Motion control device for a surgical robot

Abstract

The application provides a motion control device of a surgical robot, comprising a double-arm linkage assembly, a yaw adjustment assembly; a terminal execution assembly is connected to the double-arm linkage assembly through the yaw adjustment assembly; the double-arm linkage assembly realizes the stretching and contraction of the terminal execution assembly along a first direction and the pitching of the terminal execution assembly along a second direction through the cooperative motion of a first mechanical arm and a second mechanical arm; the yaw adjustment assembly comprises a first yaw reference element and a second yaw reference element; wherein the second yaw reference element is movably connected between the terminal execution assembly; through the relative motion of the first mechanical arm and the second mechanical arm, the second yaw reference element is driven to shift along a third direction relative to the terminal execution assembly, and then the terminal execution assembly generates a yaw motion and changes its spatial orientation; accordingly, the accuracy and efficiency of the pose adjustment of the terminal execution assembly can be improved while saving space.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to motion control devices for surgical robots that can improve the accuracy and efficiency of pose adjustment of end effector components and save space. Background Technology

[0002] In minimally invasive surgical procedures such as laser enucleation of the prostate, precise manipulation of the end effector, including the endoscope and treatment fiber, is required to guide it along natural cavities into the target area and complete complex scanning and enucleation movements. This places extremely high demands on the multi-degree-of-freedom motion control of the end effector, including its extension, pitch, and yaw.

[0003] In existing technologies, multi-stage linkage mechanisms are commonly used to achieve multi-degree-of-freedom pose adjustment of end effectors. However, there are clearances between the links, and the links themselves undergo elastic deformation under stress, causing transmission errors to accumulate progressively between each stage of the linkage, ultimately reducing the positioning accuracy of the end effector. Furthermore, traditional linkage mechanisms highly couple telescopic, pitch, and yaw movements together. When a single degree of freedom needs to be adjusted, other degrees of freedom often produce unexpected linkages, forcing the operator to perform complex compensation adjustments.

[0004] On the other hand, existing technologies generally adopt a structure in which the motor and transmission mechanism are arranged coaxially or the transmission mechanism is placed at the rear, resulting in an excessively long overall longitudinal dimension of the control device, which occupies valuable surgical space and also causes the center of gravity of the equipment to be biased away from the patient, affecting the stability of movement and increasing the burden of operation. Summary of the Invention

[0005] The purpose of this application is to provide a motion control device for a surgical robot that can improve the accuracy and efficiency of pose adjustment of the end effector and save space. To achieve the above objective, one solution of this application is a motion control device for a surgical robot, comprising a dual-arm linkage assembly and a yaw adjustment assembly for driving the end effector to perform pose adjustment; the end effector is connected to the dual-arm linkage assembly via the yaw adjustment assembly; the dual-arm linkage assembly includes a first robotic arm and a second robotic arm, and through the coordinated movement of the first and second robotic arms, the end effector achieves extension and retraction along a first direction and pitch along a second direction; the yaw adjustment assembly includes a first yaw reference member and a second yaw reference member respectively rotatably connected to the first and second robotic arms; wherein the second yaw reference member is movably connected to the end effector; through the relative movement of the first and second robotic arms, the second yaw reference member is driven to shift relative to the end effector along a third direction, thereby causing the end effector to yaw and change its spatial orientation; the third direction intersects the first and second directions respectively.

[0006] In a preferred embodiment, when the end effector of the first robotic arm extends or retracts relative to the end effector of the second robotic arm along the first direction, the end effector generates a yaw motion with the second yaw reference as a fulcrum; when the end effector of the second robotic arm extends or retracts relative to the end effector of the first robotic arm along the first direction, the end effector generates a yaw motion with the first yaw reference as a fulcrum.

[0007] In a preferred embodiment, the end effector is provided with a yaw rail extending along the third direction, and the second yaw reference member is slidably mounted on the yaw rail; when the second yaw reference member slides relative to the end effector along the yaw rail, it drives the end effector to generate a yaw motion.

[0008] In a preferred embodiment, both the first robotic arm and the second robotic arm include an active arm and a driven arm, the driven arm being used to connect to the end effector assembly; the active arm and the driven arm are connected by a linkage mechanism.

[0009] In a preferred embodiment, the active arm is provided with a first motor and a first gear assembly, and a second motor and a second gear assembly; the first motor drives the linkage mechanism through the first gear assembly, thereby adjusting the angle between the active arm and the driven arm; the second motor can drive the active arm to rotate through the second gear assembly.

[0010] In a preferred embodiment, the end effector includes a sleeve, a lead screw and nut drive mechanism for driving the sleeve to achieve linear motion along its axis, and a square shaft and nut drive mechanism for rotational motion about its axis.

[0011] In a preferred embodiment, the lead screw and nut transmission mechanism includes a lead screw, a lead screw nut, and a third motor. The third motor drives the lead screw to rotate via a first synchronous belt, thereby causing the lead screw nut to move the sleeve.

[0012] In a preferred embodiment, the square shaft and nut mechanism includes a square shaft, a square shaft and nut, and a fourth motor. The fourth motor drives the square shaft to rotate via a second synchronous belt, which in turn causes the square shaft and nut to rotate the sleeve via a third synchronous belt.

[0013] In a preferred embodiment, the cannula is used to house the endoscope and the therapeutic fiber.

[0014] According to the foregoing technical solution, the motion control device of the surgical robot in the above embodiments of this application can improve the positioning and pose adjustment accuracy and efficiency of the end effector component, and significantly save space, thus meeting the high requirements of surgery for accuracy, stability and convenience. Attached Figure Description

[0015] To more clearly illustrate this application, the accompanying drawings will be described and explained below. Obviously, the drawings described below only illustrate certain aspects of some exemplary embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of the motion control device for a surgical robot.

[0017] Figure 2 This is a schematic diagram of the second robotic arm.

[0018] Figure 3 This is a schematic diagram of the yaw motion of the end effector component.

[0019] Figure 4 This is a schematic diagram of the end-effector component.

[0020] Figure 5 It is a split view of the terminal execution component.

[0021] Attached image caption: 1. First robotic arm 10 Dual-arm linkage components 11. Active arm 12 Driven Boom 111 First Electric Motor 1110 First Axis 1111 First Gear 1112 Second Gear 112 Second Motor 1113 Third Gear 1114 The Fourth Gear 1120 Second Axis 113 Pendulum 1130 Third Axis 114 First Active Boom Link 1140 Fourth Axis 115 Second Active Boom Link 1150 Fifth Axis 116 Elbow Connector 1160 Sixth Axis 117 Active arm base 1170 Seventh Axis 118 From the boom base 124 First driven boom connecting rod 2. Second robotic arm 221 Second yaw axis 222 Second Activity Seat 20 Yaw Adjustment Components 21 First yaw reference component 22 Second yaw reference component 23. Oscillating slide rail 30 End Execution Components 31 casing 33 Third Motor 331 lead screw 332 Leadscrew Nut 34 Fourth Motor 341 square shaft 342 Square Shaft Nut 35 Connector 361 First Synchronous Belt 362 Second Synchronous Belt 363 Third Synchronous Belt 37 Activity Platform 40 base Detailed Implementation

[0022] Various exemplary embodiments of this application are described in detail below with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the application or its application or use. This application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be noted that, unless otherwise stated, the relative arrangement of components and steps, numerical expressions, and values ​​set forth in these embodiments should be interpreted as merely exemplary and not as limiting.

[0023] As used in this application, the words “including” or “comprising” or similar terms mean that the element preceding the word covers the element listed after the word, and do not exclude the possibility that it may also cover other elements.

[0024] All terms used in this application (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as being interpreted with idealized or highly formalized meanings, unless explicitly defined herein.

[0025] For components, specific model numbers and other parameters of components not described in detail in this section, the interrelationships between components and control circuits, these may be considered as techniques, methods and devices known to those skilled in the art, but where appropriate, such techniques, methods and devices should be considered part of the specification.

[0026] This application relates to the field of medical robot technology. As an example, it specifically relates to a motion control device for a high-precision, compact robot used in laser enucleation of the prostate. In fact, it is not limited to laser enucleation of the prostate, but is only used as an example for illustration.

[0027] In laser enucleation of the prostate, precise manipulation of the endoscope and treatment fiber is required to guide them along the urethra into the target area and perform complex scanning and enucleation actions. This places extremely high demands on the multi-degree-of-freedom motion control of the end effector 30 of the surgical robot's motion control device, including its extension, pitch, and yaw movements.

[0028] In existing technologies, multi-stage linkage mechanisms are commonly used to achieve multi-degree-of-freedom pose adjustment of the end effector 30. However, there are mating gaps between the links, and the links themselves undergo elastic deformation under stress. These factors cause transmission errors to accumulate between each stage of the linkage, ultimately reducing positioning accuracy. For laser ablation surgery, even a slight deviation in the fiber optic pointing can cause damage to healthy tissue or residual lesions, requiring very high positioning accuracy.

[0029] On the other hand, existing surgical robots generally employ a configuration where the motor and transmission mechanism are arranged coaxially or the transmission mechanism is located at the rear. This design results in an excessively long overall longitudinal dimension of the robot, which not only occupies valuable surgical space but also shifts the center of gravity of the device away from the patient. When the end effector extends, retracts, or pitches, the shifted center of gravity generates a large inertial torque, affecting motion stability and increasing the operator's workload.

[0030] Furthermore, traditional linkage mechanisms highly couple telescopic, pitch, and yaw movements. When a single degree of freedom needs to be adjusted, other degrees of freedom often produce unexpected linkages, forcing the operator to perform complex compensation adjustments. This motion coupling not only increases the complexity and debugging difficulty of the control system but also increases the difficulty of manual auxiliary operation, reducing the clinical practicality of the surgical robot's motion control device.

[0031] To address the aforementioned problems, this application provides a compact and easy-to-operate motion control device for a surgical robot. The following refers to... Figures 1-5 This application describes the structure of the motion control device for the surgical robot. Figure 1 This is a schematic diagram of the overall structure of the motion control device for the surgical robot. Figure 2 This is a schematic diagram of the structure of the second robotic arm 2. Figure 3 This is a schematic diagram of the yaw motion of the end effector 30. Figure 4 This is a schematic diagram of the end-effector 30. Figure 5 It is a split view of the end execution component 30.

[0032] like Figure 1 , Figure 2 As shown, the motion control device for the surgical robot of this application includes a dual-arm linkage assembly 10 and a yaw adjustment assembly 20 for driving the end effector 30 to adjust its position. The end effector 30 is connected to the dual-arm linkage assembly 10 via the yaw adjustment assembly 20. The end effector 30 includes instruments such as an endoscope and a treatment fiber optic cable. By adjusting the position of the end effector 30, the precise positioning and position adjustment of the instruments are achieved.

[0033] In this embodiment, the dual-arm linkage assembly 10 includes a first robotic arm 1 and a second robotic arm 2. Through the coordinated movement of the first robotic arm 1 and the second robotic arm 2, the end effector 30 can perform telescopic movement along the first direction and pitch movement along the second direction.

[0034] Preferably, the first robotic arm 1 and the second robotic arm 2 have the same structure and are arranged side by side in parallel. The ends of these two robotic arms are connected to the yaw adjustment component 20, and the front ends are connected to the base 40. For example, the base 40 is arranged horizontally. The direction parallel to the base 40 and perpendicular to the line connecting the front ends of the two robotic arms is the first direction, i.e., the front-back direction, and the direction perpendicular to the base 40 is the second direction, i.e., the up-down direction.

[0035] As a preferred embodiment, the yaw adjustment assembly 20 includes a first yaw reference member 21 and a second yaw reference member 22, which are rotatably connected to the ends of the first robotic arm 1 and the second robotic arm 2, respectively. Figure 2 As shown, the second yaw reference member 22 is rotatably connected to the second movable seat 222 via a vertically extending second yaw shaft 221. The second movable seat 222 is rotatably connected to the end of the second robotic arm 2 via horizontally extending sixth shaft 1160 and seventh shaft 1170. Thus, the second movable seat 222 can move up and down and pitch under the drive of the second robotic arm 2, and the second yaw reference member 22 can also swing horizontally relative to the second movable seat 222 around the second yaw shaft 221. The connection method between the first yaw reference member 21 and the first robotic arm 1 is the same and will not be repeated.

[0036] The second yaw reference member 22 is movably connected to the end effector 30. The second yaw reference member 22 is movable relative to the end effector 30 along a third direction, which intersects the first direction and the second direction, respectively. Preferably, the third direction is parallel to the line connecting the front end of the first robotic arm 1 and the front end of the second robotic arm 2, that is, perpendicular to both the first direction and the second direction.

[0037] In this embodiment, the end effector 30 is generally an elongated structure extending along a third direction, but it is not limited to this. For ease of explanation, the side closer to the second yaw reference member 22 in the third direction is referred to as the right, and the side closer to the first yaw reference member 21 is referred to as the left. The end effector 30 is provided with a yaw slide rail 23 extending along a third direction, and the second yaw reference member 22 is mounted on the yaw slide rail 23 and slides left and right along the slide rail.

[0038] The first yaw reference member 21 and the end effector component 30 can be fixedly connected, rotatably connected, or slidably connected. All of these are within the protection scope of this application and will be described in detail below.

[0039] When the first yaw reference member 21 is rotatably connected to the end effector 30, the end effector 30 can rotate around the first yaw reference member 21, thereby causing the end effector 30 to yaw up and down, which will be described later.

[0040] When the first yaw reference member 21 is slidably connected to the end effector 30, as a first example, the first yaw reference member 21 can move relative to the end effector 30 in a third direction. At this time, by controlling the displacement difference between the first yaw reference member 21 and the second yaw reference member 22 relative to the end effector 30 in the third direction, the yaw direction and yaw angle of the end effector 30 in the horizontal direction can be controlled.

[0041] As a second example, the first yaw reference member 21 can move up and down relative to the end effector 30 in the second direction. In this case, the direction and angle of the up and down yaw of the end effector 30 are controlled by controlling the displacement difference between the first yaw reference member 21 and the second yaw reference member 22 relative to the end effector 30 in the second direction. At this time, the displacement of the second yaw reference member 22 relative to the end effector 30 in the second direction is actually 0.

[0042] As a third example, combining the first and second examples above, the first yaw reference member 21 can move relative to the end effector 30 in a third direction while also moving up and down relative to the end effector 30 in a second direction. At this time, it can control the yaw direction and yaw angle of the end effector 30 in the horizontal direction, as well as the yaw direction and angle of the end effector 30 in the vertical direction. At this time, the slide rail adapted to the first yaw reference member 21 can be inclined from the upper right to the lower left or from the upper left to the lower right.

[0043] For simplicity, this explanation will only take the fixed connection between the first yaw reference component 21 and the end effector component 30 as an example. When the two are fixedly connected, the yaw direction and yaw angle of the end effector component 30 are essentially controlled by controlling the displacement difference between the first yaw reference component 21 and the second yaw reference component 22 relative to the end effector component 30 in the third direction. However, at this time, the displacement of the first yaw reference component 21 relative to the end effector component 30 is 0. The principle of other connection methods is the same, and will not be repeated here.

[0044] Next, the yaw motion of the end effector 30 will be explained.

[0045] In this embodiment, the relative movement of the first robotic arm 1 and the second robotic arm 2 drives the second yaw reference member 22 to shift relative to the end effector 30 in a third direction, thereby causing the end effector 30 to yaw and change its spatial orientation.

[0046] like Figure 3As shown, for example, when the end effector of the second robotic arm 2 extends forward relative to the end effector of the first robotic arm 1 in a first direction, the second robotic arm 2 pushes the right side of the end effector 30 forward, while the left side of the end effector 30 is relatively further back in the first direction, causing the end effector 30 to produce a yaw motion in the horizontal direction, that is, from Figure 3 The solid line frame position in the image is tilted to the dashed line frame position. This tilting process is centered on the first tilting reference member 21 and revolves around the spatial virtual point P on the left side of the end effector 30. On the other hand, when the end of the second robotic arm 2 retracts relative to the end of the first robotic arm 1 in the first direction, the end effector 30 generates a tilting motion in the horizontal direction that is opposite to the aforementioned.

[0047] As a preferred approach, if the end effector 30 can still rotate around the first yaw reference 21, or if the first yaw reference 21 can move up and down relative to the end effector 30, and the end of the second robotic arm 2 also pitches up and down relative to the end of the first robotic arm 1, then the right side of the end effector 30 will also synchronously move up and down relative to its left side. That is, the end effector 30 will also yaw up and down while yawing horizontally. This increases the pose adjustment space.

[0048] Similarly, when the end effector of the first robotic arm 1 extends forward relative to the end effector of the second robotic arm 2 in the first direction, the first robotic arm 1 pushes the left side of the end effector 30 forward, while the right side of the end effector 30 is relatively further back in the first direction, causing the end effector 30 to produce a horizontal yaw motion (with...). Figure 3 (The yaw direction shown is opposite). This yaw process takes place with the second yaw reference member 22 as the fulcrum and around a spatial virtual point P' (not shown) on the right side of the end effector 30. On the other hand, when the end of the first robotic arm 1 retracts in the first direction relative to the end of the second robotic arm 2, the end effector 30 generates a yaw motion in the horizontal direction that is opposite to the above.

[0049] As a preferred approach, if the end effector 30 can still rotate around the first yaw reference 21, or if the first yaw reference 21 can move up and down relative to the end effector 30, and the end of the first robotic arm 1 also pitches up and down relative to the end of the second robotic arm 2, then the left side of the end effector 30 will also synchronously move up and down relative to its right side. That is, the end effector 30 will also yaw up and down while yawing horizontally. This increases the pose adjustment space.

[0050] Next, the dual-arm linkage component 10 will be explained.

[0051] As mentioned above, as a preferred approach, the first robotic arm 1 and the second robotic arm 2 have the same structure. For simplicity, only the second robotic arm 2 will be used as an example for explanation.

[0052] like Figure 3 As shown, the second robotic arm 2 includes an active arm 11 and a driven arm 12. The end of the driven arm 12 is connected to a second yaw reference member 22 and is connected to an end effector 30 via the second yaw reference member 22. For ease of explanation, the side of the second robotic arm 2 closest to the second movable seat 222 is considered upper, and the opposite side is considered lower. The front end (lower end) of the second robotic arm 2 is connected to the base 40, and the end end (upper end) is connected to the second movable seat 222.

[0053] The drive arm 11 has a drive arm base 117, and the driven arm 12 has a driven arm base 118. As an example, both the drive arm base 117 and the driven arm base 118 are longitudinally elongated plates, but this is not a limitation. An elbow connecting seat 116 is provided between the drive arm base 117 and the driven arm base 118. The upper end of the drive arm base 117 is rotatably connected to the elbow connecting seat 116 via a third shaft 1130. The lower end of the driven arm base 118 is rotatably connected to the elbow connecting seat 116 via a fifth shaft 1150, and the upper end of the driven arm base 118 is rotatably connected to the second movable seat 222 via a sixth shaft 1160, thereby realizing the transmission connection between the second movable seat 222 and the driven arm 12.

[0054] The active arm 11 is also provided with a first active arm link 114 and a second active arm link 115 that are parallel to each other. Preferably, these two are parallel to the active arm base 117. The upper end of the second active arm link 115 is rotatably connected to the elbow connecting seat 116 via a fourth shaft 1140.

[0055] Preferably, the third axis 1130, the fourth axis 1140, and the fifth axis 1150 are parallel to each other and are all horizontally arranged and parallel to the base 40. More preferably, the third axis 1130, the fourth axis 1140, and the fifth axis 1150 are parallel to the first axis 1110, the second axis 1120, the sixth axis 1160, and the seventh axis 1170 and are all horizontally arranged and parallel to the base 40.

[0056] The driven arm 12 is provided with a first driven arm link 124. The lower end of the first driven arm link 124 is rotatably connected to the upper end of the first driving arm link 114. At the same time, the side of the first driven arm link 124 near its lower end and the driving arm base 117 are together sleeved on the third shaft 1130, so that the third shaft 1130 constitutes the fulcrum for the rotation of the first driven arm link 124. Preferably, the first driven arm link 124 is arranged parallel to the driven arm base 118.

[0057] Continue reading Figure 3The second robotic arm 2 also includes a first motor 111, a first gear 1111 drivenly connected to the output shaft of the first motor 111, a second gear 1112 meshing with the first gear 1111, a second motor 112, a third gear 1113 drivenly connected to the output shaft of the second motor 112, and a fourth gear 1114 meshing with the third gear 1113. For example, Figure 3 As shown, the motor and gear are positioned on the lower side of the active arm 11 near the base 40, but this is not the only possible arrangement.

[0058] In addition, the active arm 11 is provided with a swing arm 113. The lower end of the active arm base 117 and the swing arm 113 are together sleeved on the first shaft 1110. However, the first shaft 1110 can only drive the swing arm 113 to rotate synchronously, but cannot drive the active arm base 117 to rotate synchronously.

[0059] The end of the swing arm 113 furthest from the first shaft 1110 is rotatably connected to the lower end of the first active arm connecting rod 114. The first shaft 1110 is connected to the second gear 1112. When the first motor 111 drives the first gear 1111 to rotate, the second gear 1112 synchronously drives the first shaft 1110 to rotate under the drive of the first gear 1111. The first shaft 1110 drives the swing arm 113 to swing up and down. The swing arm 113 then drives the first driven arm connecting rod 124 to rotate around the third shaft 1130 via the first active arm connecting rod 114, so as to adjust the angle between the driven arm 12 and the active arm 11.

[0060] The lower end of the second active arm connecting rod 115 is sleeved on the second shaft 1120, which is then connected to the fourth gear 1114. When the second motor 112 drives the third gear 1113 to move, the fourth gear 1114, driven by the third gear 1113, drives the second shaft 1120 to rotate. The second shaft 1120 then drives the second active arm connecting rod 115 to rotate synchronously, thereby adjusting the angle of the active arm 11 relative to the base 40.

[0061] It can be understood that the two motors independently control two different rotational degrees of freedom. Specifically, the first motor 111 controls the angle between the driven arm 12 and the driving arm 11, while the second motor 112 controls the tilt angle of the driving arm 11 relative to the base 40. The movements of the two motors can be controlled independently or combined to enable the end effector of the second robotic arm 2 to perform forward and backward extension and up and down pitch movements, thereby completing positioning and motion control in space.

[0062] Next, the terminal execution component 30 will be described.

[0063] like Figure 4 , Figure 5As shown, the end effector assembly 30 includes a sleeve 31, a lead screw and nut transmission mechanism for driving the sleeve 31 to achieve linear motion along its axis, and a square shaft and nut transmission mechanism for rotating motion about its axis. Exemplarily, the sleeve 31 is longitudinally elongated, extending in a third direction, i.e., left and right, but is not actually limited to this. In typical applications, the sleeve 31 is used to accommodate endoscopes and therapeutic optical fibers, enabling the housed endoscopes to rotate and translate synchronously.

[0064] Specifically, the lead screw and nut transmission mechanism includes a lead screw 331 extending along the longitudinal direction of the end transmission assembly 30, a lead screw nut 332 sleeved on the lead screw 331, and a third motor 33. For example, the lead screw nut 332 is disposed within the sleeve connecting seat 35 and can move synchronously with the sleeve connecting seat 35 along the longitudinal direction of the end transmission assembly 30. The third motor 33 drives the lead screw 331 to rotate via a first synchronous belt 361, thereby causing the lead screw nut 332 to drive the sleeve 31 to move left and right via the sleeve connecting seat 35.

[0065] The square shaft and nut mechanism includes a square shaft 341, a square shaft nut 342, and a fourth motor 34 extending along the longitudinal direction of the end transmission assembly 30. Exemplarily, the square shaft nut 342 is disposed within the sleeve connecting seat 35 and can synchronously translate with the sleeve connecting seat 35 along the longitudinal direction of the end transmission assembly 30, and drives the sleeve 31 to rotate around its axis via a third synchronous belt 363. The fourth motor 34 drives the square shaft 341 to rotate via a second synchronous belt 362, which in turn drives the square shaft nut 342 to rotate, and then drives the sleeve 31 to rotate via the third synchronous belt 363. It is understood that the cross-sections of the square shaft 341 and the square shaft nut 342 are not limited to square; any non-circular cross-section is acceptable.

[0066] The illustrated movable platform 37 is a shell with openings on both sides. In the assembled state, most of the end effector 30 is located inside the movable platform 37. For example, the lead screw and nut transmission mechanism and the square shaft nut transmission mechanism are located inside the movable platform 37. The sleeve 31 and the actuator it contains extend from one side of the movable platform 37 to facilitate surgical operations.

[0067] Next, the technical effects of this application will be explained.

[0068] As mentioned earlier, traditional multi-stage linkage mechanisms are prone to accumulating transmission errors due to clearances and elastic deformation. This application employs a structure where the dual-arm linkage assembly 10 is independently driven and cooperates with the yaw adjustment assembly 20, decomposing the telescopic, pitch, and yaw movements into multiple controllable degrees of freedom, reducing the chain transmission of errors. The relative motion between the first robotic arm 1 and the second robotic arm 2 enables more direct and precise yaw direction adjustment of the end effector 30, further improving the positioning accuracy of instruments such as endoscopes and therapeutic fibers, and meeting the high precision requirements of surgeries such as laser prostatectomy.

[0069] Meanwhile, in traditional mechanisms, the extension, pitch, and yaw movements are highly coupled, and adjusting one degree of freedom often triggers the linkage of other degrees of freedom. This application achieves coordinated control of forward and backward extension and up and down pitch movements through the dual-arm linkage component 10, and independently controls the yaw direction in a third direction (e.g., the horizontal direction) using the yaw adjustment component 20. Each of the two robotic arms is equipped with an independent motor, which adjusts the angle between the driven arm 12 and the active arm 11, and the angle between the active arm 11 and the base 40, respectively. The motion control does not interfere with each other, significantly reducing the complexity and debugging difficulty of the control system and improving the convenience of clinical operation. Furthermore, the cannula 31 can simultaneously accommodate an endoscope and a treatment fiber optic cable; this modular design facilitates expansion to other surgical scenarios requiring multi-degree-of-freedom precision operations.

[0070] Furthermore, this application avoids the problem of excessively long longitudinal dimensions caused by traditional coaxial arrangements or rear-mounted configurations, shortening the overall length of the motion control device of the surgical robot. The cannula 31, which accommodates endoscopes and therapeutic optical fibers, is offset to the side of the end effector assembly 30, forming a side-exit layout, freeing up more operating space and facilitating intraoperative operations for the surgeon. The first robotic arm 1 and the second robotic arm 2 are arranged side-by-side in parallel, achieving left-right weight balance and improving the stability and safety of the overall movement.

[0071] Specifically, the motion control device for the surgical robot provided in this solution adopts a side-mounted "flat-end support" layout. The end effector 30 is located on one side of the dual-arm linkage assembly 10 and is supported and driven from the side by the lateral adjustment assembly 20. Unlike the traditional layout that suspends the instruments under the robotic arms, this solution eliminates the need for additional swing or clearance space below the instruments, significantly reducing the space occupied above and to the sides of the surgical area. This is particularly suitable for surgical scenarios such as transurethral laser enucleation of the prostate, where extensive posture adjustments need to be performed within a narrow body cavity.

[0072] In suspended structures, the pitch and yaw movements of the end effector 30 typically rely on its own weight and passive compliance with hinges, with the robotic arm only providing translational drive. While this approach achieves motion decoupling in a suspended state, when the actuator needs to be changed to a flat-end support, the original passive degrees of freedom become ineffectively constrained due to the change in the direction of gravity, easily leading to unintended swaying and loss of attitude control. To address this issue, this solution introduces an actively controllable yaw reference component and a sliding guide structure into the yaw adjustment component 20, transforming the attitude constraint, originally maintained by gravity, into motion actively limited by the mechanical structure.

[0073] Specifically, when the first robotic arm 1 and the second robotic arm 2 move relative to each other, the second yaw reference member 22 slides upward along the yaw slide rail 23, thereby driving the end effector 30 to produce a horizontal yaw. This yaw motion is actively controlled by the dual-arm linkage assembly 10, and does not depend on the weight of the end effector 30 or any passive compliant element, ensuring the determinism and repeatability of attitude adjustment in the flat-end state.

[0074] Furthermore, this solution decouples pitch and yaw motions at the drive level. Pitch motion is achieved by the synchronous movement of the first robotic arm 1 and the second robotic arm 2 in the second direction, while yaw motion is independently controlled by the relative movement of the two in the first direction. This control strategy of synchronously driving pitch and differentially driving yaw avoids the control difficulties and path interference caused by the coupling of pitch and yaw motions in traditional structures, while ensuring that the end effector 30 maintains stable support stiffness in any posture.

[0075] Compared to a suspended structure, the side-mounted, flat-end layout of this design offers superior mechanical balance. The center of gravity of the end effector 30 is located within the support plane of the dual-arm linkage assembly 10, rather than suspended below it. Therefore, no additional overturning moment is generated during rapid pitching or yaw, reducing the static load and dynamic vibration of the robotic arm and improving trajectory tracking accuracy in high-frequency reciprocating operations (such as laser scanning).

[0076] Furthermore, since there is no suspension structure beneath the end effector 30, it is easier to place auxiliary instruments or drainage devices on the patient's side during surgery, improving the compatibility of the surgical robot with the clinical environment. Medical staff do not need to avoid protruding components beneath the robot when adjusting the patient's position, thus reducing the risk of intraoperative interference.

[0077] In summary, this embodiment successfully solves the technical challenge of effectively realizing degrees of freedom in the flat-end state by setting the end effector 30 to a side-mounted, flat-end support type and introducing an active sliding and constraint structure into the yaw adjustment component 20. Simultaneously, it achieves better space utilization, mechanical stability, and ease of clinical operation. This structural innovation is not simply a change in installation direction, but rather a systematic reconstruction of the driving and constraint methods, centered on the goal of "flexibly realizing multi-degree-of-freedom motion capabilities while saving space below."

[0078] It should be understood that the specific embodiments described above are only used to explain this application, and the scope of protection of this application is not limited thereto. Any changes, substitutions, or combinations made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and inventive concept of this application, should be covered within the scope of protection of this application.

Claims

1. A motion control device for a surgical robot, characterized in that: It includes a dual-arm linkage component and a yaw adjustment component for driving the end effector component to adjust its pose; The end effector is connected to the dual-arm linkage assembly via the yaw adjustment assembly; The dual-arm linkage assembly includes a first robotic arm and a second robotic arm. Through the coordinated movement of the first robotic arm and the second robotic arm, the end effector assembly can perform telescopic movement along a first direction and pitch movement along a second direction. The yaw adjustment assembly includes a first yaw reference member and a second yaw reference member rotatably connected to the first robotic arm and the second robotic arm, respectively; wherein the second yaw reference member is movably connected to the end effector assembly; The relative movement of the first and second robotic arms drives the second yaw reference member to shift relative to the end effector component in a third direction, thereby causing the end effector component to yaw and change its spatial orientation. The third direction intersects with the first direction and the second direction, respectively.

2. The motion control device for the surgical robot according to claim 1, characterized in that: When the end of the first robotic arm extends or retracts relative to the end of the second robotic arm in the first direction, the end effector assembly generates a yaw motion with the second yaw reference member as the fulcrum. When the end of the second robotic arm extends or retracts relative to the end of the first robotic arm along the first direction, the end effector assembly generates a yaw motion with the first yaw reference member as the fulcrum.

3. The motion control device for the surgical robot according to claim 2, characterized in that: The end effector is provided with a yaw rail extending along the third direction, and the second yaw reference member is slidably mounted on the yaw rail; When the second yaw reference member slides relative to the end effector assembly along the yaw rail, it drives the end effector assembly to generate yaw motion.

4. The motion control device for the surgical robot according to claim 2, characterized in that: The first robotic arm and the second robotic arm each include an active arm and a driven arm, the driven arm being used to connect to the end effector assembly; The driving arm and the driven arm are connected by a linkage mechanism.

5. The motion control device for the surgical robot according to claim 4, characterized in that: The active arm is equipped with a first motor and a first gear assembly, as well as a second motor and a second gear assembly; The first motor drives the linkage mechanism through the first gear assembly, thereby adjusting the angle between the driving arm and the driven arm; The second motor can drive the drive arm to rotate via the second gear assembly.

6. The motion control device for the surgical robot according to claim 1, characterized in that: The end effector assembly includes a sleeve, a lead screw and nut drive mechanism for driving the sleeve to achieve linear motion along its axis, and a square shaft and nut drive mechanism for rotating motion about its axis.

7. The motion control device for the surgical robot according to claim 6, characterized in that: The lead screw and nut transmission mechanism includes a lead screw, a lead screw nut, and a third motor. The third motor drives the lead screw to rotate via a first synchronous belt, thereby causing the lead screw nut to move the sleeve.

8. The motion control device for the surgical robot according to claim 7, characterized in that: The square shaft and nut mechanism includes a square shaft, a square shaft and nut, and a fourth motor. The fourth motor drives the square shaft to rotate via a second synchronous belt, which in turn causes the square shaft and nut to rotate the sleeve via a third synchronous belt.

9. The motion control device for the surgical robot according to claim 8, characterized in that: The cannula is used to house the endoscope and the treatment fiber optic cable.

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