Microsurgery robot power mechanism

Abstract

The utility model discloses a microsurgery robot power mechanism and a setting method for instrument origin initialization thereof, the power mechanism comprises a plurality of driving motors, a plurality of motor turntables, a middle turntable and a connecting turntable, output shafts of the driving motors are connected with the motor turntables, and the motor turntables are connected with the connecting turntable through the middle turntable. The connecting rotary disc is provided with a limiting protruding part, the limiting protruding part is matched with the physical limiting part on the limiting supporting frame, and when the connecting rotary disc rotates to a preset angle, the connecting rotary disc makes contact with the limiting protruding part to prevent rotation. The power mechanism is further provided with a joint judgment mechanism used for judging the joint state of the connecting rotary disc and the motor rotary disc or the middle rotary disc. The utility model has the beneficial effects that the problem of misjudgment caused by tiny force value in a microsurgical instrument in the traditional method is avoided. And the reliability and the operation precision of the system are improved, and the system is suitable for microsurgery environments with extremely high precision requirements.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of medical apparatus and instruments, and particularly relates to a microsurgery robot power mechanism. BACKGROUND

[0002] In the field of microsurgery instruments, the precision requirement of operation is extremely high due to the small size of the instruments. Under such circumstances, the traditional technical solutions for judging the mechanical engagement state by torque, current and speed face significant challenges. Specifically, these traditional methods require extremely high selection of judgment thresholds, and if the thresholds are not set properly, misjudgment may occur. This is particularly prominent in the microsurgery scene, because the size of the instrument is extremely small, and the force value required for its rotation is very small, making it almost impossible to achieve accurate initial position judgment using traditional torque or current detection methods. This challenge greatly limits the application of robot technology in the microsurgery field.

[0003] In the prior art, CN106102641A and CN107660139A propose to judge whether the instrument or sterile adapter reaches the physical limit by recognizing the motor torque, so as to judge whether the instrument or sterile adapter is engaged with the motor. Although this solution is effective in some scenarios, it still has significant limitations in microsurgery instruments due to the limitations of instrument size and operating force value.

[0004] Further, CN113164211A attempts to judge whether the instrument is physically constrained by recognizing the motor torque, current, speed or their combination, so as to judge the engagement state between the instrument and the motor. Although this method expands the detection dimension, it still may face misjudgment problems caused by improper threshold selection in the field of microsurgery instruments due to the small force value of the instrument.

[0005] In addition, CN114929150A proposes a method that does not rely on physical constraints, which recognizes the motor current and speed to judge the engagement state between the instrument and the motor by controlling the instrument to resist each other through multiple motors, and judges the position of the instrument by the angle of motor rotation. This solution attempts to avoid the shortcomings of traditional methods, but its complexity and requirement for system precision still pose challenges in practical applications.

[0006] In summary, although some solutions have been proposed in the prior art to solve the problem of mechanical engagement judgment, in the field of microsurgery instruments, due to the small size of the instrument and the limitation of operating force value, these solutions still have significant shortcomings. The development of microsurgery robots urgently needs an innovative technology that can accurately recognize the engagement state of the instrument without relying on traditional torque or current judgment methods. SUMMARY

[0007] The utility model discloses a microsurgery robot power mechanism that can accurately identify the instrument engagement state.

[0008] The utility model is realized through the following technical schemes:

[0009] The utility model discloses a microsurgery robot power mechanism, including drive motor, motor turntable, intermediate turntable and connecting turntable, the drive motor is provided with several, the output shaft of several drive motor is connected with a motor turntable respectively, the motor turnplate is connected with the connecting turnplate through the intermediate turnplate or is connected with the connecting turnplate directly,

[0010] Several connecting turnplates are arranged in the limiting support frame, the periphery of connecting turnplate is provided with the limiting convex part, and the limiting support frame is provided with physical limit, when connecting turnplate rotates to a certain angle, and the limiting convex part is contacted, and the rotation of connecting turnplate is prevented.

[0011] Several connecting turnplates are connected with driven part respectively, and the type of driven part includes instrument and sterile adapter.

[0012] The power mechanism is provided with engagement judging mechanism, and the engagement state of connecting turnplate and motor turnplate or intermediate turnplate is judged

[0013] Further, the output shaft of the drive motor is provided with an encoder, and the encoder is an absolute motor encoder.

[0014] Further, the connecting turnplate is a disc-shaped member, one end of which is provided with a plurality of circumferentially arranged tooth-shaped protrusions, and the other end is connected with the driven part; the intermediate turnplate is a cylindrical member, both ends of which are provided with a plurality of circumferentially arranged tooth-shaped protrusions, and both ends are connected with the connecting turnplate and the motor turnplate respectively; the motor turnplate is a rod-shaped member, one end of which is provided with a plurality of circumferentially arranged tooth-shaped protrusions, and the other end is connected with the drive motor; the tooth-shaped protrusions on the motor turnplate, the intermediate turnplate and the connecting turnplate are provided with rounded or chamfered transitions.

[0015] Further, the bodies of the plurality of drive motors are fixedly connected to the motor support frame at the same time; the motor turnplate, the intermediate turnplate and the connecting turnplate are located between the limiting support frame and the motor support frame; the limiting support frame and the motor support frame are provided with a guide support frame, and the relative position of the guide support frame and the motor support frame is fixed.

[0016] The limiting support frame has a tendency to continuously move towards the motor support frame under external force; the engagement judging mechanism is arranged between the limiting support frame and the motor support frame, and when the connecting turntable and the motor turntable or the intermediate turntable are engaged, the limiting support frame drives the engagement judging mechanism to move, and the engagement judging mechanism sends a signal, and otherwise no signal is sent.

[0017] Further, a plurality of turntable grooves matched with the connecting turntable are arranged on the limiting support frame; the turntable grooves are circular blind grooves, and a through hole is arranged at the center of the blind groove for connecting the driven part, and the plurality of turntable grooves are interconnected or independent of each other.

[0018] An arc-shaped limiting groove matched with the limiting protruding part is arranged on the outer side of the turntable groove, and the limiting protruding part is inserted into the arc-shaped limiting groove; the arc-shaped limiting groove is communicated with the turntable groove, and the inner diameter thereof is equal to the outer diameter of the turntable groove, and the outer edge profile is arc-shaped.

[0019] Further, the engagement judging mechanism comprises a pressing rod, a return spring and a position sensor; one end of the pressing rod is always attached to the limiting support frame under the action of the return spring, and the other end is matched with the position sensor through the guide support frame; when the connecting turntable and the motor turntable or the intermediate turntable are engaged, the position sensor is triggered, and otherwise it is not triggered; one end of the return spring is fixed on the position sensor, and the other end is attached to the shaft shoulder of the pressing rod; the position sensor is an optical sensor or a Hall sensor or a contact sensor (such as a micro switch).

[0020] The structural design of the power mechanism of the microsurgery robot takes the driving motor as the core, the driving motor is connected with the motor turntable through the output shaft, and the motor turntable is matched with the connecting turntable through the intermediate turntable or directly. This multi-level connection mode makes the power transmission more flexible and accurate, and meets the needs of microsurgery robots in surgical operation for small displacement and multi-degree-of-freedom control. The multiple configuration of the driving motor can realize multi-direction and multi-dimensional motion control to meet the complex operation requirements of microsurgery.

[0021] The design of the limiting support frame plays a key role in this technical solution, especially through the cooperation of the limiting protruding part and the physical limiting, which effectively prevents the connecting turntable from continuing to rotate after reaching a certain angle. This physical limiting mechanism not only protects the safety of the driving motor and the transmission mechanism, but also ensures that the robot will not misoperate due to excessive rotation during the operation. In addition, through the reasonable design of the limiting support frame, the entire power mechanism can ensure accuracy while reducing the wear of moving parts, improving the stability and life of the system.

[0022] The setting of the engagement judging mechanism further enhances the intelligent level of the power mechanism. The engagement judging mechanism can accurately judge the engagement state of the connecting turntable and the motor turntable or the intermediate turntable, which is crucial for ensuring the reliability of power transmission. Through the signals sent by the engagement judging mechanism, the control system can monitor the engagement state in real time, ensuring that each action is performed in a controlled state, thereby improving the safety and accuracy of the system.

[0023] An absolute motor encoder is installed on the output shaft of the driving motor, which ensures that the system can maintain accurate position information even after the motor is powered off or subjected to external interference. The application of such an encoder enables the power mechanism to have higher precision and reliability, which helps to improve the performance of the microscopic surgery robot in actual operation.

[0024] The beneficial effects of the utility model lie in:

[0025] The original point initialization precision is improved: by setting the physical limit as the original point of the instrument, the misjudgment problem that may occur in the traditional torque, current or speed detection method in the microscopic surgery instrument is effectively avoided. Since the size of the microscopic surgery instrument is small, the traditional method is difficult to accurately identify the initial position, and the physical limit provides a stable and repeatable reference point, thereby significantly improving the accuracy and reliability of the original point initialization.

[0026] The instrument engagement state is verified: the engagement judging mechanism can accurately judge the engagement state between the connecting turntable and the motor turntable after the instrument is assembled. The mechanism monitors the engagement state to ensure correct installation of the instrument, thereby reducing operation errors caused by poor engagement and providing a reliable guarantee for subsequent operation of the system.

[0027] Adapt to high-precision surgery requirements: effectively solve the precision problem in the microscopic surgery instrument due to small size and small operation force value, improve the application performance of the system in high-precision surgery environment, ensure the accuracy and stability during surgery, and be suitable for microscopic surgery operation with extremely high precision requirements.

[0028] In summary, the utility model optimizes the design of the power mechanism of the microscopic surgery robot, improves the accuracy and reliability of the system, improves the control accuracy of the instrument, and significantly improves the safety and effectiveness of the microscopic surgery process. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 The utility model discloses a three-dimensional structure schematic diagram;

[0030] Figure 2 Another three-dimensional structure schematic diagram of the utility model;

[0031] Figure 3: A three-dimensional structural cross-sectional view of this utility model;

[0032] Figure 4 Another three-dimensional structural cross-sectional view of this utility model;

[0033] Figure 5 : A bottom view of the limiting support frame of this utility model;

[0034] Figure 6 : A three-dimensional structural diagram of the connecting turntable of this utility model;

[0035] Figure 7 : A bottom view of the connecting turntable of this utility model;

[0036] Figure 8 : A three-dimensional structural diagram of the motor support frame and engagement judgment mechanism of this utility model;

[0037] Figure 9 : A three-dimensional structural diagram of the motor turntable, intermediate turntable and connecting turntable of this utility model;

[0038] Figure 10 : A schematic diagram of the state of the engagement judgment mechanism of this utility model when it is triggered;

[0039] Figure 11 This utility model is illustrated in the diagram showing the state of the connecting turntable when it reaches its physical limit.

[0040] Figure 12 This utility model presents another state diagram when the connecting turntable reaches its physical limit.

[0041] Figure 13 : Schematic diagram of another arrangement of the arc-shaped limiting groove of this utility model;

[0042] In the diagram: 1-Drive motor, 2-Motor turntable, 3-Intermediate turntable, 4-Connecting turntable, 5-Limit support frame, 6-Guide support frame, 7-Motor support frame, 8-Joining judgment mechanism, 41-Limit protrusion, 51-Turntable groove, 52-Arc-shaped limit groove, 81-Pressure rod, 82-Reset spring, 83-Position sensor. Detailed Implementation

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0044] Example: Figures 1-13 As shown, a power mechanism for a microsurgical robot includes a drive motor 1, a motor turntable 2, an intermediate turntable 3, and a connecting turntable 4. Several drive motors 1 are provided. The output shafts of several drive motors 1 are respectively fitted and connected to a motor turntable 2. The motor turntable 2 is fitted and connected to the connecting turntable 4 through the intermediate turntable 3, or directly fitted and connected to the connecting turntable 4.

[0045] Several of the connecting turntable 4 is arranged in the limiting support frame 5, the circumferential surface of the connecting turntable 4 is provided with a limiting protruding part 41, and the limiting support frame 5 is provided with a physical limit, which is in contact with the limiting protruding part 41 when the connecting turntable 4 is rotated to a certain angle, thereby preventing the rotation of the connecting turntable 4;

[0046] Several of the connecting turntable 4 is arranged in the limiting support frame 5, the circumferential surface of the connecting turntable 4 is provided with a limiting protruding part 41, and the limiting support frame 5 is provided with a physical limit, which is in contact with the limiting protruding part 41 when the connecting turntable 4 is rotated to a certain angle, thereby preventing the rotation of the connecting turntable 4;

[0047] The power mechanism is provided with an engagement judging mechanism 8 for judging the engagement state of the connecting turntable 4 with the motor turntable 2 or the intermediate turntable 3

[0048] Further, the output shaft of the driving motor 1 is provided with an encoder, which is an absolute motor encoder.

[0049] Further, the connecting turntable 4 is a disc-shaped member, one end of which is provided with a plurality of circumferentially arrayed tooth-shaped protrusions, and the other end is connected with the driven member; the intermediate turntable 3 is a cylindrical member, both ends of which are provided with a plurality of circumferentially arrayed tooth-shaped protrusions, and both ends are connected with the connecting turntable 4 and the motor turntable 2 respectively; the motor turntable 2 is a rod-shaped member, one end of which is provided with a plurality of circumferentially arrayed tooth-shaped protrusions, and the other end is connected with the driving motor 1; the tooth-shaped protrusions on the motor turntable 2, the intermediate turntable 3 and the connecting turntable 4 are provided with rounded or chamfered transitions at the tips.

[0050] Further, the bodies of a plurality of the driving motor 1 are simultaneously fixedly connected on the motor support frame 7; the motor turntable 2, the intermediate turntable 3 and the connecting turntable 4 are located at positions between the limiting support frame 5 and the motor support frame 7; the limiting support frame 5 and the motor support frame 7 are provided with a guide support frame 6, the relative position of which with the motor support frame 7 is fixed;

[0051] The limiting support frame 5 is provided with a tendency to continuously move towards the motor support frame 7 by external force; the engagement judging mechanism 8 is arranged between the limiting support frame 5 and the motor support frame 7, and when the connecting turntable 4 is engaged with the motor turntable 2 or the intermediate turntable 3, the limiting support frame 5 drives the engagement judging mechanism 8 to move, and the engagement judging mechanism 8 sends a signal, and vice versa.

[0052] Further, the limiting support frame 5 is provided with a plurality of turntable grooves 51 connected with the connecting turntable 4; the turntable groove 51 is a circular blind groove, and a through hole is arranged at the center of the blind groove for connecting the driven member, and a plurality of the turntable grooves 51 are interconnected or independent of each other;

[0053] The outer side of the rotating disc groove 51 is provided with an arc-shaped limiting groove 52 matched with the limiting protrusion 41, and the limiting protrusion 41 is inserted into the arc-shaped limiting groove 52; the arc-shaped limiting groove 52 is communicated with the rotating disc groove 51, and the inner diameter thereof is equal to the outer diameter of the rotating disc groove 51, and the outer edge profile is arc-shaped.

[0054] Further, the joint determination mechanism 8 includes a pressing rod 81, a return spring 82 and a position sensor 83; one end of the pressing rod 81 is always attached to the limiting support frame 5 under the action of the return spring 82, and the other end passes through the guide support frame 6 and is connected with the position sensor 83, when the connecting disc 4 is connected with the motor disc 2 or the intermediate disc 3, the position sensor 83 is triggered, otherwise it is not triggered; one end of the return spring 82 is fixed on the position sensor 83, and the other end is attached to the shaft shoulder of the pressing rod 81; the position sensor 83 is an optical sensor or a Hall sensor, or a contact sensor (such as a micro switch).

[0055] The structural design of the microsurgery robot power mechanism takes the driving motor 1 as the core, the driving motor 1 is connected with the motor disc 2 through the output shaft, and the motor disc 2 is connected with the connecting disc 4 through the intermediate disc 3 or directly. This multi-level connection mode makes the power transmission more flexible and accurate, and meets the needs of microsurgery robots in surgical operation for small displacement and multi-degree-of-freedom control. The multiple configuration of the driving motor can realize multi-direction and multi-dimensional motion control to meet the complex operation requirements of microsurgery.

[0056] The design of the limiting support frame 5 plays a key role in this technical solution, especially through the cooperation of the limiting protrusion 41 and the physical limiting, which effectively prevents the connecting disc 4 from continuing to rotate after reaching a certain angle. This physical limiting mechanism not only protects the safety of the driving motor 1 and the transmission mechanism, but also ensures that the robot will not misoperate due to excessive rotation during the operation. In addition, through the reasonable design of the limiting support frame 5, the entire power mechanism can ensure accuracy while reducing the wear of moving parts and improving the stability and life of the system.

[0057] The setting of the joint determination mechanism 8 further enhances the intelligent level of the power mechanism. The joint determination mechanism 8 can accurately determine the joint state of the connecting disc 4 and the motor disc 2 or the intermediate disc 3, which is crucial to ensure the reliability of power transmission. Through the signals sent by the joint determination mechanism 8, the control system can monitor the joint state in real time to ensure that every action is performed in a controlled state, thereby improving the safety and accuracy of the system.

[0058] The output shaft of the driving motor 1 is equipped with an absolute motor encoder, which ensures that the system can maintain accurate position information even after the motor is powered off or subjected to external interference. The application of such an encoder enables the power mechanism to have higher precision and reliability, which helps to improve the performance of the microscopic surgical robot in actual operation.

[0059] When setting the origin initialization using the above-mentioned power mechanism, the following steps are included:

[0060] The driven part is assembled with the connecting turntable 4 and the motor turntable 2 or the intermediate turntable 3;

[0061] When the control system recognizes the assembly action of the driven part, the connecting turntable 4 and the motor turntable 2 or the intermediate turntable 3 are in contact with each other but not fully engaged at this time;

[0062] Then the control system operates the driving motor 1 to rotate until the connecting turntable 4 and the motor turntable 2 or the intermediate turntable 3 are engaged with each other under the action of external force;

[0063] When the control system recognizes that the connecting turntable 4 and the motor turntable 2 or the intermediate turntable 3 are engaged, it continues to operate the driving motor 1 to rotate until the connecting turntable 4 rotates to the pre-set physical limit on the limiting support frame 5 and is blocked;

[0064] The control system reads the encoder output in real time, and when the position signal of the encoder output remains unchanged, the control system determines that the driving motor 1 shaft is limited, i.e. recognizes that the connecting turntable 4 rotates to the pre-set physical limit and is blocked;

[0065] The absolute position encoding at this time is stored as the origin in the control system, completing the origin initialization setting.

[0066] Further, the control system recognizes the assembly action of the driven part through a sensor, which is in communication connection with the control system.

[0067] Further, the control system recognizes that the connecting turntable 4 and the motor turntable 2 or the intermediate turntable 3 are engaged through the engagement judgment mechanism 8 in communication connection with the control system.

[0068] Among them: "the system can recognize the assembly action of the driven part through the sensor" process involves the integration and application of sensor technology and robot control system. The core of this process is to monitor the assembly state of the driven part (such as surgical instruments or other auxiliary equipment) and the robot power mechanism in real time through the sensor, to ensure that the system can accurately understand and confirm the connection of each component before performing the operation.

[0069] The sensors are usually installed at key positions of the power mechanism, such as the periphery of the connecting turntable 4 or the assembly area of the driven member. The types of sensors can be photoelectric sensors, magnetic sensors, pressure sensors, or proximity sensors, etc., and the specific selection depends on the design requirements and operating environment of the system.

[0070] These sensors are responsible for detecting the presence and position of the driven member. When the driven member begins to approach and attempts to assemble with the connecting turntable 4, or through the intermediate turntable 3 with the motor turntable 2, the sensors can detect the occurrence of these actions.

[0071] As the driven member gradually approaches the assembly position of the power mechanism, the sensors will capture their corresponding signals, such as changes in distance, pressure, or contact signals. Taking the photoelectric sensor as an example, when the driven member enters the detection range of the sensor, the photoelectric sensor will generate a signal based on the interruption or reflection of the light beam and transmit it to the control system.

[0072] After this signal is transmitted to the control system, the system will recognize and record the approach and position change of the driven member. The control system compares the real-time detection data with the preset assembly position information to determine whether the driven member is correctly positioned.

[0073] After receiving the sensor signal, the control system processes the data. If it detects that the driven member has reached the specified position and meets the assembly conditions, the system will issue a confirmation signal. At this time, the system can further operate the drive motor 1 to engage the connecting turntable 4 with the motor turntable 2 or the intermediate turntable 3, completing the assembly.

[0074] If the sensor does not detect that the driven member is correctly positioned or the assembly action is abnormal, the system will issue a warning signal or pause subsequent operations to ensure the safety and accuracy of the assembly process.

[0075] This sensor-identified assembly action process not only improves the automation level of the system but also greatly reduces the risks that may be caused by human operational errors. In a microsurgery robot, precise assembly recognition is crucial, and the implementation of this technical solution ensures the correct assembly of surgical instruments, thereby laying the foundation for subsequent high-precision surgical operations.

[0076] The instrument origin initialization setting method is an important function in the microsurgery robot system, which can ensure that the robot can be accurately positioned before each operation, achieving high-precision surgical operations. This method first assembles the driven member with the motor turntable 2 or the intermediate turntable 3 through the connecting turntable 4. At this stage, the system can identify the assembly action of the driven member through the sensor to ensure the smooth progress of the assembly process.

[0077] In the process of engagement, the driving motor 1 starts to rotate, and the connecting turntable 4 is gradually engaged with the motor turntable 2 or the intermediate turntable 3 under the action of external force. At this time, the engagement judgment mechanism 8 plays a key role, which can accurately identify the engagement state and transmit the information to the control system, so that the system can monitor the whole engagement process in real time.

[0078] When the connecting turntable 4 rotates to the physical limit position and is blocked, the control system can determine whether the current rotating shaft position is affected by the limit by reading the output of the encoder in real time, and the control system will monitor the current data of the motor as an auxiliary parameter; when the position signal of the encoder output remains unchanged, it indicates that the rotating shaft of the driving motor 1 has been limited, and the system can store the absolute position code at this time as the origin, so as to complete the setting of the origin initialization.

[0079] The origin set by this method can effectively avoid the operation error caused by the deviation of the origin during the operation. The setting method simplifies the initialization operation process while ensuring the accuracy, improves the use convenience and operation safety of the system.

[0080] In the power mechanism of the microsurgery robot, the origin initialization is closely related to the setting of the physical limit, and this correlation not only ensures the accuracy of the system positioning, but also lays the foundation for the reliability of the robot operation. The following is a detailed discussion on the physical limit as the origin and the relationship between the arc length of the arc-shaped limit groove 52 and the corresponding instrument stroke:

[0081] The physical limit is to limit the maximum or minimum movement range of the moving part (connecting turntable 4) by mechanical means. In the utility model, the physical limit is arranged on the limit support frame 5, and when the connecting turntable 4 rotates to the preset physical limit position, the limit protruding part 41 of the turntable will contact one end of the arc-shaped limit groove 52 and be forced to stop further rotation. This limited state indicates that the connecting turntable 4 has reached the limit position of its movement range.

[0082] The origin initialization is to set a known and repeatedly accessible physical position as the zero point or reference point when the system starts or resets. For the microsurgery robot, accurate origin setting is particularly important, because the origin defines the starting reference position of the robot operation, and all subsequent operations will be based on this position.

[0083] Therefore, it is reasonable to set the physical limit position as the origin, as the physical limit position is fixed by the mechanical structure and is not affected by external factors such as electromagnetic interference, environmental changes, etc. Therefore, when the connecting turntable 4 rotates to the physical limit position and stops, its position is determined and stable. The control system can read the signal of the encoder to determine the position information at this time and record it as the initial position (origin) of the system. This method ensures the consistency of the origin position after each initialization, so that the system can maintain high-precision positioning in subsequent operations.

[0084] In addition, the arc-shaped limit slot 52 is a key structure designed on the limit support frame 5, which cooperates with the limit protruding part 41 on the connecting turntable 4 to limit the rotation range of the turntable. The arc length of the arc-shaped limit slot 52 directly determines the rotatable angle of the connecting turntable 4, thereby limiting the movement range of the driven member.

[0085] In a microsurgery robot, different surgical instruments may require different movement ranges to meet various fine operation requirements. The arc length of the arc-shaped limit slot 52 represents the maximum rotation angle of the connecting turntable 4, which corresponds to the movement range of the instrument. For example, the longer the arc length, the greater the rotation angle of the connecting turntable 4, and the larger the corresponding instrument movement range; conversely, the shorter the arc length, the smaller the instrument movement range.

[0086] By adjusting the arc length of the arc-shaped limit slot 52, the system can set different movement ranges for different types of instruments. This design flexibility allows the microsurgery robot to adapt to various surgical scenarios without having to redesign the entire power mechanism. At the same time, the physical limit of the arc-shaped limit slot 52 ensures that the instrument does not exceed the predetermined range, thereby preventing misoperation or mechanical damage caused by over-travel movement. In addition, in actual operation, the maximum movement range of the instrument is controlled by the control system, and the maximum movement range controlled by the control system is lower than the maximum movement range of the physical limit, i.e. the connecting turntable 4 will not rotate to the physical limit at the other end of the arc-shaped limit slot 52, reducing the physical wear or stress accumulation of the corresponding structure.

[0087] Regarding the control system, the control system plays a core role in the power mechanism of the microsurgery robot, which is responsible for coordinating the cooperation of sensors, actuators and feedback mechanisms to ensure the accuracy and reliability of surgical operations. The composition of the system usually includes hardware and software as two main parts.

[0088] In the hardware part, the control system usually contains a central processing unit (CPU), memory, input / output interfaces, power management modules, communication modules, and drive modules, etc. The central processing unit is the "brain" of the entire system, responsible for performing various calculations and decision-making tasks. The memory is used to save the operating programs, parameter configurations, and sensor data of the control system. The input / output interface is used to connect and manage various external devices, such as sensors, encoders, and drive motors. The drive module is responsible for receiving control signals from the central processing unit and converting them into power signals required for the operation of the drive motor, thereby directly controlling the movement of the actuator. The power management module ensures stable power supply for the system under different operating conditions. The communication module is responsible for data exchange between internal components of the system or with external devices.

[0089] In the software part, the software architecture of the control system usually includes an operating system, a driver program, a control algorithm, and a user interface, etc. The operating system manages the allocation and scheduling of hardware resources, enabling the system to run stably in a multi-tasking environment. The driver program is a bridge between hardware and software, responsible for abstracting the operation of hardware devices into a unified interface for upper-layer software to call. The control algorithm is the core of the control system, which analyzes sensor data and decides the operation mode of the drive motor according to these data through a series of preset mathematical models and logical rules. The user interface part provides a way to interact with external users, and users can set parameters, monitor system status, or operate surgical instruments through the interface.

[0090] The running process of the control system starts from the initialization of the device. After the system starts, the central processing unit first loads and executes the operating system, and then initializes each hardware module in turn. In this process, the control system collects initial state data through sensors, such as the positions of the turntables, the connection status of the instruments, etc. Then, the system runs the origin initialization program, drives the motor to rotate the connected turntable to the physical limit position, and records the absolute position at this time as the origin of the system through the encoder.

[0091] In actual operation, the control system monitors the data from the sensors in real time, including the position signal of the instrument, the joint judgment signal, and any possible abnormal conditions. When the sensor detects that the instrument has been correctly assembled, the control system accurately calculates the motion trajectory required by each actuator according to the preset surgical plan using the control algorithm, and instructs the drive motor to operate according to the calculation results. At the same time, the control system continuously monitors the feedback signals during the execution process to ensure that each action is completed within the expected range. If any deviation or abnormality is detected, the system will immediately adjust the control strategy, or even issue an alarm or suspend operation if necessary, to avoid potential risks.

[0092] Throughout the entire process, the control system not only manages real-time operation tasks, but also records and analyzes operation data. These data can not only be used to adjust the current operation in real time, but also serve as a reference for subsequent optimization of system performance. After the operation is completed, the control system will perform a safe shutdown according to the set program, ensure that all devices return to a safe state, and save relevant operation records for subsequent analysis and verification.

[0093] The technical scheme of the utility model improves the stability and precision of the microsurgery robot in actual operation through reasonable structure design and precise control system. The multi-level connection mode of the power mechanism, the physical limiting mechanism, the joint determination mechanism and the application of the absolute encoder jointly constitute an efficient and reliable power transmission system. The setting method of the instrument origin initialization further guarantees the accurate positioning before each operation, thereby providing a solid technical guarantee for the operation. The two technical schemes complement each other, guarantee the stability of the microsurgery robot in power transmission, and ensure the persistence and reliability of the operation precision.

[0094] Finally, it should be noted that: the above only for the preferred embodiments of the utility model, and does not limit the utility model, although the utility model has been described in detail with reference to the foregoing embodiments, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement to part of technical features, any modification, equivalent replacement, improvement etc. within the spirit and principles of the utility model, should be included in the protection scope of the utility model.

Claims

1. A microsurgical robot power mechanism comprising a driving motor (1), a motor turntable (2), an intermediate turntable (3) and a connecting turntable (4), characterized in that: The driving motor (1) is provided with several; the output shafts of several driving motors (1) are respectively connected with a motor rotating disc (2); the motor rotating disc (2) is connected with a connecting rotating disc (4) through an intermediate rotating disc (3), or is directly connected with the connecting rotating disc (4); Several connecting rotating discs (4) are arranged in a limiting support frame (5), a limiting protruding part (41) is arranged on the circumferential surface of the connecting rotating disc (4), and a physical limit is arranged on the limiting support frame (5); when the connecting rotating disc (4) is rotated to a certain angle, the limiting protruding part (41) is contacted, and the rotation of the connecting rotating disc (4) is prevented; Several connecting rotating discs (4) are respectively connected with driven members, and the types of the driven members include instruments and sterile adapter members; The power mechanism is provided with a joint judging mechanism (8) for judging the joint state of the connecting rotating disc (4) and the motor rotating disc (2) or the intermediate rotating disc (3).

2. The microrobotic power unit of claim 1, wherein: An encoder is mounted on the output shaft of the driving motor (1), and the encoder is an absolute motor encoder.

3. The microrobotic power unit of claim 1, wherein: The connecting rotating disc (4) is a disc-shaped member, one end of which is provided with a plurality of circumferentially arranged tooth-shaped protrusions, and the other end is connected with a driven member; the intermediate rotating disc (3) is a cylindrical member, both ends of which are respectively provided with a plurality of circumferentially arranged tooth-shaped protrusions, and both ends are respectively connected with the connecting rotating disc (4) and the motor rotating disc (2); the motor rotating disc (2) is a rod-shaped member, one end of which is provided with a plurality of circumferentially arranged tooth-shaped protrusions, and the other end is connected with the driving motor (1); the tooth-shaped protrusions on the motor rotating disc (2), the intermediate rotating disc (3) and the connecting rotating disc (4) are provided with round corners or chamfered transitions.

4. The microrobotic power unit of claim 1, wherein: The bodies of several driving motors (1) are simultaneously fixedly connected on a motor support frame (7); the motor rotating disc (2), the intermediate rotating disc (3) and the connecting rotating disc (4) are located at positions between the limiting support frame (5) and the motor support frame (7); the limiting support frame (5) and the motor support frame (7) are provided with a guide support frame (6), and the relative position of the guide support frame (6) and the motor support frame (7) is fixed; The limiting support frame (5) is provided with a tendency to continuously move towards the motor support frame (7) through external force; the joint judging mechanism (8) is arranged between the limiting support frame (5) and the motor support frame (7), when the connecting rotating disc (4) is jointed with the motor rotating disc (2) or the intermediate rotating disc (3), the limiting support frame (5) drives the joint judging mechanism (8) to move, the joint judging mechanism (8) sends a signal, and vice versa.

5. The microrobotic power unit of claim 1, wherein: The limiting support frame (5) is provided with a plurality of rotating disc grooves (51) connected with the connecting rotating disc (4); the rotating disc groove (51) is a circular blind groove, a through hole is arranged at the center of the blind groove for connecting a driven member, and a plurality of rotating disc grooves (51) are interconnected or independent of each other. The outer side of the rotating disc groove (51) is provided with an arc-shaped limiting groove (52) matched with the limiting protrusion (41), and the limiting protrusion (41) is inserted into the arc-shaped limiting groove (52); the arc-shaped limiting groove (52) is communicated with the rotating disc groove (51), the inner diameter of the arc-shaped limiting groove (52) is equal to the outer diameter of the rotating disc groove (51), and the outer edge profile of the arc-shaped limiting groove (52) is arc-shaped.

6. The microrobotic power unit of claim 4, wherein: The joint judging mechanism (8) comprises a pressing rod (81), a reset spring (82) and a position sensor (83); one end of the pressing rod (81) is always attached to the limiting support frame (5) under the action of the reset spring (82), and the other end passes through the guide support frame (6) and is connected with the position sensor (83); when the connecting rotating disc (4) is connected with the motor rotating disc (2) or the intermediate rotating disc (3), the position sensor (83) is triggered, otherwise it is not triggered; one end of the reset spring (82) is fixed on the position sensor (83), and the other end is attached to the shaft shoulder of the pressing rod (81).

Images