An end execution structure adapted to a fundus surgery scene and a method of use
By designing a slave execution structure adapted to fundus surgery scenarios, the problems of insufficient degrees of freedom, poor microscope compatibility, and field of view obstruction in the slave structure of surgical robots are solved. This improves the safety, accuracy, and efficiency of fundus surgery, makes full use of existing medical resources, reduces the versatility and scalability of equipment, reduces surgical difficulty and risks, and enhances the safety, accuracy, and efficiency of fundus surgery.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HARBIN INST OF TECH
- Filing Date
- 2026-04-03
- Publication Date
- 2026-06-09
Smart Images
Figure CN121987358B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of intelligent medical equipment and surgical robot technology, and in particular to a slave execution structure and its usage method adapted to fundus surgery scenarios. Background Technology
[0002] With the continuous advancement of modern medical technology, the precision requirements for retinal surgery have reached an extremely high standard, down to the sub-millimeter level. However, surgeons currently face numerous severe challenges when performing retinal surgery manually. On the one hand, the unavoidable physiological tremors of the surgeon's hands limit the precision of surgical operations, making it extremely easy to cause secondary injury to the patient during delicate procedures such as vascular suturing and nerve separation. On the other hand, fatigue caused by prolonged surgery can significantly affect the stability and accuracy of the surgeon's operation. Simultaneously, traditional surgical instruments are inadequate for handling complex surgical trajectories and cannot meet the ever-increasing precision demands of modern retinal surgery. These problems severely restrict the improvement of surgical quality.
[0003] Surgical robot products are still in the development stage, mostly focusing on imitation, low-precision tracking, and semi-automatic control. System architectures are generally based on master-slave serial connections, lacking high-performance hybrid mechanisms and innovative slave-end structures. Particularly in the design of end-effector systems supporting surgical instruments, universal and reliable solutions have yet to be developed.
[0004] Meanwhile, existing methods of integrating surgical robots with microscopes have limitations. Some designs integrate the microscope and robot into one unit, which, while achieving collaborative work to some extent, results in poor compatibility with different types and specifications of commercial microscopes. In actual clinical environments, medical institutions are already equipped with numerous brands and models of commercial microscopes. If surgical robots can only be used with specific microscopes, it will not only increase equipment procurement costs but also reduce the equipment's versatility and scalability, failing to fully utilize the existing microscope resources of medical institutions.
[0005] Furthermore, most current surgical robots have significant limitations when dealing with surgical approach points. On the one hand, they lack sufficient degrees of freedom, making it difficult to flexibly adjust to adapt to different surgical approach angles. This not only leads to underutilization of workspace but also greatly reduces the robot's adaptability in complex surgical scenarios. On the other hand, even if some adjustments can be made, the process of repositioning surgical instruments often obstructs the microscope's view, severely affecting the clarity of the surgical field. This field-of-view obstruction problem greatly inconveniences the surgeon's observation and operation, forcing them to expend extra effort to adjust the perspective or replan the surgical path during surgery, which undoubtedly increases the difficulty and risk of the operation.
[0006] Therefore, we continue to develop a slave execution structure and its corresponding usage method that can adapt to fundus surgery scenarios, has a high degree of freedom, is highly compatible with commercial microscopes, avoids obstructing the surgical field of view, and enables precise operation. Summary of the Invention
[0007] The purpose of this invention is to provide a slave execution structure and usage method adapted to fundus surgery scenarios, in order to solve the problems of insufficient degrees of freedom, poor microscope compatibility, easy obstruction of field of view and limited operation accuracy of the slave structure of surgical robots in the prior art, thereby improving the safety, accuracy and efficiency of fundus surgery, making full use of existing medical resources and reducing the threshold for clinical application.
[0008] To achieve the above objectives, the present invention provides the following solution:
[0009] This invention provides a slave execution structure adapted for fundus surgery scenarios, comprising: a support carriage, a vertical movement mechanism, a rotary joint, and at least one posture adjustment mechanism. The support carriage is used for position adjustment in three-dimensional space. The fixed end of the vertical movement mechanism is mounted on the support carriage. The rotary joint is mounted on the output end of the vertical movement mechanism, and a microscope mounting station is provided in the middle of the rotary joint for mounting a microscope. The rotary joint can drive the microscope to rotate and maintain its rotated position. The objective lens of the microscope extends downward to the target surgical position to form a viewing channel. The fixed end of the posture adjustment mechanism is fixedly connected to the output end of the vertical movement mechanism. The output end of the posture adjustment mechanism is used to mount surgical instruments, enabling adjustment of the spatial posture of the surgical instruments through multi-degree-of-freedom motion. The movement trajectory of the posture adjustment mechanism is always constrained to the side and below the viewing channel to maintain the unobstructed view of the viewing channel.
[0010] Preferably, there are two posture adjustment mechanisms, and the fixed ends of the two posture adjustment mechanisms are symmetrically arranged about the line of sight channel.
[0011] Preferably, the posture adjustment mechanism includes a boom, a connector, a first linear motion mechanism, a second linear motion mechanism, and a parallel wrist. The boom is horizontally positioned, and one end of the boom is fixedly connected to the output end of the vertical motion mechanism. The top end of the connector is slidably connected to the boom along its length and can maintain its slidable position. The fixed end of the first linear motion mechanism is fixedly connected to the bottom end of the connector. The fixed end of the second linear motion mechanism is fixedly connected to the output end of the first linear motion mechanism. The output end of the second linear motion mechanism is fixedly connected to the fixed end of the parallel wrist to drive the fixed end of the parallel wrist to move in an inclined plane at a first preset angle to the horizontal plane. The output end of the parallel wrist is tilted towards the line of sight. The output end of the parallel wrist is used to mount surgical instruments and achieves fine-tuning of the posture of the surgical instruments through its own multi-degree-of-freedom motion.
[0012] Preferably, the top surface of the adapter is a horizontal surface, which is used for horizontal sliding connection with the boom, and the bottom surface of the adapter is an inclined surface, which is used for installation on the fixed end of the first linear moving mechanism, and the angle between the inclined surface and the horizontal surface is 30°~60°.
[0013] Preferably, the first linear motion mechanism includes a first portal beam, a first motor, a first mounting plate, a first lead screw, a first lead screw nut, a first slider, a first support plate, and a first sliding plate. The back of the first portal beam is used for fixed connection with the inclined surface of the adapter. A first mounting groove is provided on the side of the first portal beam away from the adapter. A first guide rail is provided on the outer edge of the first mounting groove. The first motor is fixedly connected to the first mounting groove through the first mounting plate. One end of the first lead screw is fixedly connected to the output end of the first motor, and the other end is rotatably connected to the first support plate installed in the first mounting groove through a bearing. The first lead screw nut is slidably connected to the first mounting groove and is threadedly connected to the first lead screw. The first slider is slidably connected to the first guide rail. The first sliding plate is fixedly connected to the first lead screw nut and the first slider. The fixed end of the second linear motion mechanism is fixedly connected to the first sliding plate.
[0014] Preferably, the second linear movement mechanism includes a second portal beam, a second motor, a second mounting plate, a second lead screw, a second lead screw nut, a second slider, a second support plate, and a second sliding plate. The back of the second portal beam is used for fixed connection with the first sliding plate. A second mounting groove is provided on the side of the second portal beam away from the adapter. A second guide rail is provided on the outer edge of the second mounting groove. The second motor is fixedly connected to the second mounting groove through the second mounting plate. One end of the second lead screw is fixedly connected to the output end of the second motor, and the other end is rotatably connected to the second support plate installed in the second mounting groove through a bearing. The second lead screw nut is slidably connected to the second mounting groove and is threadedly connected to the second lead screw. The second slider is slidably connected to the second guide rail. The second sliding plate is fixedly connected to the second lead screw nut and the second slider. The fixed end of the parallel wrist is fixedly connected to the second sliding plate.
[0015] Preferably, the parallel wrist includes a base and three active drive chains. The base is vertically fixed to the second sliding plate. The three active drive chains are mounted on the base, and the output ends of the active drive chains are hinged to the surgical instrument. Two of the active drive chains form a PRR-RRP chain, and the other active drive chain forms a PU chain. The PRR-RRP chain is used to drive the surgical instrument to adjust its yaw angle, and the PU chain is used to drive the surgical instrument to adjust its pitch angle. The PRR-RRP chain and the PU chain move synchronously to achieve linear feed of the surgical instrument.
[0016] Preferably, the active drive chain includes a third motor, a third mounting plate, a third lead screw, a third lead screw nut, a third slider, a third support plate, a third sliding plate, and a Hooke hinge. The base has three third mounting slots, and a third guide rail is provided along the outer edge of each third mounting slot. The third motor is fixedly connected to the third mounting slot via the third mounting plate. One end of the third lead screw is fixedly connected to the output end of the third motor, and the other end is rotatably connected to the third support plate mounted in the third mounting slot via a bearing. The third lead screw nut is slidably connected to the third mounting slot and threadedly connected to the third lead screw. The third slider is slidably connected to the third guide rail. The third sliding plate is fixedly connected to the third slider and the third lead screw nut. The third sliding plate is hinged to the surgical instrument via the Hooke hinge.
[0017] Preferably, the support trolley is a movable trolley with wheels, and the vertical moving mechanism is a telescopic column or a liftable electric push rod.
[0018] The present invention also provides a slave execution structure adapted to fundus surgery scenarios as described above, comprising the following steps:
[0019] The microscope is mounted on the microscope mounting station of the rotary joint;
[0020] By adjusting the position of the support trolley, the height of the vertical moving mechanism, and the angle of the rotating joint, the field of view of the microscope is aligned with the target surgical area, thus establishing the visual channel.
[0021] The surgical instrument is mounted on the output end of the posture adjustment mechanism, and the initial posture of the surgical instrument is adjusted by the posture adjustment mechanism so that its end is aligned with the surgical approach point.
[0022] During the surgery, the surgical instruments are driven to perform surgical operations by controlling the multi-degree-of-freedom movement of the posture adjustment mechanism, while ensuring that the moving parts of the posture adjustment mechanism do not enter the line of sight.
[0023] The present invention achieves the following technical effects compared to the prior art:
[0024] This invention provides a slave-end execution structure and method of use adapted to fundus surgery scenarios. Firstly, by setting up an independent microscope mounting station, the invention separates the microscope from the moving parts of the slave-end execution structure. This allows various brands and models of commercial microscopes to be easily installed at the microscope mounting station in the middle of the rotating joint without modifying existing microscopes, effectively solving the problem of poor compatibility. Medical institutions can directly utilize existing microscope resources, significantly reducing equipment procurement costs and improving the equipment's versatility and scalability. Secondly, the posture adjustment mechanism, through its multi-degree-of-freedom design, possesses extremely high flexibility, capable of flexibly adjusting to adapt to different surgical approach points, making full use of the workspace and greatly enhancing adaptability in complex surgical scenarios. More importantly, the movement trajectory of the posture adjustment mechanism is strictly constrained to the side and below the microscope's line of sight, fundamentally avoiding obstruction of the microscope's line of sight during the adjustment of surgical instruments, ensuring a continuously clear surgical field of view. Surgeons no longer need to expend extra effort adjusting the viewing angle or replanning the operation path, effectively reducing the difficulty and risk of surgery. Furthermore, this invention, through the coordinated operation of a meticulously designed support trolley, vertical movement mechanism, rotary joint, and posture adjustment mechanism, achieves precise positional adjustment of the slave-end execution structure in three-dimensional space and fine posture control of surgical instruments, significantly improving the operational precision of retinal surgery. In summary, this invention effectively solves the problems of insufficient degrees of freedom, poor microscope compatibility, easy obstruction of the field of vision, and limited operational precision inherent in the slave-end structure of existing surgical robots, thereby improving the safety, precision, and efficiency of retinal surgery, making full use of existing medical resources, and lowering the threshold for clinical application. 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 This is a schematic diagram of the end-to-end execution structure provided by the present invention, adapted for use in fundus surgery scenarios.
[0027] Figure 2 This is an assembly diagram of the support trolley, vertical moving mechanism, rotary joint, and boom in the slave execution structure adapted to fundus surgery scenarios provided by the present invention.
[0028] Figure 3 This is a schematic diagram of the assembly of the posture adjustment mechanism and surgical instruments in the slave execution structure adapted to fundus surgery scenarios provided by the present invention.
[0029] Figure 4 This is a schematic diagram of the first linear movement mechanism in the slave-end execution structure adapted to fundus surgery scenarios provided by the present invention.
[0030] Figure 5 This is a schematic diagram of the parallel wrist in the slave execution structure adapted to fundus surgery scenarios provided by the present invention.
[0031] Figure 6 This is a schematic diagram of the structure of a surgical instrument;
[0032] Figure 7 A simplified diagram of the parallel wrist mechanism in the slave-end execution structure adapted for fundus surgery scenarios provided by the present invention;
[0033] In the diagram: 1. Support trolley; 2. Vertical movement mechanism; 3. Rotary joint; 4. Posture adjustment mechanism; 41. Boom; 42. Adapter; 43. First linear movement mechanism; 431. First portal beam; 432. First motor; 433. First mounting plate; 434. First lead screw; 435. First lead screw nut; 436. First slider; 437. First support plate; 438. First sliding plate; 44. Second linear movement mechanism; 45. Parallel wrist; 451. Base; 452. Active drive chain; 4521. Third motor; 4522. Third mounting plate; 4523. Third lead screw; 4524. Third lead screw nut; 4525. Third slider; 4526. Third support plate; 4527. Third guide rail; 4528. Hooke's hinge; 5. Surgical instrument; 6. Main end execution system; 7. Microscope. 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 slave execution structure and usage method adapted to fundus surgery scenarios, in order to solve the problems of insufficient degrees of freedom, poor microscope compatibility, easy obstruction of field of view and limited operation accuracy of the slave structure of surgical robots in the prior art, thereby improving the safety, accuracy and efficiency of fundus surgery, making full use of existing medical resources and reducing the threshold for clinical application.
[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 slave execution structure adapted to fundus surgery scenarios, such as... Figures 1-7As shown, the device includes: a support trolley 1, a vertical moving mechanism 2, a rotary joint 3, and at least one attitude adjustment mechanism 4. The support trolley 1 is used for position adjustment in three-dimensional space; the fixed end of the vertical moving mechanism 2 is mounted on the support trolley 1; the rotary joint 3 is mounted on the output end of the vertical moving mechanism 2, and a microscope 7 mounting station is provided in the middle of the rotary joint 3. The microscope 7 mounting station is used to mount the microscope 7. The rotary joint 3 can drive the microscope 7 to rotate and maintain its rotated position. The objective lens of the microscope 7 extends downward to the target surgical position to form a viewing channel; the fixed end of the attitude adjustment mechanism 4 is fixedly connected to the output end of the vertical moving mechanism 2, and the output end of the attitude adjustment mechanism 4 is used for... The surgical instrument 5 is installed so that its spatial posture can be adjusted through multi-degree-of-freedom motion, and the movement trajectory of the posture adjustment mechanism 4 is always constrained to the side and below the line of sight to maintain unobstructed access. First, by setting up an independent microscope 7 mounting station, the invention separates the microscope 7 from the moving parts of the slave-end actuator, allowing various brands and models of commercial microscopes 7 to be easily installed at the microscope 7 mounting station in the middle of the rotary joint 3 without modifying existing microscopes 7, effectively solving the problem of poor compatibility. Medical institutions can directly utilize existing microscope 7 resources, significantly reducing equipment procurement costs and improving the versatility and scalability of the equipment. Second, the posture adjustment mechanism 4, through its multi-degree-of-freedom design, possesses extremely high flexibility, capable of flexibly adjusting to adapt to the angle of different surgical approach points, making full use of the workspace, and greatly enhancing adaptability in complex surgical scenarios. More importantly, the movement trajectory of the posture adjustment mechanism 4 is strictly constrained to the side and below the viewing channel of the microscope 7, fundamentally avoiding obstruction of the view of the microscope 7 during the adjustment of the position of the surgical instrument 5. This ensures a continuously clear surgical field of view, eliminating the need for surgeons to expend extra effort to adjust the viewing angle or replan the operation path, effectively reducing the difficulty and risk of the surgery. Furthermore, through the coordinated operation of the meticulously designed support carriage 1, vertical movement mechanism 2, rotary joint 3, and posture adjustment mechanism 4, this invention achieves precise position adjustment of the slave-end execution structure in three-dimensional space and fine posture control of the surgical instrument 5, significantly improving the operational precision of fundus surgery. In summary, this invention effectively solves the problems of insufficient degrees of freedom, poor compatibility of the microscope 7, easy obstruction of the field of view, and limited operational precision in the slave-end structure of surgical robots in the prior art, thereby improving the safety, precision, and efficiency of fundus surgery, making full use of existing medical resources, and lowering the threshold for clinical application.
[0039] In a preferred embodiment, two posture adjustment mechanisms 4 are used, and their fixed ends are symmetrically arranged about the line of sight. This symmetrical layout allows the surgical instruments 5 to operate collaboratively from both sides of the target surgical position, simulating the surgeon's two-handed surgical technique, effectively improving the flexibility and coordination of the surgical operation. The two posture adjustment mechanisms 4 operate independently without interfering with each other's workspace, further ensuring the safety of the surgical operation.
[0040] In a preferred embodiment, the attitude adjustment mechanism 4 includes a boom 41, a connector 42, a first linear motion mechanism 43, a second linear motion mechanism 44, and a parallel wrist 45. The boom 41 is horizontally positioned, and one end of the boom 41 is fixedly connected to the output end of the vertical motion mechanism 2. The top end of the connector 42 is slidably connected to the boom 41 along its length and can maintain its slidable position. The fixed end of the first linear motion mechanism 43 is fixedly connected to the bottom end of the connector 42, and the fixed end of the second linear motion mechanism 44 is fixedly connected to the first linear motion mechanism 45. The output end of the second linear motion mechanism 44 is fixedly connected to the fixed end of the parallel wrist 45, so as to drive the fixed end of the parallel wrist 45 to move in an inclined plane at a first preset angle with the horizontal plane. The output end of the parallel wrist 45 is tilted towards the line of sight. The output end of the parallel wrist 45 is used to mount the surgical instrument 5, and the surgical instrument 5 can be finely adjusted in posture through its own multi-degree-of-freedom movement. Through the synergistic effect of multiple linear motion mechanisms and the parallel wrist 45, the surgical instrument 5 can be precisely adjusted in multiple dimensions. The sliding connection between the boom 41 and the adapter 42 can flexibly adjust the lateral position of the posture adjustment mechanism 4. The linear motion mechanism realizes translation in different directions, and the parallel wrist 45 realizes posture fine adjustment, so that the surgical instrument 5 can accurately reach the surgical position and be adjusted to a suitable posture to meet the needs of complex surgical operations.
[0041] In a preferred embodiment, the top surface of the adapter 42 is a horizontal surface, which is used for horizontal sliding connection with the boom 41. The bottom surface of the adapter 42 is an inclined surface, which is used for mounting on the fixed end of the first linear motion mechanism 43. The angle between the inclined surface and the horizontal surface is 30°~60°. This special structural design of the adapter 42 facilitates the connection with the boom 41 and the first linear motion mechanism 43. Moreover, the angle setting of the inclined surface allows the first linear motion mechanism 43 and subsequent components to move within a plane with a specific inclination angle, effectively avoiding the line of sight.
[0042] In a preferred embodiment, the boom 41 is provided with a slide rail, a slider, and a guide rail clamp. The horizontal surface at the top of the adapter 42 is fixedly connected to the slider. The slider slides on the slide rail and can be locked in the sliding position by the guide rail clamp. The slide rail and slider allow the adapter 42 to slide flexibly on the boom 41, while the guide rail clamp can accurately lock the position of the adapter 42, ensuring the stability of the position of the posture adjustment mechanism 4 during the operation, avoiding the impact of accidental movement on the operation, and improving the stability and reliability of the entire mechanism.
[0043] In a preferred embodiment, the first linear motion mechanism 43 includes a first U-shaped beam 431, a first motor 432, a first mounting plate 433, a first lead screw 434, a first lead screw nut 435, a first slider 436, a first support plate 437, and a first sliding plate 438. The back of the first U-shaped beam 431 is used for fixed connection with the inclined surface of the adapter 42. A first mounting groove is provided on the side of the first U-shaped beam 431 away from the adapter 42. A first guide rail is provided on the outer edge of the first mounting groove. The first motor 432 is fixedly connected to the first mounting groove through the first mounting plate 433. One end of the first lead screw 434 is fixedly connected to the output end of the first motor 432, and the other end is connected to the first support plate 436 installed in the first mounting groove. 7. The first nut 435 is slidably connected to the first mounting groove via a bearing rotational connection, and the first nut 435 is threadedly connected to the first lead screw 434. The first slider 436 is slidably connected to the first guide rail. The first sliding plate 438 is fixedly connected to the first nut 435 and the first slider 436. The fixed end of the second linear movement mechanism 44 is fixedly connected to the first sliding plate 438. The detailed design of the first linear movement mechanism 43 shows that the motor drives the lead screw to rotate, causing the nut and slider to slide on the guide rail, thereby enabling the first sliding plate 438 to move precisely. This provides a precise position adjustment basis for the subsequent second linear movement mechanism 44 and surgical instrument 5, ensuring the movement accuracy of the surgical instrument 5 in the longitudinal direction and helping to achieve precise positioning of the surgical instrument 5.
[0044] In a preferred embodiment, the second linear motion mechanism 44 includes a second U-shaped beam, a second motor, a second mounting plate, a second lead screw, a second lead screw nut, a second slider, a second support plate, and a second sliding plate. The back of the second U-shaped beam is fixedly connected to the first sliding plate 438. A second mounting groove is provided on the side of the second U-shaped beam away from the adapter 42. A second guide rail is provided along the outer edge of the second mounting groove. The second motor is fixedly connected to the second mounting groove via the second mounting plate. One end of the second lead screw is fixedly connected to the output end of the second motor, and the other end is rotatably connected to the second support plate installed in the second mounting groove via a bearing. The second nut is slidably connected in the second mounting groove and threadedly connected to the second lead screw. The second slider is slidably connected to the second guide rail. The second sliding plate is fixedly connected to the second nut and the second slider. The fixed end of the parallel wrist 45 is fixedly connected to the second sliding plate. The second linear movement mechanism 44 is similar to the first linear movement mechanism 43, further enhancing the position adjustment capability of the surgical instrument 5 in the lateral direction. The two linear movement mechanisms cooperate with each other to expand the range of motion of the surgical instrument 5 in the plane, improve the flexibility and accuracy of the positioning of the surgical instrument 5, and meet the needs of position adjustment of the surgical instrument 5 in different surgical scenarios.
[0045] In a preferred embodiment, the planes containing the first sliding plate 438 and the second sliding plate are arranged parallel to each other, and the sliding direction of the first sliding plate 438 driven by the first motor 432 is perpendicular to the sliding direction of the second sliding plate driven by the second motor. This perpendicular arrangement allows the first linear motion mechanism 43 and the second linear motion mechanism 44 to drive the surgical instrument 5 to move independently in two mutually perpendicular directions, thereby forming a complete two-dimensional coordinate system in the inclined plane formed by these two directions. By precisely controlling the displacement in the two directions, the output end of the surgical instrument 5 can reach any preset coordinate point in the plane, realizing precise control of the position in the plane. For example, when it is necessary to move the surgical instrument 5 from its current position to a target position, the first linear motion mechanism 43 can drive it to move a specific distance along the X-axis direction (assuming it is the horizontal direction in the inclined plane), while the second linear motion mechanism 44 simultaneously or stepwise drives it to move another specific distance along the Y-axis direction (assuming it is the vertical direction in the inclined plane). The combined motion of the two mechanisms can enable the surgical instrument 5 to accurately reach the target position, laying a solid positional foundation for subsequent attitude fine-tuning of the parallel wrist 45, and ensuring the controllability and accuracy of the overall movement.
[0046] In a preferred embodiment, the parallel wrist 45 includes a base 451 and three active drive chains 452. The base 451 is vertically fixed to the second sliding plate, and the three active drive chains 452 are mounted on the base 451. The output ends of the active drive chains 452 are hinged to the surgical instrument 5. Two of the active drive chains 452 form a PRR-RRP chain, and the other active drive chain 452 forms a PU chain. The PRR-RRP chain is used to drive the surgical instrument 5 to adjust its yaw angle, and the PU chain is used to drive the surgical instrument 5 to adjust its pitch angle. The PRR-RRP chain and the PU chain move synchronously to achieve linear feed of the surgical instrument 5. Through specific chain combinations, the parallel wrist 45 can achieve precise posture adjustment and linear feed of the surgical instrument 5 at multiple angles. This multi-degree-of-freedom adjustment method allows the surgical instrument 5 to flexibly adapt to complex surgical operation requirements, improving the flexibility and precision of surgical operations and meeting the high requirements of instrument operation precision in fundus surgery.
[0047] In a preferred embodiment, the active drive chain 452 includes a third motor 4521, a third mounting plate 4522, a third lead screw 4523, a third lead screw nut 4524, a third slider 4525, a third support plate 4526, a third sliding plate, and a Hooke hinge 4528. The base 451 has three third mounting slots, and a third guide rail 4527 is provided along the outer edge of each third mounting slot. The third motor 4521 is fixedly connected to the third mounting slot via the third mounting plate 4522. One end of the third lead screw 4523 is fixedly connected to the output end of the third motor 4521, and the other end is rotatably connected to the third support plate 4526 mounted in the third mounting slot via a bearing. The third lead screw nut 4524... The third slide is slidably connected in the third mounting groove, and the third nut 4524 is threadedly connected to the third lead screw 4523. The third slider 4525 is slidably connected to the third guide rail 4527. The third sliding plate is fixedly connected to the third slider 4525 and the third nut 4524. The third sliding plate is hinged to the surgical instrument 5 through the Hooke hinge 4528. The detailed design of the active drive chain 452 drives the movement of the lead screw, nut and slider through the motor. It is hinged to the surgical instrument 5 through the Hooke hinge 4528, so that each active drive chain 452 can accurately control the movement of the surgical instrument 5, ensuring the movement accuracy and stability of the surgical instrument 5 in all directions, and further improving the accuracy and reliability of the posture adjustment of the surgical instrument 5.
[0048] In a preferred embodiment, the support trolley 1 is a movable trolley with wheels, and the vertical moving mechanism 2 is a telescopic column or a liftable electric push rod. The wheels are equipped with brakes. The movable trolley allows the end-acting structure to be flexibly moved to a suitable position in the operating room. The telescopic or liftable design of the vertical moving mechanism 2 increases the overall structure's vertical adjustment capability. The brakes on the wheels can fix the support trolley 1 after reaching the designated position, ensuring structural stability during the operation and providing reliable basic support for the surgical procedure.
[0049] In a preferred embodiment, the microscope 7 rotates at the microscope 7 mounting position on the rotating joint 3 and is locked in the rotated position by a locking screw. This allows the microscope 7 to flexibly adjust its angle according to surgical needs. The locking screw ensures that the microscope 7 remains stable after rotating to a suitable angle, ensuring a stable field of view of the microscope 7 during the operation. This helps the doctor to accurately observe the surgical area and improves the accuracy of the surgical operation.
[0050] In a preferred embodiment, the system further includes a controller. The controller is electrically connected to the motors (including the first motor 432, the second motor, and the third motor 4521) in the vertical movement mechanism 2, the rotary joint 3, and the posture adjustment mechanism 4. The controller receives external control commands (such as control signals issued by the doctor via the main operating hand) or preset program commands, and drives the corresponding motors to precisely control the movement of the support carriage 1 (if the support carriage 1 has an electric movement function), the lifting and lowering of the vertical movement mechanism 2, the rotation of the rotary joint 3, the translation of each linear movement mechanism in the posture adjustment mechanism 4, and the multi-degree-of-freedom posture adjustment of the parallel wrist 45. Ultimately, this achieves precise positioning and operation of the surgical instrument 5 in space. The controller can also integrate a position feedback module to receive position sensor signals from each moving component (such as a sliding plate or slider), forming a closed-loop control to ensure motion accuracy and position stability. The controller's configuration enables precise control of the movement of each part of the entire slave-end execution structure, ensuring precise positioning and operation of the surgical instrument 5 regardless of whether it is controlled manually or via a preset program. The closed-loop control method with integrated position feedback module further improves motion accuracy and position stability. It can adjust the motor action in real time according to the position sensor signal to ensure that the surgical instrument 5 moves along the expected trajectory, effectively improving the safety and accuracy of surgical operations.
[0051] Example 2
[0052] This embodiment also provides an execution structure adapted to fundus surgery scenarios, including a master execution system 6 and a slave execution structure adapted to fundus surgery scenarios as described in Embodiment 1.
[0053] Example 2
[0054] This embodiment also provides a slave execution structure adapted for fundus surgery scenarios as described in Embodiment 1, including the following steps:
[0055] Preoperative preparation stage:
[0056] Equipment Positioning and Connection: Move the support trolley 1 with casters to the required surgical position and secure it using the brakes on the casters to ensure it does not shift during the operation. Install the fixed end of the vertical movement mechanism 2 (a telescopic column or a height-adjustable electric push rod) onto the support trolley 1, ensuring a secure connection. Install the rotary joint 3 at the output end of the vertical movement mechanism 2. Install the microscope 7 at the microscope 7 mounting position in the middle of the rotary joint 3, ensuring the objective lens of the microscope 7 extends downwards to the target surgical position to form a viewing channel. Secure the microscope 7 to the rotary joint 3 in a suitable rotation position using locking screws to ensure the stability of the microscope 7's field of view during the operation. Install one or two attitude adjustment mechanisms 4 as needed. If two attitude adjustment mechanisms 4 are used, install their fixed ends symmetrically about the viewing channel at the output end of the vertical movement mechanism 2.
[0057] Initial adjustment of attitude adjustment mechanism 4:
[0058] Adjustment of boom 41 and adapter 42: For each posture adjustment mechanism 4, release the guide rail clamp on boom 41 so that the slider on top of adapter 42 slides on the slide rail of boom 41. Adjust the position of adapter 42 in the length direction of boom 41 according to the surgical requirements. After the adjustment is completed, lock the position of adapter 42 by the guide rail clamp.
[0059] First linear movement mechanism 43 adjustment: The first motor 432 of the first linear movement mechanism 43 is activated. The first motor 432 drives the first lead screw 434 to rotate. The first lead screw 434 drives the first nut 435, which is threaded to it, to slide in the first mounting groove. At the same time, the first slider 436 slides on the first guide rail, thereby driving the first sliding plate 438 to move. By controlling the rotation of the first motor 432, the position of the first sliding plate 438 is adjusted to initially determine the position of the surgical instrument 5 in one direction.
[0060] Adjustment of the second linear movement mechanism 44: The second motor of the second linear movement mechanism 44 is activated, driving the second lead screw to rotate. The lead screw drives the second lead screw nut, which is threaded to it, to slide in the second mounting groove. At the same time, the second slider slides on the second guide rail, driving the second sliding plate to move. By controlling the rotation of the second motor, the position of the second sliding plate is adjusted, and the position of the surgical instrument 5 in another direction is further adjusted, initially determining the position of the parallel wrist 45.
[0061] Installation and Pre-adjustment of Surgical Instrument 5: Install surgical instrument 5 at the output end of parallel wrist 45. Activate the third motor 4521 of the three active drive chains 452 of the parallel wrist 45. By controlling the movement of the three active drive chains 452, initially adjust the posture of surgical instrument 5 so that it is roughly aligned with the surgical site. Among them, the two active drive chains 452 constituting the PRR-RRP chain are used to initially adjust the yaw angle of surgical instrument 5, and the active drive chain 452 constituting the PU chain is used to initially adjust the pitch angle of surgical instrument 5. Through the coordinated movement of each chain, the linear feed adjustment of surgical instrument 5 is initially achieved.
[0062] System calibration and debugging: Using external calibration equipment, the linear motion mechanisms in the vertical movement mechanism 2, rotary joint 3, and posture adjustment mechanism 4, as well as the parallel wrist 45, are calibrated to ensure that the motion accuracy of each mechanism meets the surgical requirements. Commands are sent to each motor via the controller to test the normal operation of the vertical movement mechanism 2 (lifting and lowering), the rotary joint 3 (rotation), the linear motion mechanisms (translation), and the multi-degree-of-freedom posture adjustment of the parallel wrist 45. The smoothness of the coordinated movement between the mechanisms and the absence of interference are checked. If the controller integrates a position feedback module, the accuracy of the position sensor signal transmission and the effectiveness of the closed-loop control are checked to ensure that each moving component can accurately reach the preset position.
[0063] Surgical procedure stages:
[0064] Microscope 7 Angle Adjustment: Depending on the surgical progress and observation needs, loosen the locking screw of microscope 7, rotate microscope 7 to a suitable angle by rotating joint 3, and tighten the locking screw again to fix microscope 7 to obtain the best surgical field of view.
[0065] Fine-tuning of the position and posture of surgical instrument 5:
[0066] Linear movement adjustment: If further adjustment of the position of the surgical instrument 5 in the plane is required, the controller sends instructions to the first motor 432 of the first linear movement mechanism 43 and the second motor of the second linear movement mechanism 44 to precisely control the movement of the first sliding plate 438 and the second sliding plate, so that the surgical instrument 5 can reach the target position more accurately in the horizontal and inclined directions.
[0067] Posture Adjustment: Once the position of the surgical instrument 5 is initially determined, according to the specific requirements of the surgical operation, the controller sends commands to the third motor 4521 of the three active drive chains 452 of the parallel wrist 45. The two PRR-RRP chains precisely adjust the yaw angle of the surgical instrument 5, and the PU chain precisely adjusts the pitch angle of the surgical instrument 5. Through the synchronous movement of each chain, the linear feed of the surgical instrument 5 is precisely achieved, ensuring that the surgical instrument 5 can perform the surgical operation in the optimal posture.
[0068] Real-time operation and monitoring: During surgery, the surgeon sends external control commands to the controller via the main operator. The controller then precisely controls the movement of the support trolley 1 (if equipped with electric movement), the vertical movement mechanism 2, the rotation joint 3, and the posture adjustment mechanism 4 in real time, enabling precise positioning and operation of the surgical instruments 5 within space. Simultaneously, the surgeon observes the surgical area through the microscope 7 and, based on the operation of the surgical instruments 5, adjusts the control commands in real time to ensure the smooth progress of the surgery.
[0069] 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 slave execution structure adapted for fundus surgery scenarios, characterized in that: include: A support trolley, the support trolley being used for position adjustment in three-dimensional space; A vertical moving mechanism, wherein the fixed end of the vertical moving mechanism is mounted on the support trolley; A rotary joint is installed at the output end of the vertical moving mechanism. A microscope mounting station is provided in the middle of the rotary joint. The microscope mounting station is used to install a microscope. The rotary joint can drive the microscope to rotate and maintain the rotated position. The objective lens of the microscope extends downward to the target surgical position to form a line of sight. At least one posture adjustment mechanism, the fixed end of which is fixedly connected to the output end of the vertical movement mechanism, the output end of which is used to mount surgical instruments so that the spatial posture of the surgical instruments can be adjusted through multi-degree-of-freedom movement, and the movement trajectory of the posture adjustment mechanism is always constrained to the side and below the line of sight to keep the line of sight unobstructed. The number of posture adjustment mechanisms is two, and the fixed ends of the two posture adjustment mechanisms are symmetrically arranged about the line of sight channel; The posture adjustment mechanism includes a boom, a connector, a first linear motion mechanism, a second linear motion mechanism, and a parallel wrist. The boom is horizontally positioned, and one end of the boom is fixedly connected to the output end of the vertical motion mechanism. The top end of the connector is slidably connected to the boom along its length and can maintain its slidable position. The fixed end of the first linear motion mechanism is fixedly connected to the bottom end of the connector. The fixed end of the second linear motion mechanism is fixedly connected to the output end of the first linear motion mechanism. The output end of the second linear motion mechanism is fixedly connected to the fixed end of the parallel wrist to drive the fixed end of the parallel wrist to move in an inclined plane at a first preset angle to the horizontal plane. The output end of the parallel wrist is tilted towards the line of sight. The output end of the parallel wrist is used to mount surgical instruments and achieves fine-tuning of the posture of the surgical instruments through its own multi-degree-of-freedom motion.
2. The slave execution structure adapted for fundus surgery scenarios according to claim 1, characterized in that: The top surface of the adapter is a horizontal plane, which is used to slide horizontally with the boom. The bottom surface of the adapter is an inclined plane, which is used to be installed on the fixed end of the first linear moving mechanism. The angle between the inclined plane and the horizontal plane is 30° to 60°.
3. The slave execution structure adapted for fundus surgery scenarios according to claim 2, characterized in that: The first linear motion mechanism includes a first portal beam, a first motor, a first mounting plate, a first lead screw, a first lead screw nut, a first slider, a first support plate, and a first sliding plate. The back of the first portal beam is fixedly connected to the inclined surface of the adapter. A first mounting groove is provided on the side of the first portal beam away from the adapter. A first guide rail is provided on the outer edge of the first mounting groove. The first motor is fixedly connected to the first mounting groove through the first mounting plate. One end of the first lead screw is fixedly connected to the output end of the first motor, and the other end is rotatably connected to the first support plate installed in the first mounting groove through a bearing. The first lead screw nut is slidably connected to the first mounting groove and is threadedly connected to the first lead screw. The first slider is slidably connected to the first guide rail. The first sliding plate is fixedly connected to the first lead screw nut and the first slider. The fixed end of the second linear motion mechanism is fixedly connected to the first sliding plate.
4. The slave execution structure adapted for fundus surgery scenarios according to claim 3, characterized in that: The second linear motion mechanism includes a second portal beam, a second motor, a second mounting plate, a second lead screw, a second lead screw nut, a second slider, a second support plate, and a second sliding plate. The back of the second portal beam is used to fix it to the first sliding plate. A second mounting groove is provided on the side of the second portal beam away from the adapter. A second guide rail is provided on the outer edge of the second mounting groove. The second motor is fixedly connected to the second mounting groove through the second mounting plate. One end of the second lead screw is fixedly connected to the output end of the second motor, and the other end is rotatably connected to the second support plate installed in the second mounting groove through a bearing. The second lead screw nut is slidably connected to the second mounting groove and is threadedly connected to the second lead screw. The second slider is slidably connected to the second guide rail. The second sliding plate is fixedly connected to the second lead screw nut and the second slider. The fixed end of the parallel wrist is fixedly connected to the second sliding plate.
5. The slave execution structure adapted for fundus surgery scenarios according to claim 4, characterized in that: The parallel wrist includes a base and three active drive chains. The base is vertically fixed to the second sliding plate. The three active drive chains are mounted on the base, and their output ends are hinged to the surgical instrument. Two of the active drive chains form a PRR-RRP chain, and the other forms a PU chain. The PRR-RRP chain drives the surgical instrument to adjust its yaw angle, and the PU chain drives it to adjust its pitch angle. The PRR-RRP chain and the PU chain move synchronously to achieve linear feed of the surgical instrument.
6. The slave execution structure adapted for fundus surgery scenarios according to claim 5, characterized in that: The active drive chain includes a third motor, a third mounting plate, a third lead screw, a third lead screw nut, a third slider, a third support plate, a third sliding plate, and a Hooke hinge. The base has three third mounting slots, and a third guide rail is provided along the outer edge of each third mounting slot. The third motor is fixedly connected to the third mounting slot via the third mounting plate. One end of the third lead screw is fixedly connected to the output end of the third motor, and the other end is rotatably connected to the third support plate mounted in the third mounting slot via a bearing. The third lead screw nut is slidably connected to the third mounting slot and is threadedly connected to the third lead screw. The third slider is slidably connected to the third guide rail. The third sliding plate is fixedly connected to the third slider and the third lead screw nut. The third sliding plate is hinged to the surgical instrument via the Hooke hinge.
7. The slave execution structure adapted for fundus surgery scenarios according to claim 1, characterized in that: The support trolley is a movable trolley with wheels, and the vertical movement mechanism is a telescopic column or a liftable electric push rod.
8. A slave execution structure adapted for fundus surgery scenarios as described in any one of claims 1 to 7, characterized in that: Includes the following steps: The microscope is mounted on the microscope mounting station of the rotary joint; By adjusting the position of the support trolley, the height of the vertical moving mechanism, and the angle of the rotating joint, the field of view of the microscope is aligned with the target surgical area, thus establishing the visual channel. The surgical instrument is mounted on the output end of the posture adjustment mechanism, and the initial posture of the surgical instrument is adjusted by the posture adjustment mechanism so that its end is aligned with the surgical approach point. By controlling the multi-degree-of-freedom movement of the posture adjustment mechanism, the surgical instruments are driven to perform operations, while ensuring that the moving parts of the posture adjustment mechanism do not enter the line of sight channel.