Tip actuator of microsurgical robot

Abstract

The tip actuator comprises a first support, a second support, two opening and closing parts, a first driving mechanism and a second driving mechanism, the second support is rotatably connected with the first support, shaft sleeve bodies are arranged at the rear ends of the opening and closing parts, the shaft sleeve bodies of the two opening and closing parts are both rotatably connected with the second support, and the first driving mechanism and the second driving mechanism are arranged on the first support. The outer side face, close to the front end of the opening and closing part, of the shaft sleeve body is provided with a winding area, the winding area is an outwards-protruding arc-shaped face, the first driving mechanism comprises two first tendon ropes, and the two first tendon ropes are used for pulling the second support to swing forwards and backwards around the first axis correspondingly. The two second driving mechanisms correspond to the two opening and closing parts respectively, each second driving mechanism comprises two second tendon ropes, each second tendon rope bypasses the same winding area of the corresponding shaft sleeve body, and the two second tendon ropes are used for pulling the corresponding opening and closing parts to swing forwards and backwards around the second axis respectively. The large-angle swing of the opening and closing part can be realized.

Description

Technical Field

[0001] This invention relates to the field of microsurgery technology, and in particular to an advanced actuator for a microsurgical robot. Background Technology

[0002] Microsurgical robots are a new type of medical device integrating clinical medicine, biomechanics, mechanics, materials science, computer science, microelectronics, mechatronics, and many other disciplines. Since the 1990s, robot-assisted minimally invasive surgery has gradually become a significant development trend. These systems integrate many emerging disciplines, realizing minimally invasive, intelligent, and digital surgical procedures.

[0003] Existing microsurgical robots mainly consist of three parts: a control console, a robotic arm system, and an imaging system. Among these, the end effector of the robotic arm system is the core execution component that directly acts on the surgical area to complete the surgical procedure. The opening and closing angle of the end effector is a key parameter determining its operational performance and applicable scenarios. While some laparoscopic surgical robots achieve large-angle opening and closing of their end effectors through additional structures, the end effectors of microsurgical robots are very small, making it difficult to add further structures. Therefore, the swing angle of a single claw in the end effector of existing microsurgical robots is generally no greater than 90 degrees. In some applications, the swing angle of the end effector claws needs to be larger to retract tissue through a hooking motion. How to achieve large-angle opening and closing of the end effector of a microsurgical robot with a simple structure is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] Therefore, the present invention provides an advanced actuator for a microsurgical robot, which achieves large-angle opening and closing of the advanced actuator of the microsurgical robot through a simple structure.

[0005] To address the aforementioned technical problems, this invention provides an advanced actuator for a microsurgical robot, comprising: The first support has a front end and a rear end in the longitudinal direction: The second support has a front end and a rear end in the longitudinal direction, and the rear end of the second support is rotatably connected to the front end of the first support about a first axis. Two opening and closing parts, each of the opening and closing parts having a front end and a rear end in the longitudinal direction, the rear ends of the two opening and closing parts being rotatably connected to the front end of the second support about a second axis, the second axis being perpendicular to the first axis and extending laterally along the tip actuator, the rear end of the opening and closing part being a bushing body, the outer surface of the bushing body including a winding area, the winding area being an outwardly convex arc-shaped surface, the front end of the opening and closing part being a pointed body, the pointed body being protruding from the winding area of ​​the bushing body and extending radially along the bushing body; The first drive mechanism includes two segments of first tendon rope, each segment of the first tendon rope having a front end and a rear end in the length direction. The front ends of the two segments of the first tendon rope are positioned and connected to the second support. The two segments of the first tendon rope are used to pull the second support to swing around the first axis in the forward and reverse directions, respectively. Two second drive mechanisms are provided, each corresponding to one of the two opening and closing parts. Each second drive mechanism includes two segments of second tendon rope. Each segment of the second tendon rope has a front end and a rear end in the length direction. The front end of the second tendon rope is positioned and connected to the corresponding bushing. In the same second drive mechanism, the two segments of the second tendon rope bypass the corresponding winding area and have an overlapping portion in their orthographic projection on the projection plane perpendicular to the second axis. The two segments of the second tendon rope constitute a pair of antagonistic tendon ropes and are used to pull the corresponding opening and closing parts to swing forward and backward around the second axis, respectively.

[0006] Optionally, in certain postures, the central angle formed by the overlapping portions of the projected areas of the entangled tendons exceeds 20°.

[0007] Optionally, in certain postures, the central angle formed by the overlapping portions of the projected areas of the entangled tendons exceeds 60°.

[0008] Optionally, the positioning positions of the front ends of the two segments of the second tendon rope of the same second drive mechanism are different from the distances of the same end in the axial direction of the corresponding bushing.

[0009] Optionally, the bushing body is provided with a threading hole and a knotting hole. The two ends of the threading hole pass through the outer side of the bushing body, and the angle between the central axis of the threading hole and the second axis is an acute angle. The knotting hole and the threading hole are intersecting and connected. The front ends of the two sections of the second tendon rope pass through the threading hole in opposite directions and are knotted to achieve positioning with the bushing body. The knot of the second tendon rope is stored in the knotting hole.

[0010] Optionally, the first support includes two separately arranged support arms, which are spaced apart along the direction of the first axis. Each of the two support arms has an integrally formed first boss on its opposite surface. The first boss is close to the front end of the first support. The first bosses of the two support arms are joined and fixed together to form a first shaft. The rear end of the second support is rotatably connected to the first shaft. The first shaft also guides the first tendon rope to move longitudinally along the tip actuator.

[0011] Optionally, the first support has guide wire structures on two opposite side surfaces in the direction of the first axis. The guide wire structures have wire guide areas, which are convex arc surfaces. The wire guide areas guide the second tendon rope to move longitudinally along the tip actuator.

[0012] Optionally, the guide wire structure is a guide wire groove, which extends longitudinally along the first support. The guide wire groove has two opposite groove walls, and the groove end of the groove wall near the front end of the first support is the wire guiding area.

[0013] Optionally, the central axis of the wire guiding area is parallel to the first axis. The distance between the central axis of the wire guiding area and the front end of the first support measured along the longitudinal direction of the first support is L1, and the distance between the first axis and the front end of the first support measured along the longitudinal direction of the first support is L2. L1 - r < L2, and the difference between L1 - r and L2 is < R, where r is the radius of the second tendon cord and R is the radius of the wire guiding area.

[0014] Optionally, the second support includes a connecting plate, two first ear plates, two second ear plates and a second shaft body. The two first ear plates are arranged oppositely at an interval along the direction of the first axis and are connected to one side of the connecting plate. The two first ear plates are rotatably connected to the first support around the first axis. The two second ear plates are arranged at an interval along the direction of the second axis and are connected to the other side of the connecting plate. The second shaft body connects the two second ear plates, and the opening and closing part is rotatably connected to the second shaft body.

[0015] Optionally, a wire threading groove is provided on the surface of each first ear plate facing the other first ear plate. The wire threading groove extends along the direction of the second axis. The front ends of the two first tendon cords respectively pass through the wire threading grooves of the two first ear plates and are knotted to achieve positioning with the second support.

[0016] The above technical solution of the present invention has the following advantages compared with the prior art: For the tip actuator of the microsurgery robot of the present invention, in the same second driving mechanism, the two second tendon cords bypass the corresponding wire winding areas and the orthographic projections on the projection plane perpendicular to the second axis have an overlapping part. Each second tendon cord can drive the opening and closing part to swing more than 90 degrees, so as to achieve large-angle opening and closing of the opening and closing part through a simple structure, and the opening and closing part can complete a large-angle hooking action. Description of the Drawings

[0017] In order to make the content of the present invention easier to be clearly understood, the following further describes the present invention in detail according to the specific embodiments of the present invention and in combination with the drawings.

[0018] Figure 1 It is an assembly schematic diagram of the tip actuator disclosed in the first embodiment of the present invention; Figure 2 It is a structural schematic diagram of the first support at one angle disclosed in the first embodiment of the present invention; Figure 3 It is a structural schematic diagram of the first support at another angle disclosed in the first embodiment of the present invention; Figure 4 This is a schematic diagram showing the connection between the second support and the first drive mechanism at one angle, as disclosed in Embodiment 1 of the present invention. Figure 5 This is a schematic diagram showing the connection between the second support and the first drive mechanism from another angle, as disclosed in Embodiment 1 of the present invention. Figure 6 This is a schematic diagram showing the connection between the opening / closing part and the second driving mechanism at one angle, as disclosed in Embodiment 1 of the present invention. Figure 7 This is a schematic diagram showing the connection between the opening / closing part and the second driving mechanism from another angle, as disclosed in Embodiment 1 of the present invention. Figure 8 This is a schematic diagram of the large-angle opening of the front actuator disclosed in Embodiment 1 of the present invention; Figure 9 A schematic diagram showing the positional relationship between the second tendon rope and the conductor zone when the distance between the central axis of the conductor zone and the front end of the first support is equal to the distance between the first axis and the front end of the first support. Figure 10 This is a schematic diagram showing the positional relationship between the second tendon cord and the conductor region when the conductor region is a right-angled surface and one of its surfaces is coplanar with the first axis. Figure 11 This is a schematic diagram showing the positional relationship between the second tendon cord and the conductor area when the conductor area is an outwardly convex arc surface and the tangent is coplanar with the first axis in Embodiment 1 of the present invention.

[0019] Explanation of reference numerals in the accompanying drawings: 1. First support; 11. Support arm; 12. First boss; 13. Second boss; 14. Guide wire structure; 141. Conductor area; 2. Second support; 21. Connecting plate; 22. First ear plate; 221. Wire groove; 23. Second ear plate; 24. Second shaft; 3. Opening / closing part; 31. Bushing body; 32. Tip body; 33. Wire hole; 34. Knot hole; 41. First tendon cord; 51. Second tendon cord. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0021] Example 1: See Figures 1 to 8 As shown, this invention discloses an embodiment of the advanced actuator of a microsurgical robot.

[0022] The advanced actuators of a microsurgical robot include: The first support 1 has a front end and a rear end in the longitudinal direction; The second support 2 has a front end and a rear end in the longitudinal direction, and the rear end of the second support 2 is rotatably connected to the front end of the first support 1 about a first axis. Two opening and closing parts 3, each of the opening and closing parts 3 having a front end and a rear end in the longitudinal direction, the rear ends of the two opening and closing parts 3 being rotatably connected to the front end of the second support 2 about a second axis, the second axis being perpendicular to the first axis and extending laterally along the tip actuator, the rear end of the opening and closing part 3 being a bushing body 31, the outer surface of the bushing body 31 including a winding area, the front end of the opening and closing part 3 being a tip body 32, the tip body 32 protruding from the winding area of ​​the bushing body 31 and extending radially along the bushing body 31; The first drive mechanism includes two segments of first tendon rope 41. Each segment of the first tendon rope 41 has a front end and a rear end in the length direction. The front ends of the two segments of the first tendon rope 41 are positioned and connected to the second support 2. The two segments of the first tendon rope 41 are used to pull the second support 2 to swing around the first axis in the forward and reverse directions, respectively. Two second drive mechanisms are respectively corresponding to the two opening and closing parts 3. Each of the two drive mechanisms includes two segments of second tendon rope 51. Each segment of the second tendon rope 51 has a front end and a rear end in the length direction. The front end of the second tendon rope 51 is positioned and connected to the corresponding bushing body 31. In the same second drive mechanism, the two segments of the second tendon rope 51 bypass the corresponding winding area and have an overlapping portion in the orthographic projection on the projection plane perpendicular to the second axis. The two segments of the second tendon rope 51 constitute a pair of antagonistic tendon ropes and are used to pull the corresponding opening and closing parts 3 to swing forward and backward around the second axis respectively.

[0023] Specifically, the end effector is the actuator at the end of a microsurgical robot used to directly perform surgical actions such as clamping and manipulation; it is the part that directly interacts with the surgical object.

[0024] The first support 1 is the basic fixed support component of the actuator, providing the installation foundation for the entire advanced actuator.

[0025] The second support 2 is an intermediate moving support that can swing relative to the first support 1, and is used to drive the opening and closing part 3 to achieve posture adjustment.

[0026] The opening / closing part 3 is the end effector of the actuator, used to perform delicate surgical operations such as clamping, manipulating, suturing, and cutting. The bushing body 31 is a hollow shaft-shaped structure. The winding area refers to the area on the bushing body 31 specifically designed for the tendon ligament to pass around, wrap, guide, or transition. The tip body 32 is the head of the opening / closing part 3. In this embodiment, the tip body 32 is, for example, a forceps claw; in other embodiments, the tip body can also be a scissor blade, etc.

[0027] The first drive mechanism is used to drive the second support 2 to swing. The two segments of the first tendon rope 41 pull the second support 2 from opposite directions to realize the forward and reverse swing of the second support 2. The two segments of the first tendon rope 41 of the same first drive mechanism can be an integral structure, that is, two segments of a rope, or they can be separate structures, that is, two ropes.

[0028] The second drive mechanism is used to drive the corresponding opening and closing part 3 to swing. The two segments of the second tendon rope 51 pass around the same winding area where the tip body 32 is set on the corresponding bushing body 31. The projection perpendicular to the second axis refers to the imaginary plane perpendicular to the second axis, which serves as the projection reference plane for the orthographic projection, used to observe, define, or describe the projection relationship of the tendon rope on this plane. The overlapping part of the orthographic projection means that the projection patterns of the two segments of the second tendon rope 51 on the projection plane intersect, overlap, or partially cover each other, used to define the spatial arrangement, intersection, or positional constraints of the two tendon ropes. The two segments of the second tendon rope 51 pull the opening and closing part 3 from opposite directions, realizing the forward and reverse swing of the opening and closing part 3. The two segments of the second tendon rope 51 of the same second drive mechanism can be an integral structure, that is, two segments of a rope, or a separate structure, that is, two ropes.

[0029] When the aforementioned actuator is working, the two segments of the first tendon rope 41 of the first drive mechanism pull the second support 2 from opposite directions, causing the second support 2 to swing forward or backward relative to the first support 1, thereby adjusting the overall posture of the actuator; each opening and closing part 3 is pulled in opposite directions by the two segments of the second tendon rope 51 of the corresponding second drive mechanism, thereby causing the opening and closing part 3 to swing forward or backward around the second axis, thus realizing the opening and closing of the two opening and closing parts 3.

[0030] Through the above technical solution, in the same second drive mechanism, the two segments of the second tendon rope bypass the corresponding winding area and have overlapping orthographic projections on the projection plane perpendicular to the second axis. Each segment of the second tendon rope can drive the opening and closing part to swing more than 90 degrees, thereby achieving large-angle opening and closing of the opening and closing part through a simple structure, and the opening and closing part can complete a large-angle hooking action.

[0031] In this embodiment, under certain postures, the central angle formed by the overlapping projections of the winding areas of the paired antagonistic tendons exceeds 20°. Preferably, the central angle exceeds 60°.

[0032] Specifically, the aforementioned central angle is the angle formed by connecting the center of the arc of the winding region to the center of the arc, with the center of the arc as its vertex. The overlapping portion of the projection of the winding region of the paired antagonistic tendons... of A central angle greater than 20° indicates that the wrap angle of the ligament within the wrapping zone is greater than 20°. More specifically, the overlapping portion of the projected wrapping zones of paired antagonistic ligaments. of A central angle greater than 60° indicates that the wrap angle of the tendon cord within the wrapping area is greater than 60°.

[0033] The above technical solution allows for a larger swing angle of the opening and closing parts, and a larger opening angle between the two opening and closing parts.

[0034] In this embodiment, the positioning positions of the front ends of the two segments of the second tendon rope 51 of the same second driving mechanism are different from the distances of the corresponding bushing body 31 axially upwards to the same end.

[0035] Specifically, since both segments of the second tendon rope 51 of each second drive mechanism need to bypass the same winding area of ​​the same bushing 31, the two segments of the second tendon rope 51 are prone to compression and entanglement, causing drive instability. Therefore, in this embodiment, the front ends of the two segments of the second tendon rope 51 of the same second drive mechanism are at different distances from the same end of the bushing 31 in the axial direction, ensuring that the two segments of the second tendon rope 51 of the same second drive mechanism bypass different positions in the axial direction of the same bushing 31, and the different second tendon ropes are staggered in the axial direction of the bushing 31.

[0036] Through the above technical solution, the front ends of the two segments of the second tendon rope of the same second drive mechanism are respectively fixed relative to different parts of the corresponding bushing body axially upward, thus ensuring drive stability.

[0037] In this embodiment, the bushing body 31 is provided with a threading hole 33 and a knot hole 34. The two ends of the threading hole 33 respectively penetrate the outer side of the bushing body 31, and the angle between the central axis of the threading hole 33 and the second axis is an acute angle. The front ends of the two sections of the second tendon rope 51 pass through the threading hole 33 in opposite directions and are knotted to achieve mutual positioning with the bushing body 31. The knot at the front end of the second tendon rope 51 is stored in the knot hole 34.

[0038] Specifically, the outer diameter of instruments in conventional laparoscopic robots is 8mm or 5mm, and the outer diameter of the bushing is about 5.5mm, making it relatively easy to position them with the drive rope. In this embodiment, the outer diameter of the tip actuator is about 3mm, the outer diameter of the bushing is about 2mm, the length of the tip is about 5.5mm, and the tip width is about 0.1mm. The size of the tip actuator is small, the size of the bushing 31 is even smaller, and the second tendon rope 51 is very thin, making it difficult to connect and fix the bushing 31 and the second tendon rope 51 by other means. Therefore, in this embodiment, by providing a threading hole 33, the front end of the second tendon rope 51 passes through the threading hole 33 and is knotted at the front end. The knot is larger than the diameter of the threading hole 33 to achieve knot-limiting with the threading hole 33. Furthermore, by providing a knot hole 34, the central axis of the knot hole 34 intersects the central axis of the threading hole 33, and the diameter of the knot hole 34 is larger than the knot, which can accommodate the knot at the front end of the second tendon rope 51.

[0039] Through the above technical solution, a threading hole is set on the bushing body, and the second tendon rope is positioned by knotting, which reduces the assembly difficulty of the front actuator; a knot hole is adopted that intersects and connects with the threading hole, dividing the threading hole into two sections. The two second tendon ropes pass through the two independent sections of the threading hole respectively. The second tendon ropes run independently, do not interfere with each other, and do not cross each other, effectively avoiding friction, entanglement or jamming between the second tendon ropes, and improving the stability and reliability of the device operation.

[0040] In this embodiment, the first support 1 includes two separately arranged support arms 11. The two support arms 11 are spaced apart along the direction of the first axis. Each of the two support arms 11 has an integrally formed first boss 12 protruding from its opposite surface. The first boss 12 is close to the front end of the first support 1. The first bosses 12 of the two support arms 11 are joined and fixed together to form a first shaft. The rear end of the second support 2 is rotatably connected to the first shaft.

[0041] Specifically, due to the small size of the actuator, if the first shaft and the first support 1 are separate components, it would be difficult to guarantee assembly accuracy and the assembly process would be quite challenging. Therefore, in this embodiment, the first support 1 is configured as two separate support arms 11, with a first boss 12 integrally formed on each support arm 11. The first boss 12 is then joined together to form the first shaft, reducing the difficulty of parts processing and assembly.

[0042] When assembling the aforementioned front actuator, first pass the two first bosses 12 through the shaft holes of the second support 2 and then connect them together, and then fix the two support arms 11 together.

[0043] By using the above technical solution, the first support is set as two support arms and integrally formed as the first boss, which improves the assembly accuracy of the front actuator and reduces the assembly difficulty of the front actuator.

[0044] In this embodiment, the opposing surfaces of the two support arms 11 are each provided with an integrally formed second boss 13. The second boss 13 is close to the rear end of the first support 1, and the second bosses 13 of the two support arms 11 are joined together.

[0045] Specifically, the second support 2 is connected between the two support arms 11. On the one hand, there needs to be a certain gap between the two support arms 11, and the fixed gap should be greater than the thickness of the main feature of the first support. This is to reserve space for the rotation of the second support 2. On the other hand, the two support arms 11 must also remain connected to ensure the integrity of the second support 2. In addition, the size of the actuator is small, and it is difficult to fix the two support arms 11 by other means. Therefore, in this embodiment, a second boss 13 is provided on the two support arms 11 near the rear end of the first support 1, and the second bosses 13 of the two support arms 11 are joined together.

[0046] When assembling the aforementioned actuator, the first bosses 12 of the two support arms 11 are passed through the shaft holes of the second support 2 and then joined together, while the second bosses 13 of the two support arms 11 are also joined together. The first bosses 12 and the second bosses 13 can be fixed together by adhesive or welding.

[0047] The above technical solution involves setting a second protrusion on the support arm to facilitate fixing the two support arms together.

[0048] In this embodiment, the first shaft guides the first tendon rope 41 to move longitudinally along the tip actuator.

[0049] Specifically, in the prior art, to prevent the first tendon cord 41 from deviating, tangling, or wearing out, it is necessary to guide and limit the first tendon cord 41 by setting a guide wire wheel or guide wire shaft to limit the first tendon cord 41. The guide wire wheel of a conventional endoscope is 6mm, which is too large to be used. Scaling it down to a suitable size would drastically increase the processing difficulty. Since the size of the end effector is relatively small, in this embodiment, the first shaft not only serves as the hinge shaft between the first support 1 and the second support 2, but also as the guide wire shaft of the first tendon cord 41. While supporting the swing of the second support 2, it can guide the first tendon cord 41, reducing the processing difficulty of the guide wire structure.

[0050] The above technical solution guides the first tendon rope through the first shaft, resulting in a simple structure, reduced assembly difficulty of the first actuator, and improved structural accuracy of the first actuator.

[0051] In this embodiment, the first support 1 is provided with guide wire structures 14 on two opposite side surfaces in the direction of the first axis. The guide wire structure 14 has a conductor area 141, which is an outwardly convex arc surface. The conductor area 141 guides the second tendon rope 51 to move longitudinally along the tip actuator.

[0052] Specifically, in order to prevent the second tendon cord 51 from running off track, getting entangled, and being worn, it is necessary to guide and limit the second tendon cord 51. Usually, the second tendon cord 51 is guided and limited by the wire guiding area 141 of the wire guiding structure 14. The wire guiding structure is provided on the first support 1 and is basically not affected by the swing of the second support 2.

[0053] Through the above technical solution, a wire guiding structure is provided on the first support to guide the movement of the second tendon cord, achieving basic decoupling of the opening and closing part from the second support and eliminating backlash.

[0054] In this embodiment, the above wire guiding structure 14 is a wire guiding groove. The wire guiding groove extends along the longitudinal direction of the first support 1. The wire guiding groove has two opposite groove walls. The groove end of the groove wall near the front end of the first support is the wire guiding area.

[0055] Specifically, due to the small size of the tip actuator, it is difficult to assemble a wire guiding wheel or a guiding shaft, and it occupies a certain space. Therefore, in this embodiment, a wire guiding groove is provided on the first support 1. On the one hand, it guides, limits, and protects the second tendon cord 51, preventing the second tendon cord 51 from running off track, getting entangled, and being worn. On the other hand, the wire guiding groove is integrally formed on the first support 1, does not require assembly, has a high position accuracy, and does not increase the volume of the first support 1.

[0056] Through the above technical solution, a wire guiding groove is integrally formed on the first support, with a simple structure and high positioning accuracy, reducing the assembly difficulty of the tip actuator and improving the structural accuracy of the tip actuator.

[0057] In this embodiment, the central axis of the above wire guiding area 141 is parallel to the first axis. The distance between the central axis of the wire guiding area 141 and the front end of the first support 1 measured along the longitudinal direction of the first support 1 is L1. The distance between the first axis and the front end of the first support 1 measured along the longitudinal direction of the first support 1 is L2. L1 - r < L2, and the difference between L1 - r and L2 is < R, where r is the radius of the second tendon cord and R is the radius of the wire guiding area.

[0058] Specifically, referring to Figures 9 to 11 , Figure 9 In, the second tendon cord 51 bypasses the wire guiding area 141 of the wire guiding structure 14. The central axis of the wire guiding area 141 and the first axis are on the same horizontal line. When the second support 2 pitches to 90 degrees, the wire guiding structure 14 will lift the second tendon cord 51 at the position of the wire guiding area 141 by a height equal to the radius of the wire guiding area 141; in this design, the elongation of the second tendon cord: L3 = 1 / 2 * ∏r - r; (where r is the radius of the wire guiding area 141).

[0059] Figure 10In this configuration, the second tendon cord 51 wraps around the guide wire section 141 of the guide wire structure 14. One surface of the guide wire section 141 is on the same horizontal line as the first axis. When the second support 2 pitches to 90 degrees, the length of the second tendon cord 51 does not change. However, this design is not conducive to manufacturing, and the second tendon cord 51 is also prone to wear.

[0060] Figure 11 In this design, the guide wire structure 144's conductor region 141 is optimized into an arc shape, and the second tendon cord 51 bypasses the guide wire structure 144's conductor region 141. The tangent of the conductor region 141 and the first axis are on the same horizontal line. When the second support 2 pitches to 90 degrees, the length of the second tendon cord 51 decreases: L4==2r-1 / 2*πr; (where r is the radius of the conductor region 141).

[0061] In conclusion, the optimal location for conductor region 141 should be in Figure 9 and Figure 11 There is a point between these two that can achieve a balance.

[0062] Through the above technical solution, the second tendon cord driving the opening and closing part moves independently of the wrist through the second guide wire structure of the first support; its movement is minimally affected by the swaying motion of the second support, and the pitching motion of the second support causes the second tendon cords on both sides of the opening and closing part to increase or decrease simultaneously, keeping the opening and closing part in a relatively static state, which can accumulate the error to a very small extent.

[0063] In this embodiment, the second support 2 includes a connecting plate 21, two first ear plates 22, two second ear plates 23, and a second shaft 24. The two first ear plates 22 are arranged opposite each other at a distance along the direction of the first axis and connected to one side of the connecting plate 21. The two first ear plates 22 are rotatably connected to the first support 1 around the first axis. The two second ear plates 23 are arranged at a distance along the direction of the second axis and connected to the other side of the connecting plate 21. The second shaft 24 connects the two second ear plates 23. The opening and closing part 3 is rotatably connected to the second shaft 24.

[0064] Specifically, the connecting plate 21 is the main connecting plate of the second support 2, used to install the first ear plate 22 on one side and the second ear plate 23 on the other side, realizing the relative fixation and position transition of the two ear plates. The first ear plate 22 is a plate-shaped connecting component disposed on one side of the connecting plate 21, arranged in pairs at intervals, used to cooperate with the first shaft of the first support 1 to realize the rotational connection around the first axis. The second ear plate 23 is a plate-shaped connecting component disposed on the other side of the connecting plate 21, arranged in pairs at intervals, used to install the second shaft 24, providing support for the opening and closing part 3 to rotate around the second axis. The second shaft 24 is a shaft-like component passing between the two second ear plates, serving as the rotation center of the opening and closing part, enabling the opening and closing part 3 to rotate relative to the second support 2 around the second shaft 24.

[0065] Through the above technical solution, the second support can realize the rotational connection between the first support and the opening and closing part, and at the same time, the second ear plate and the first shaft form a wire groove, which can guide the movement of the first tendon rope.

[0066] In this embodiment, each of the first ear plates 22 is provided with a threading groove 221 on the plate surface facing the other first ear plate 22. The threading groove 221 extends along the direction of the second axis. The front ends of the two segments of the first tendon rope 41 pass through the threading groove 221 of the two first ear plates 22 respectively and are then knotted to achieve mutual positioning with the second support 2.

[0067] Specifically, due to the small size of the actuator and the even smaller size of the second support 2, and the thinness of the first tendon cord 41, it is difficult to connect and fix the second support 2 and the first tendon cord 41 by other means. Therefore, in this embodiment, a threading groove is provided on the first ear plate 22. The threading groove 221 can accommodate, position, and guide the first tendon cord 41, providing space for the first tendon cord 41 and preventing the tendon cord from shifting, interfering, or wearing during movement. Furthermore, the first tendon cord 41 and the second support 2 are fixed by adhesive bonding, ensuring a reliable connection between the two.

[0068] The above technical solution involves setting a threading groove on the second ear plate and fixing it to the first tendon rope, thereby reducing the assembly difficulty of the front actuator.

[0069] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An advanced actuator for a microsurgical robot, characterized in that, include: The first support has a front end and a rear end in the longitudinal direction: The second support has a front end and a rear end in the longitudinal direction, and the rear end of the second support is rotatably connected to the front end of the first support about a first axis. Two opening and closing parts, each of the opening and closing parts having a front end and a rear end in the longitudinal direction, the rear ends of the two opening and closing parts being rotatably connected to the front end of the second support about a second axis, the second axis being perpendicular to the first axis and extending laterally along the tip actuator, the rear end of the opening and closing part being a bushing body, the outer surface of the bushing body including a winding area, the winding area being an outwardly convex arc-shaped surface, the front end of the opening and closing part being a pointed body, the pointed body being protruding from the winding area of ​​the bushing body and extending radially along the bushing body; The first drive mechanism includes two segments of first tendon rope, each segment of the first tendon rope having a front end and a rear end in the length direction. The front ends of the two segments of the first tendon rope are positioned and connected to the second support. The two segments of the first tendon rope are used to pull the second support to swing around the first axis in the forward and reverse directions, respectively. Two second drive mechanisms are provided, each corresponding to one of the two opening and closing parts. Each second drive mechanism includes two segments of second tendon rope. Each segment of the second tendon rope has a front end and a rear end in the length direction. The front end of the second tendon rope is positioned and connected to the corresponding bushing. In the same second drive mechanism, the two segments of the second tendon rope bypass the corresponding winding area and have an overlapping portion in their orthographic projection on the projection plane perpendicular to the second axis. The two segments of the second tendon rope constitute a pair of antagonistic tendon ropes and are used to pull the corresponding opening and closing parts to swing forward and backward around the second axis, respectively.

2. The advanced actuator of the microsurgical robot according to claim 1, characterized in that, In certain postures, the central angle formed by the overlapping projections of the looping areas of the paired antagonistic tendons exceeds 20°.

3. The advanced actuator of the microsurgical robot according to claim 1, characterized in that, In certain postures, the central angle formed by the overlapping portion of the projected areas of the entangled tendons of the paired antagonistic tendons exceeds 60°.

4. The advanced actuator of the microsurgical robot according to claim 1, characterized in that, The positioning positions of the front ends of the two segments of the second tendon rope of the same second drive mechanism are different from the distances of the same end on the axial direction of the corresponding bushing.

5. The advanced actuator of the microsurgical robot according to claim 4, characterized in that, The bushing body is provided with a threading hole and a knotting hole. The two ends of the threading hole pass through the outer side of the bushing body, and the angle between the central axis of the threading hole and the second axis is an acute angle. The knotting hole and the threading hole are intersecting and connected. The front ends of the two sections of the second tendon rope pass through the threading hole in opposite directions and are knotted to achieve positioning with the bushing body. The knot of the second tendon rope is stored in the knotting hole.

6. The advanced actuator of the microsurgical robot according to claim 1, characterized in that, The first support includes two separate support arms, which are spaced apart along the first axis. Each of the two support arms has an integrally formed first boss on its opposite surface. The first boss is close to the front end of the first support. The first bosses of the two support arms are joined together and fixed to form a first shaft. The rear end of the second support is rotatably connected to the first shaft. The first shaft also guides the first tendon rope to move longitudinally along the tip actuator.

7. The advanced actuator of the microsurgical robot according to claim 1, characterized in that, The first support is provided with wire guide structures on two side surfaces opposite to each other in the direction of the first axis. The wire guide structure has a wire guiding area, and the wire guiding area is a convex arc surface, and the wire guiding area guides the second tendon cord to move longitudinally along the tip actuator.

8. The advanced actuator of the microsurgical robot according to claim 7, characterized in that, The wire guide structure is a wire guide groove, and the wire guide groove extends longitudinally along the first support. The wire guide groove has two opposite groove walls, and the groove end of the groove wall close to the front end of the first support is the wire guiding area.

9. The advanced actuator of the microsurgical robot according to claim 7, characterized in that, The central axis of the wire guiding area is parallel to the first axis. The distance between the central axis of the wire guiding area and the front end of the first support measured along the longitudinal direction of the first support is L1, and the distance between the first axis and the front end of the first support measured along the longitudinal direction of the first support is L2. L1 - r < L2, and the difference between L1 - r and L2 is < R, where r is the radius of the second tendon cord and R is the radius of the wire guiding area.

10. The advanced actuator of the microsurgical robot according to claim 1, characterized in that, The second support includes a connecting plate, two first ear plates, two second ear plates and a second shaft body. The two first ear plates are arranged opposite to each other at an interval distance in the direction of the first axis and are connected to one side of the connecting plate. The two first ear plates are rotatably connected to the first support around the first axis. The two second ear plates are arranged at an interval distance in the direction of the second axis and are connected to the other side of the connecting plate. The second shaft body connects the two second ear plates, and the opening and closing part is rotatably connected to the second shaft body.

11. The advanced actuator of the microsurgical robot according to claim 10, characterized in that, Each first ear plate is provided with a wire threading groove on the plate surface facing the other first ear plate. The wire threading groove extends in the direction of the second axis. The front ends of the two first tendon cords respectively pass through the wire threading grooves of the two first ear plates and are knotted to achieve positioning with the second support.

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