sleeved on the outside of the second magnetic shaft and slidably connected in the second slide groove, and fixedly connected to the second slide plate. The second slide plate is slidably connected to the seventh guide rail and is arranged parallel to the first slide plate. The two ends of the first actuator mounting plate are respectively hinged to the first slide plate and the second slide plate, so as to realize the attitude adjustment of the first actuator mounting plate in the two-dimensional plane when the first slide plate and the second slide plate move synchronously or asynchronously. The first actuator mounting plate is used to install the first end effector.
[0017] Preferably, the three-branch parallel operating arm includes a second support, a third linear motor, a third magnetic shaft, a third moving block, a third sliding plate, a fourth linear motor, a fourth magnetic shaft, a fourth moving block, a fourth sliding plate, a fifth linear motor, a fifth magnetic shaft, a fifth moving block, a fifth sliding plate, an adapter plate, a Hooke hinge, a second actuator mounting plate, a micro motor, and a micro lead screw. The second support is provided with a third, fourth, and fifth slide groove. An eighth guide rail is provided on the top edge of the third slide groove, a ninth guide rail is provided on the top edge of the fourth slide groove, and a tenth guide rail is provided on the top edge of the fifth slide groove. The third linear motor is installed in the third slide groove. One end of the third magnetic shaft is fixedly connected to the third linear motor, and the third magnetic shaft is disposed within the third sliding groove. The third moving block is slidably sleeved on the outside of the third magnetic shaft and slidably connected within the third sliding groove, and fixedly connected to the third sliding plate. The third sliding plate is slidably connected to the eighth guide rail. The fourth linear motor is installed within the fourth sliding groove. One end of the fourth magnetic shaft is fixedly connected to the fourth linear motor, and the fourth magnetic shaft is disposed within the fourth sliding groove. The fourth moving block is slidably sleeved on the outside of the fourth magnetic shaft and slidably connected within the fourth sliding groove, and fixedly connected to the fourth sliding plate. The fifth slide plate is slidably connected to the ninth guide rail. The fifth linear motor is installed in the fifth slide groove. One end of the fifth magnetic shaft is fixedly connected to the fifth linear motor and is located in the fifth slide groove. The fifth moving block is slidably sleeved on the outside of the fifth magnetic shaft and slidably connected in the fifth slide groove, and fixedly connected to the fifth slide plate. The fifth slide plate is slidably connected to the tenth guide rail. The fourth and fifth slide plates are arranged parallel to each other. The two ends of the adapter plate are respectively hinged to the third and fourth slide plates in a first direction. The middle part of the adapter plate is connected to the... One end of the second actuator mounting plate is hinged to the second direction, which is perpendicular to the second direction. The other end of the second actuator mounting plate is universally hinged to the fifth slide plate via the Hooke hinge, so as to realize the attitude adjustment of the second actuator mounting plate in three-dimensional space when the third slide plate, the fourth slide plate, and the fifth slide plate move synchronously or asynchronously. The second actuator mounting plate is used to mount the second end effector. The three-branch parallel operating arm also includes a micro motor and a micro lead screw. The micro motor is mounted on the second actuator mounting plate, and the micro lead screw is fixedly connected to the output shaft of the micro motor.
[0018] Preferably, it also includes a controller, which is electrically connected to the longitudinal movement mechanism, the first twisting mechanism, the second twisting mechanism, the first pitch movement mechanism, the second pitch movement mechanism, the dual-branch parallel operating arm, and the three-branch parallel operating arm, respectively, for receiving external control commands and driving each mechanism to perform corresponding actions according to the control commands.
[0019] The present invention also provides a method of using the fully linearly driven dual-arm fundus surgical robot system as described in any of the preceding claims, comprising the following steps:
[0020] Install the first base on the operating table and adjust the position of the longitudinal moving mechanism;
[0021] The first and second pitch movement mechanisms are controlled to drive the dual-branch parallel operating arm and the triple-branch parallel operating arm to swing in the pitch direction, and the dual-branch parallel operating arm and the triple-branch parallel operating arm are controlled to adjust the pose of their respective execution ends, so that the first end effector installed on the execution end of the dual-branch parallel operating arm reaches the target end pose, and the second end effector installed on the execution end of the triple-branch parallel operating arm reaches the target end pose.
[0022] When a twisting motion is required, the first twisting mechanism and the second twisting mechanism are controlled to drive the first pitching mechanism and the second pitching mechanism to perform twisting motions around a specific axis, thereby driving the dual-branch parallel operating arm and the three-branch parallel operating arm to perform twisting motions, so as to complete the twisting motion required in the operation.
[0023] The present invention achieves the following technical effects compared to the prior art:
[0024] This invention provides a fully linearly driven dual-arm fundus surgery robot system and its usage method. It replaces the traditional combination of rotary motor and reducer drive with a fully linear drive, avoiding the impact of mechanical transmission backlash on end-effector precision and significantly improving the control accuracy and motion stability of surgical operations. Simultaneously, through the collaborative design of dual-branch parallel manipulators and triple-branch parallel manipulators, combined with an adaptive transmission mechanism and multi-degree-of-freedom movement and twisting mechanisms, it can flexibly simulate the complex movements of a human hand in fundus surgery, such as precise pitch and oscillation, pose adjustments in two-dimensional and three-dimensional space, and crucial twisting operations. This effectively expands the surgical operation range and adaptability of the robot system, providing reliable technical support for high-precision, minimally invasive fundus surgery. Attached Figure Description
[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0026] Figure 1 A schematic diagram of the structure of the fully linearly driven dual-arm fundus surgery robot system provided by the present invention;
[0027] Figure 2 A schematic diagram of the longitudinal movement mechanism in the fully linearly driven dual-arm fundus surgery robot system provided by the present invention;
[0028] Figure 3 A schematic diagram of the assembly of the first twisting mechanism and the second twisting mechanism with the longitudinal movement mechanism in the fully linearly driven dual-arm fundus surgery robot system provided by the present invention;
[0029] Figure 4 A schematic diagram of the assembly of the first adaptive transmission mechanism and the first pitch movement mechanism in the fully linearly driven dual-arm fundus surgery robot system provided by the present invention;
[0030] Figure 5 A schematic diagram of the structure of the dual-branch parallel manipulator in the fully linearly driven dual-arm fundus surgery robot system provided by the present invention;
[0031] Figure 6 A schematic diagram of the structure of the three-branch parallel manipulator in the fully linearly driven dual-arm fundus surgery robot system provided by the present invention;
[0032] Figure 7 A simplified diagram of the fully linearly driven dual-arm fundus surgical robot system provided by the present invention;
[0033] In the diagram: 1. First base; 2. Longitudinal moving mechanism; 21. Adapter; 22. First slider; 23. Guide rail clamp; 3. Second base; 31. Second guide rail; 32. Third guide rail; 4. First twisting mechanism; 41. Second support base; 42. Second bearing; 43. First adaptive transmission mechanism; 431. Fourth bearing; 432. First active moving plate; 433. Fourth slider; 434. First passive moving plate; 435. Fifth slider; 436. First bearing positioning block; 437. Second bearing positioning block; 5. Second twisting mechanism; 51. Fourth drive motor; 52. Fourth motor mounting plate; 53. Fourth lead screw; 54. Fourth lead screw nut; 55. Sixth slider; 56. Third transmission plate; 57. Fifth drive motor; 58. Fifth lead screw; 59. Fifth lead screw nut 6. First pitch movement mechanism; 61. Third base; 62. Third drive motor; 63. Third motor mounting plate; 64. Third lead screw; 65. Third lead screw nut; 66. Fourth guide rail; 7. Second pitch movement mechanism; 8. Dual-branch parallel operating arm; 81. First bracket; 811. Sixth guide rail; 82. First linear motor; 83. First magnetic shaft; 84. First moving block; 85. First sliding plate; 86. First actuator mounting plate; 9. Three-branch parallel operating arm; 91. Second bracket; 92. Third linear motor; 93. Eighth guide rail; 94. Third magnetic shaft; 95. Fourth sliding plate; 96. Adapter plate; 97. Second actuator mounting plate; 98. Hooke hinge; 99. Micro motor; 910. Micro lead screw; 10. First end effector; 11. Second end effector. Detailed Implementation
[0034] 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.
[0035] The purpose of this invention is to provide a fully linearly driven dual-arm fundus surgery robot system and its usage method to solve the problems existing in the prior art, effectively improve the safety, precision and efficiency of surgery.
[0036] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0037] Example 1
[0038] This embodiment provides a fully linearly driven dual-arm fundus surgery robot system, such as... Figures 1-7As shown, the system includes: a first base 1, a longitudinal moving mechanism 2, a second base 3, a first twisting mechanism 4, a second twisting mechanism 5, a first pitch moving mechanism 6, a second pitch moving mechanism 7, a dual-branch parallel operating arm 8, and a three-branch parallel operating arm 9. The first base 1 is integrated into the operating table; the longitudinal moving mechanism 2 is slidably connected to the first base 1 in the longitudinal direction and can maintain its slidable position; the second base 3 is mounted on the longitudinal moving mechanism 2 so that it can move longitudinally under the drive of the longitudinal moving mechanism 2 and maintain its moved position; the first twisting mechanism 4 and the second twisting mechanism 5... The first pitch movement mechanism 6 is installed at the output end of the first twisting mechanism 4, and the second pitch movement mechanism 7 is installed at the output end of the second twisting mechanism 5. A dual-branch parallel operating arm 8 is installed at the output end of the first pitch movement mechanism 6 to achieve pitch direction swing adjustment under the drive of the first pitch movement mechanism 6. The execution end of the dual-branch parallel operating arm 8 is used to install the first end effector 10 and drive the first end effector 10 to achieve multi-degree-of-freedom pose adjustment. A three-branch parallel operating arm 9 is installed at the output end of the second pitch movement mechanism 7 to achieve pitch direction swing adjustment under the drive of the first pitch movement mechanism 6. Driven by the pitch movement mechanism 7, the pitch direction is adjusted by swing. The actuator of the three-branch parallel operating arm 9 is used to mount the second end effector 11, which in turn drives the second end effector 11 to achieve multi-degree-of-freedom pose adjustment. The first twisting mechanism 4, the second twisting mechanism 5, the first pitch movement mechanism 6, the second pitch movement mechanism 7, the dual-branch parallel operating arm 8, and the three-branch parallel operating arm 9 all use linear drive units as power sources. The first twisting mechanism 4 and the second twisting mechanism 5 can respectively drive the first pitch movement mechanism 6 and the second pitch movement mechanism 7 connected to them to move around a specific axis. The system employs a twisting motion, which in turn drives the dual-branch parallel manipulator 8 and the triple-branch parallel manipulator 9 to achieve precise operations similar to those of a human hand. The first pitch movement mechanism 6 drives the connected dual-branch parallel manipulator 8 to swing in the pitch direction, adjusting its pitch position. Similarly, the second pitch movement mechanism 7 drives the connected triple-branch parallel manipulator 9 to swing in the pitch direction, adjusting its pitch position. This clarifies the composition and connection relationships of each part of the surgical robot system, and the overall layout design enables the robot to achieve multi-degree-of-freedom precision operations. The linear drive unit, as the power source, works in conjunction with the coordinated operation of various mechanisms to provide high-precision motion control, meeting the operational needs of fundus surgery in different dimensions, simulating the twisting and pitching motions of a human hand, and improving the accuracy and flexibility of surgical operations.
[0039] In a preferred embodiment, the longitudinal movement mechanism 2 includes at least one adapter 21, multiple first sliders 22, and a guide rail clamp 23. A first guide rail in the longitudinal direction is provided on the first base 1. The first sliders 22 slide in cooperation with the first guide rail. The bottom end of the adapter 21 is fixedly connected to the first slider 22, and the side of the adapter 21 is fixedly connected to the second base 3. The second base 3 can be moved longitudinally by the sliding of the first slider 22 along the first guide rail. The guide rail clamp 23 is installed on the adapter 21, and its jaws contact the side or top surface of the first guide rail. When it is necessary to fix the position of the adapter 21, the guide rail clamp 23 can lock the adapter 21 relative to the first guide rail by applying a clamping force. The design of the longitudinal movement mechanism 2 allows the second base 3 to move flexibly longitudinally on the first base 1 to meet the needs of different surgical positions. The guide rail clamp 23 can be set to lock the adapter 21 to the first guide rail firmly after being adjusted to a suitable position, ensuring the stability of the entire structure during the operation and avoiding the impact of shaking on the accuracy of the operation.
[0040] In a preferred embodiment, the first twisting mechanism 4 includes a first drive motor, a first motor mounting plate, a first lead screw, a first lead screw nut, a first support base, a first bearing, a second slider, a first transmission plate, a second drive motor, a second motor mounting plate, a second lead screw, a second lead screw nut, a second support base 41, a second bearing 42, a third slider, a second transmission plate, and a first adaptive transmission mechanism 43. The top and bottom ends of the second base 3 are respectively provided with a second guide rail 31 and a third guide rail 32. The first drive motor is mounted on the second base 3 via the first motor mounting plate. The first support base is mounted on the second base 3. One end of the first lead screw is fixedly connected to the output shaft of the first drive motor, and the other end is rotatably connected to the first support base via the first bearing. The first transmission plate is slidably connected to the second guide rail 31 via the second slider. The first lead screw nut is fixedly connected to the first transmission plate and threadedly connected to the first lead screw. The second drive motor... The second motor is mounted on the second base 3 via a second motor mounting plate. The second support base 41 is mounted on the second base 3. One end of the second lead screw is fixedly connected to the output shaft of the second drive motor, and the other end is rotatably connected to the second support base 41 via the second bearing 42. The second lead screw is parallel to the first lead screw and located below the first lead screw. The second transmission plate is slidably connected to the third guide rail 32 via a third slider. The second lead screw nut is fixedly connected to the second transmission plate and threadedly connected to the second lead screw. One end of the first adaptive transmission mechanism 43 is rotatably connected to the first transmission plate, and the other end is rotatably connected to the second transmission plate. The side of the first adaptive transmission mechanism 43 facing away from the second base 3 is used for transmission connection with the first pitch movement mechanism 6 to drive the first pitch movement mechanism 6 to perform a twisting action around a specific axis. The detailed structural design enables the first twisting mechanism 4 to accurately drive the first pitch movement mechanism 6 to perform a twisting action around a specific axis. The combination of dual motors, lead screw and lead nut, and the connection method of adaptive transmission mechanism realizes complex and precise motion transmission, providing delicate movements similar to human hand twisting for surgical operations, and enhancing the flexibility and precision of surgical robots at the microscopic operation level.
[0041] In a preferred embodiment, the first adaptive transmission mechanism 43 includes a first active movable plate 432, a fourth slider 433, a first passive movable plate 434, a fifth slider 435, a first bearing positioning block 436, a second bearing positioning block 437, a third bearing, and a fourth bearing 431. The first pitch movement mechanism 6 includes a third base 61, a third drive motor 62, a third motor mounting plate 63, a third lead screw 64, and a third lead screw nut 65. A fourth guide rail 66 is provided on the third base 61. The first active movable plate 432 is slidably connected to the fourth guide rail 66 via the fourth slider 433, and the first passive movable plate 434 is slidably connected to the fourth guide rail 66 via the fifth slider 435. The third drive motor 62 is fixedly connected to the third base 61 via the third motor mounting plate 63. On the first drive plate 1, one end of the third lead screw 64 is fixedly connected to the output end of the third drive motor 62, and the other end is threadedly connected to the third lead screw nut 65. The third lead screw nut 65 is fixedly connected to the first active moving plate 432. The first bearing positioning block 436 is fixedly connected to the first passive moving plate 434. The second bearing positioning block 437 is fixedly connected to the first active moving plate 432. The third bearing is installed on the first transmission plate, and the fourth bearing 431 is installed on the second transmission plate. The first bearing positioning block 436 is assembled and connected to the third bearing, and the second bearing positioning block 437 is assembled and connected to the fourth bearing 431. The dual-branch parallel operating arm 8 is installed on the side of the third base 61 away from the second base 3. The cooperation between the first adaptive transmission mechanism 43 and the first pitch movement mechanism 6 further refines the motion transmission process. By connecting the slider, bearing positioning block and bearing, the motion of the first twisting mechanism 4 can be transmitted to the first pitching movement mechanism 6 more accurately, thereby realizing the precise swing adjustment of the dual-branch parallel operating arm 8 in the pitch direction, providing more precise position adjustment for the first end effector 10, and meeting the requirements of fundus surgery for high-precision operation.
[0042] In a preferred embodiment, the second twisting mechanism 5 includes a fourth drive motor 51, a fourth motor mounting plate 52, a fourth lead screw 53, a fourth lead screw nut 54, a third support base, a fifth bearing, a sixth slider 55, a third transmission plate 56, a fifth drive motor 57, a fifth motor mounting plate, a fifth lead screw 58, a fifth lead screw nut 59, a fourth support base, a sixth bearing, a seventh slider, a fourth transmission plate, and a second adaptive transmission mechanism. The fourth drive motor 51 is mounted on the second base 3 via the fourth motor mounting plate 52, and the third support base is mounted on the second base 3. One end of the fourth lead screw 53 is fixedly connected to the output shaft of the fourth drive motor 51, and the other end is rotatably connected to the third support base via the fifth bearing. The third transmission plate 56 is slidably connected to the second guide rail 31 via the sixth slider 55. The fourth lead screw nut 54 is fixedly connected to the third transmission plate 56, and the fourth lead screw nut 54 is threadedly connected to the fourth lead screw 53. The fifth drive motor 57 is mounted on the second base 3 via the fifth motor mounting plate, and the fourth support base is mounted on the second base 3. One end of the fifth lead screw 58... The output shaft of the fifth drive motor 57 is fixedly connected, and the other end is rotatably connected to the fourth support base through the sixth bearing. The fifth lead screw 58 is arranged parallel to the fourth lead screw 53 and located below the fourth lead screw 53. The fourth transmission plate is slidably connected to the third guide rail 32 through the seventh slider. The fifth lead screw nut 59 is fixedly connected to the fourth transmission plate and threadedly connected to the fifth lead screw 58. One end of the second adaptive transmission mechanism is rotatably connected to the third transmission plate 56, and the other end is rotatably connected to the fourth transmission plate. The side of the second adaptive transmission mechanism away from the second base 3 is used to drive the second pitch movement mechanism 7 to perform a twisting action around a specific axis. Similar to the first twisting mechanism 4, the design of the second twisting mechanism 5 can also accurately drive the second pitch movement mechanism 7 to perform a twisting action around a specific axis, providing fine motion control for the three-branch parallel operating arm 9, realizing an operation similar to human hand twisting, further enhancing the operational flexibility and precision of the surgical robot, and meeting the needs of fundus surgery in different locations and operating scenarios.
[0043] In a preferred embodiment, the second adaptive transmission mechanism includes a second active movable plate, an eighth slider, a second passive movable plate, a ninth slider, a third bearing positioning block, a fourth bearing positioning block, a seventh bearing, and an eighth bearing. The second pitch movement mechanism 7 includes a fourth base, a sixth drive motor, a sixth motor mounting plate, a sixth lead screw, and a sixth lead nut. A fifth guide rail is provided on the fourth base. The second active movable plate is slidably connected to the fifth guide rail via the eighth slider, and the second passive movable plate is slidably connected to the fifth guide rail via the ninth slider. The sixth drive motor is fixed via the sixth motor mounting plate. Connected to the fourth base, one end of the sixth lead screw is fixedly connected to the output end of the sixth drive motor, and the other end is threadedly connected to the sixth lead screw nut. The sixth lead screw nut is fixedly connected to the second active moving plate. The third bearing positioning block is fixedly connected to the second passive moving plate, and the fourth bearing 431 positioning block is fixedly connected to the second active moving plate. The seventh bearing is installed on the third transmission plate 56, and the eighth bearing is installed on the fourth transmission plate. The third bearing positioning block is assembled with the seventh bearing, and the fourth bearing 431 positioning block is assembled with the eighth bearing. The three-branch parallel operating arm 9 is installed on the side of the fourth base away from the second base 3. It adopts a mechanical design that is completely symmetrical and isomorphic with the first side of the second base 3, including the same double lead screw differential twisting mechanism and integrated pitch mechanism. This mirror-symmetric modular design not only ensures the consistency of the two arms in terms of motion performance, precision, and rigidity, making the operating experience uniform, but also greatly simplifies the complexity of design, manufacturing, assembly, and subsequent maintenance, reduces costs, and ensures the overall mechanical balance and aesthetics of the system.
[0044] In a preferred embodiment, the dual-branch parallel operating arm 8 includes a first support 81, a first linear motor 82, a first magnetic shaft 83, a first moving block 84, a first sliding plate 85, a second linear motor, a second magnetic shaft, a second moving block, a second sliding plate, and a first actuator mounting plate 86. The first support 81 has a first groove and a second groove on its two sides respectively. A sixth guide rail 811 is provided along the top edge of the first groove, and a seventh guide rail is provided along the top edge of the second groove. The first linear motor 82 is installed in the first groove. One end of the first magnetic shaft 83 is fixedly connected to the first linear motor 82 and is disposed within the first groove. The first moving block 84 is slidably sleeved on the outside of the first magnetic shaft 83 and slidably connected within the first groove, and fixedly connected to the first sliding plate 85. The first sliding plate 85 is slidably connected to the sixth guide rail 811. The second linear motor is installed in the second slide groove. One end of the second magnetic shaft is fixedly connected to the second linear motor, and the second magnetic shaft is set in the second slide groove. The second moving block is slidably sleeved on the outside of the second magnetic shaft and slidably connected in the second slide groove, and fixedly connected to the second slide plate. The second slide plate is slidably connected to the seventh guide rail and is set parallel to the first slide plate 85. The two ends of the first actuator mounting plate 86 are respectively hinged to the first slide plate 85 and the second slide plate, so as to realize the attitude adjustment of the first actuator mounting plate 86 in the two-dimensional plane when the first slide plate 85 and the second slide plate move synchronously or asynchronously. The first actuator mounting plate 86 is used to install the first end effector 10. The dual-branch parallel operating arm 8 is directly driven by two linear motors, forming a 2-PRR parallel mechanism in which the moving platform (first actuator mounting plate 86) is only constrained by two independent branches. The direct drive of the linear motor completely eliminates intermediate transmission links such as gears and belts, and has zero backlash, high acceleration, high bandwidth and near-linear force-current characteristics. This enables the manipulator to achieve extremely fast and precise two-dimensional translation and one-dimensional micro-rotation in a plane perpendicular to the instrument axis, making it particularly suitable for surgical procedures that require high-frequency reciprocating motion or precise trajectory tracking. Its dynamic accuracy and response speed far exceed those of traditional serial or belt-driven robotic arms.
[0045] In a preferred embodiment, the three-branch parallel operating arm 9 includes a second support 91, a third linear motor 92, a third magnetic shaft 94, a third moving block, a third sliding plate, a fourth linear motor, a fourth magnetic shaft, a fourth moving block, a fourth sliding plate 95, a fifth linear motor, a fifth magnetic shaft, a fifth moving block, a fifth sliding plate, an adapter plate 96, a Hooke hinge 98, a second actuator mounting plate 97, a micro motor 99, and a micro lead screw 910. The second support 91 is provided with a third slide groove, a fourth slide groove, and a fifth slide groove. An eighth guide rail 93 is provided on the top edge of the third slide groove, a ninth guide rail is provided on the top edge of the fourth slide groove, and a tenth guide rail is provided on the top edge of the fifth slide groove. Three linear motors 92 are installed in the third slide groove. One end of the third magnetic shaft 94 is fixedly connected to the third linear motor 92, and the third magnetic shaft 94 is located in the third slide groove. The third moving block is slidably sleeved on the outside of the third magnetic shaft 94 and slidably connected in the third slide groove, and fixedly connected to the third slide plate. The third slide plate is slidably connected to the eighth guide rail 93. A fourth linear motor is installed in the fourth slide groove. One end of the fourth magnetic shaft is fixedly connected to the fourth linear motor, and the fourth magnetic shaft is located in the fourth slide groove. The fourth moving block is slidably sleeved on the outside of the fourth magnetic shaft and slidably connected in the fourth slide groove, and fixedly connected to the fourth slide plate 95. The fourth slide plate 95 is slidably connected to the ninth guide rail. Five linear motors are installed in the fifth slide groove. One end of the fifth magnetic shaft is fixedly connected to the fifth linear motor, and the fifth magnetic shaft is set in the fifth slide groove. The fifth moving block is slidably sleeved on the outside of the fifth magnetic shaft and slidably connected in the fifth slide groove, and fixedly connected to the fifth sliding plate. The fifth sliding plate is slidably connected to the tenth guide rail. The fourth sliding plate 95 and the fifth sliding plate are arranged parallel to each other. The two ends of the adapter plate 96 are respectively hinged to the third sliding plate and the fourth sliding plate 95 in the first direction. The middle part of the adapter plate 96 is hinged to one end of the second actuator mounting plate 97 in the second direction. The first direction and the second direction are perpendicular to each other. The other end of the second actuator mounting plate 97 is connected to the fifth linear motor through a Hooke hinge 98. The sliding plate is universally hinged to allow for attitude adjustment of the second actuator mounting plate 97 in three-dimensional space when the third, fourth, and fifth sliding plates move synchronously or asynchronously. The second actuator mounting plate 97 is used to mount the second end effector 11. The three-branch parallel manipulator arm 9 also includes a micro motor 99 and a micro lead screw 910. The micro motor 99 is mounted on the second actuator mounting plate 97, and the micro lead screw 910 is fixedly connected to the output shaft of the micro motor 99. The parallel configuration driven by three linear motors, with its inherent high rigidity, high load-bearing capacity, and low moment of inertia, provides the end effector with stable six-degree-of-freedom spatial motion capability, which can accurately reproduce complex three-dimensional spatial paths. The micro motor 99 and lead screw integrated into the end effector platform directly drive the instrument to rotate around its own axis, forming a decoupled, high-precision wrist rotation joint.This combination of parallel platform and end-effector rotation enables the manipulator to perform a wide range of posture adjustments with high rigidity, as well as to independently perform precise axial rotation of the instrument, comprehensively covering all requirements for instrument spatial position in fundus surgery.
[0046] In a preferred embodiment, the system further includes a controller. The controller is electrically connected to the longitudinal movement mechanism 2, the first twisting mechanism 4, the second twisting mechanism 5, the first pitch movement mechanism 6, the second pitch movement mechanism 7, the dual-branch parallel manipulator 8, and the triple-branch parallel manipulator 9. The controller receives external control commands and drives each mechanism to perform corresponding actions based on these commands. As the central nervous system of the entire system, the controller coordinates the collaborative work of all linear drive units. It can receive master-slave control console commands or pre-programmed commands, and perform high-precision forward and inverse kinematics calculations, multi-axis trajectory interpolation, and closed-loop servo control in real time. Furthermore, by integrating high-precision position feedback (such as a grating ruler), the controller can achieve nanometer-level closed-loop control of the position of each linear drive unit and accurately map all joint movements to the target movement of the end effector within the patient's body. This allows for defibrillation, scaling, and stable and accurate reproduction of the operator's hand movements, which is crucial for ultimately achieving high-precision auxiliary functions in the surgical robot.
[0047] The present invention also provides a method of using a fully linearly driven dual-arm fundus surgical robot system as described in any of the above claims, comprising the following steps:
[0048] I. Preoperative preparation
[0049] Installation and securing:
[0050] The first base 1 is firmly integrated into the operating table to ensure its stability and provide a solid support foundation for the entire surgical robot system.
[0051] The second base 3 is adjusted to a suitable longitudinal position by sliding the first slider 22 of the longitudinal moving mechanism 2 on the first guide rail of the first base 1 to adapt to the position of the surgical site on the operating table. After adjustment, the guide rail clamp 23 is used to clamp the first guide rail, so that the adapter 21 is locked relative to the first guide rail, thus fixing the position of the second base 3.
[0052] Equipment installation:
[0053] According to the surgical requirements, a suitable first end effector 10 is selected and installed on the first actuator mounting plate 86 of the dual-branch parallel operating arm 8 to ensure that the installation is firm and the connection is precise, so as to ensure that the operation can be performed accurately during the operation.
[0054] Similarly, select the appropriate second end effector 11 and install it on the second actuator mounting plate 97 of the three-branch parallel operating arm 9. After installation, check its flexibility and stability to ensure that the end effector can work properly.
[0055] System check:
[0056] A comprehensive inspection was conducted on all components, including the first twisting mechanism 4, the second twisting mechanism 5, the first pitching mechanism 6, the second pitching mechanism 7, the dual-branch parallel operating arm 8, and the triple-branch parallel operating arm 9. The inspection covered whether each linear drive unit (such as the drive motor and linear motor) was functioning properly, whether the connections of each lead screw and lead nut were smooth, whether the slider and guide rail slid freely, and whether the bearings and bearing positioning blocks were securely installed.
[0057] Check the connections between the various mechanisms to ensure that components such as the adapter 21, transmission plate, and adaptive transmission mechanism are tightly connected and free from looseness.
[0058] Test whether the electrical connection between the controller and each mechanism is normal, and ensure that the controller can accurately receive external control commands and transmit the commands to the corresponding mechanisms.
[0059] Parameter settings:
[0060] Through the operating interface connected to the controller, the initial parameters of each mechanism can be set according to the surgical plan and the patient's specific condition. For example, the initial poses of the dual-branch parallel operating arm 8 and the triple-branch parallel operating arm 9 can be set, the twisting angle ranges of the first twisting mechanism 4 and the second twisting mechanism 5 can be determined, and the initial pitch angle values of the first pitch movement mechanism 6 and the second pitch movement mechanism 7 can be set.
[0061] II. Surgical Procedure
[0062] Start the system:
[0063] Turn on the power to the controller and related equipment to ensure the entire surgical robot system is powered on and operating normally. At this time, each mechanism is in standby mode, waiting to receive control commands.
[0064] Adjusting posture:
[0065] If the surgical position needs to be adjusted longitudinally, loosen the guide rail clamp 23, drive the first slider 22 to slide along the first guide rail, and move the second base 3 longitudinally to the desired position, then clamp the guide rail clamp 23 again to fix the position.
[0066] To achieve a fine-tuning operation similar to hand twisting, the doctor sends commands to the first twisting mechanism 4 and the second twisting mechanism 5 via a controller. The first drive motor and the second drive motor of the first twisting mechanism 4 drive the first lead screw and the second lead screw to rotate, respectively. This rotation, via the first lead screw nut and the second lead screw nut, moves the first transmission plate and the second transmission plate, which in turn, via the first adaptive transmission mechanism 43, drives the first pitch movement mechanism 6 to perform a twisting motion around a specific axis, thereby enabling the dual-branch parallel operating arm 8 to perform the twisting operation. Similarly, the second twisting mechanism 5 drives the three-branch parallel operating arm 9 to perform a twisting operation in a similar manner.
[0067] When it is necessary to adjust the pitch position of the dual-branch parallel operating arm 8 and the triple-branch parallel operating arm 9, the controller sends commands to the first pitch movement mechanism 6 and the second pitch movement mechanism 7. The third drive motor 62 of the first pitch movement mechanism 6 drives the third lead screw 64 to rotate, which in turn moves the third lead screw nut 65 and the first active movable plate 432. The motion is transmitted through the first adaptive transmission mechanism 43, causing the dual-branch parallel operating arm 8 to swing to a suitable angle in the pitch direction. The second pitch movement mechanism 7 uses the same principle to enable the triple-branch parallel operating arm 9 to achieve pitch direction swing adjustment.
[0068] For the attitude adjustment of the dual-branch parallel manipulator 8 in a two-dimensional plane, the doctor controls the first linear motor 82 and the second linear motor through a controller. The first linear motor 82 drives the first magnetic shaft 83, causing the first moving block 84 to move the first sliding plate 85 on the sixth guide rail 811; simultaneously, the second linear motor drives the second magnetic shaft, causing the second moving block to move the second sliding plate on the seventh guide rail. The first sliding plate 85 and the second sliding plate move synchronously or asynchronously, causing the first actuator mounting plate 86 to adjust its attitude in the two-dimensional plane, thereby enabling the first end effector 10 to reach the required position and angle.
[0069] For the attitude adjustment of the three-branch parallel manipulator 9 in three-dimensional space, the controller controls the third linear motor 92, the fourth linear motor, and the fifth linear motor respectively. The three linear motors drive the third magnetic shaft 94, the fourth magnetic shaft, and the fifth magnetic shaft respectively, so that the third moving block, the fourth moving block, and the fifth moving block respectively drive the third sliding plate, the fourth sliding plate 95, and the fifth sliding plate to move on the corresponding guide rails. Through the connection of components such as the adapter plate 96 and the Hooke hinge 98, the attitude adjustment of the second actuator mounting plate 97 in three-dimensional space is realized, so that the second end effector 11 can meet the spatial position and angle requirements of complex surgical operations. In addition, the micro motor 99 on the three-branch parallel manipulator 9 drives the micro lead screw 910, which can perform more precise operation adjustments.
[0070] Surgical procedure execution:
[0071] After completing the aforementioned positional adjustments, the dual-branch parallel manipulator 8 and the triple-branch parallel manipulator 9 drive the first end effector 10 and the second end effector 11 to perform retinal surgery according to the surgical plan. The surgeon can fine-tune the movements of each mechanism in real time via the controller to ensure the precision of the surgical procedure. For example, during vascular suturing, the two-dimensional posture adjustment of the dual-branch parallel manipulator 8 and the three-dimensional posture adjustment of the triple-branch parallel manipulator 9 are used to precisely control the position and angle of the end effectors, completing delicate suturing actions.
[0072] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.
Claims
1. A fully linearly driven dual-arm fundus surgery robot system, characterized in that: include: A first base, the first base being used for integration into an operating table; A longitudinal moving mechanism is slidably connected to the first base in the longitudinal direction and is able to maintain the position after sliding. The second base is mounted on the longitudinal moving mechanism so that it can move longitudinally under the drive of the longitudinal moving mechanism and maintain its position after movement. The first twisting mechanism and the second twisting mechanism are respectively installed at both ends of the second base; A first pitch movement mechanism and a second pitch movement mechanism, wherein the first pitch movement mechanism is installed at the output end of the first twisting mechanism and the second pitch movement mechanism is installed at the output end of the second twisting mechanism; A dual-branch parallel manipulator is installed at the output end of the first pitch movement mechanism to achieve pitch direction swing adjustment under the drive of the first pitch movement mechanism. The execution end of the dual-branch parallel manipulator is used to install a first end effector and drive the first end effector to achieve multi-degree-of-freedom pose adjustment. The three-branch parallel operating arm is installed at the output end of the second pitch movement mechanism to realize the swing adjustment of the pitch direction under the drive of the second pitch movement mechanism. The execution end of the three-branch parallel operating arm is used to install the second end effector and drive the second end effector to realize multi-degree-of-freedom pose adjustment. The first twisting mechanism, the second twisting mechanism, the first pitch movement mechanism, the second pitch movement mechanism, the dual-branch parallel operating arm, and the three-branch parallel operating arm all use linear drive units as power sources. The first twisting mechanism and the second twisting mechanism can respectively drive the first pitch movement mechanism and the second pitch movement mechanism connected to them to perform twisting actions around a specific axis, thereby driving the dual-branch parallel operating arm and the three-branch parallel operating arm to achieve fine operations similar to human hand twisting. The first pitch movement mechanism can drive the dual-branch parallel operating arm connected to it to swing in the pitch direction to adjust the pitch position of the dual-branch parallel operating arm. The second pitch movement mechanism can drive the three-branch parallel operating arm connected to it to swing in the pitch direction to adjust the pitch position of the three-branch parallel operating arm.
2. The fully linearly driven dual-arm fundus surgery robot system according to claim 1, characterized in that: The longitudinal movement mechanism includes at least one adapter, multiple first sliders, and a guide rail clamp. A first guide rail in the longitudinal direction is provided on the first base. The first slider slides in cooperation with the first guide rail. The bottom end of the adapter is fixedly connected to the first slider, and the side of the adapter is fixedly connected to the second base, so that the second base can be moved longitudinally by the sliding of the first slider along the first guide rail. The guide rail clamp is installed on the adapter, and its jaws contact the side or top surface of the first guide rail, so that when it is necessary to fix the position of the adapter, the guide rail clamp can lock the adapter and the first guide rail relative to each other by applying a clamping force.
3. The fully linearly driven dual-arm fundus surgery robot system according to claim 1, characterized in that: The first twisting mechanism includes a first drive motor, a first motor mounting plate, a first lead screw, a first lead nut, a first support base, a first bearing, a second slider, a first transmission plate, a second drive motor, a second motor mounting plate, a second lead screw, a second lead nut, a second support base, a second bearing, a third slider, a second transmission plate, and a first adaptive transmission mechanism. The top and bottom ends of the second base are respectively provided with a second guide rail and a third guide rail. The first drive motor is mounted on the second base via the first motor mounting plate. The first support base is mounted on the second base. One end of the first lead screw is fixedly connected to the output shaft of the first drive motor, and the other end is rotatably connected to the first support base via the first bearing. The first transmission plate is slidably connected to the second guide rail via the second slider. The first lead nut is fixedly connected to the first transmission plate, and the first lead nut is threadedly connected to the first lead screw. The second drive motor is mounted on the second base via the second motor mounting plate. The second support base is mounted on the second base. One end of the second lead screw is fixedly connected to the output shaft of the second drive motor, and the other end is rotatably connected to the second support base via the second bearing. The second lead screw is parallel to the first lead screw and located below the first lead screw. The second transmission plate is slidably connected to the third guide rail via the third slider. The second lead screw nut is fixedly connected to the second transmission plate and threadedly connected to the second lead screw. One end of the first adaptive transmission mechanism is rotatably connected to the first transmission plate, and the other end is rotatably connected to the second transmission plate. The side of the first adaptive transmission mechanism away from the second base is used for transmission connection with the first pitch movement mechanism to drive the first pitch movement mechanism to perform a twisting action around a specific axis.
4. The fully linearly driven dual-arm fundus surgery robot system according to claim 3, characterized in that: The first adaptive transmission mechanism includes a first active movable plate, a fourth slider, a first passive movable plate, a fifth slider, a first bearing positioning block, a second bearing positioning block, a third bearing, and a fourth bearing. The first pitch movement mechanism includes a third base, a third drive motor, a third motor mounting plate, a third lead screw, and a third lead screw nut. A fourth guide rail is provided on the third base. The first active movable plate is slidably connected to the fourth guide rail via the fourth slider. The first passive movable plate is slidably connected to the fourth guide rail via the fifth slider. The third drive motor is fixedly connected to the third base via the third motor mounting plate. One end of the third lead screw is fixedly connected to the output end of the third drive motor, and the other end is threadedly connected to the third lead screw nut. The third lead screw nut is fixedly connected to the first active movable plate. The first bearing positioning block is fixedly connected to the first passive movable plate. The second bearing positioning block is fixedly connected to the first active movable plate. The third bearing is installed on the first transmission plate. The fourth bearing is installed on the second transmission plate. The first bearing positioning block is assembled with the third bearing. The second bearing positioning block is assembled with the fourth bearing. The dual-branch parallel operating arm is installed on the side of the third base away from the second base.
5. The fully linearly driven dual-arm fundus surgery robot system according to claim 3, characterized in that: The second twisting mechanism includes a fourth drive motor, a fourth motor mounting plate, a fourth lead screw, a fourth lead screw nut, a third support base, a fifth bearing, a sixth slider, a third transmission plate, a fifth drive motor, a fifth motor mounting plate, a fifth lead screw, a fifth lead screw nut, a fourth support base, a sixth bearing, a seventh slider, a fourth transmission plate, and a second adaptive transmission mechanism. The fourth drive motor is mounted on the second base via the fourth motor mounting plate. The third support base is mounted on the second base. One end of the fourth lead screw is fixedly connected to the output shaft of the fourth drive motor, and the other end is rotatably connected to the third support base via the fifth bearing. The third transmission plate is slidably connected to the second guide rail via the sixth slider. The fourth lead screw nut is fixedly connected to the third transmission plate and threadedly connected to the fourth lead screw. The fifth drive motor is connected to the second guide rail via the sixth slider. The five motor mounting plate is mounted on the second base, the fourth support base is mounted on the second base, one end of the fifth lead screw is fixedly connected to the output shaft of the fifth drive motor, and the other end is rotatably connected to the fourth support base through the sixth bearing. The fifth lead screw is parallel to the fourth lead screw and located below the fourth lead screw. The fourth transmission plate is slidably connected to the third guide rail through the seventh slider. The fifth lead screw nut is fixedly connected to the fourth transmission plate and threadedly connected to the fifth lead screw. One end of the second adaptive transmission mechanism is rotatably connected to the third transmission plate, and the other end is rotatably connected to the fourth transmission plate. The side of the second adaptive transmission mechanism away from the second base is used for transmission connection with the second pitch movement mechanism to drive the second pitch movement mechanism to perform a twisting action around a specific axis.
6. The fully linearly driven dual-arm fundus surgery robot system according to claim 5, characterized in that: The second adaptive transmission mechanism includes a second active movable plate, an eighth slider, a second passive movable plate, a ninth slider, a third bearing positioning block, a fourth bearing positioning block, a seventh bearing, and an eighth bearing. The second pitch movement mechanism includes a fourth base, a sixth drive motor, a sixth motor mounting plate, a sixth lead screw, and a sixth lead screw nut. A fifth guide rail is provided on the fourth base. The second active movable plate is slidably connected to the fifth guide rail via the eighth slider. The second passive movable plate is slidably connected to the fifth guide rail via the ninth slider. The sixth drive motor is fixedly connected to the fourth base via the sixth motor mounting plate. One end of the sixth lead screw is fixedly connected to the output end of the sixth drive motor, and the other end is threadedly connected to the sixth lead screw nut. The sixth lead screw nut is fixedly connected to the second active movable plate. The third bearing positioning block is fixedly connected to the second passive movable plate. The fourth bearing positioning block is fixedly connected to the second active movable plate. The seventh bearing is installed on the third transmission plate. The eighth bearing is installed on the fourth transmission plate. The third bearing positioning block is assembled with the seventh bearing. The fourth bearing positioning block is assembled with the eighth bearing. The three-branch parallel operating arm is installed on the side of the fourth base away from the second base.
7. The fully linearly driven dual-arm fundus surgery robot system according to claim 1, characterized in that: The dual-branch parallel operating arm includes a first bracket, a first linear motor, a first magnetic shaft, a first moving block, a first sliding plate, a second linear motor, a second magnetic shaft, a second moving block, a second sliding plate, and a first actuator mounting plate. The first bracket has a first sliding groove and a second sliding groove on its two sides respectively. A sixth guide rail is provided along the top edge of the first sliding groove, and a seventh guide rail is provided along the top edge of the second sliding groove. The first linear motor is installed in the first sliding groove. One end of the first magnetic shaft is fixedly connected to the first linear motor and is disposed within the first sliding groove. The first moving block is slidably sleeved on the outside of the first magnetic shaft and slidably connected within the first sliding groove, and fixedly connected to the first sliding plate. The first sliding plate slides... The second linear motor is mounted in the second slide groove and connected to the sixth guide rail. One end of the second magnetic shaft is fixedly connected to the second linear motor and the second magnetic shaft is disposed in the second slide groove. The second moving block is slidably sleeved on the outside of the second magnetic shaft and slidably connected in the second slide groove, and fixedly connected to the second slide plate. The second slide plate is slidably connected to the seventh guide rail and is arranged parallel to the first slide plate. The two ends of the first actuator mounting plate are respectively hinged to the first slide plate and the second slide plate, so as to realize the attitude adjustment of the first actuator mounting plate in the two-dimensional plane when the first slide plate and the second slide plate move synchronously or asynchronously. The first actuator mounting plate is used to install the first end effector.
8. The fully linearly driven dual-arm fundus surgery robot system according to claim 1, characterized in that: The three-branch parallel operating arm includes a second support, a third linear motor, a third magnetic shaft, a third moving block, a third sliding plate, a fourth linear motor, a fourth magnetic shaft, a fourth moving block, a fourth sliding plate, a fifth linear motor, a fifth magnetic shaft, a fifth moving block, a fifth sliding plate, an adapter plate, a Hooke hinge, a second actuator mounting plate, a micro motor, and a micro lead screw. The second support is provided with a third, fourth, and fifth slide groove. An eighth guide rail is provided on the top edge of the third slide groove, a ninth guide rail is provided on the top edge of the fourth slide groove, and a tenth guide rail is provided on the top edge of the fifth slide groove. The third linear motor is installed in the third slide groove. One end of the third magnetic shaft is fixedly connected to the third linear motor, and the third magnetic shaft is disposed within the third sliding groove. The third moving block is slidably sleeved on the outside of the third magnetic shaft and slidably connected within the third sliding groove, and fixedly connected to the third sliding plate. The third sliding plate is slidably connected to the eighth guide rail. The fourth linear motor is installed within the fourth sliding groove. One end of the fourth magnetic shaft is fixedly connected to the fourth linear motor, and the fourth magnetic shaft is disposed within the fourth sliding groove. The fourth moving block is slidably sleeved on the outside of the fourth magnetic shaft and slidably connected within the fourth sliding groove, and fixedly connected to the fourth sliding plate. The fourth slide plate is slidably connected to the ninth guide rail. The fifth linear motor is installed in the fifth slide groove. One end of the fifth magnetic shaft is fixedly connected to the fifth linear motor, and the fifth magnetic shaft is disposed in the fifth slide groove. The fifth moving block is slidably sleeved on the outside of the fifth magnetic shaft and slidably connected in the fifth slide groove, and fixedly connected to the fifth slide plate. The fifth slide plate is slidably connected to the tenth guide rail. The fourth and fifth slide plates are arranged parallel to each other. The two ends of the adapter plate are respectively hinged to the third and fourth slide plates in a first direction. The middle part of the adapter plate is connected to the tenth guide rail. One end of the second actuator mounting plate is hinged to the second direction, which is perpendicular to the second direction. The other end of the second actuator mounting plate is universally hinged to the fifth slide plate via the Hooke hinge, so as to realize the attitude adjustment of the second actuator mounting plate in three-dimensional space when the third slide plate, the fourth slide plate, and the fifth slide plate move synchronously or asynchronously. The second actuator mounting plate is used to install the second end effector. The three-branch parallel operating arm also includes a micro motor and a micro lead screw. The micro motor is mounted on the second actuator mounting plate, and the micro lead screw is fixedly connected to the output shaft of the micro motor.
9. The fully linearly driven dual-arm fundus surgery robot system according to claim 1, characterized in that: It also includes a controller, which is electrically connected to the longitudinal movement mechanism, the first twisting mechanism, the second twisting mechanism, the first pitch movement mechanism, the second pitch movement mechanism, the dual-branch parallel operating arm, and the three-branch parallel operating arm, respectively, and is used to receive external control commands and drive each mechanism to perform corresponding actions according to the control commands.
Citation Information
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