Remote center of motion mechanism and intraocular surgical robot

Abstract

Embodiments of the present application provide a remote center of motion mechanism and an intraocular surgical robot. The present application pertains to the technical field of intraocular surgery. The remote center of motion mechanism comprises a main shaft, an end-effector assembly, and a motion unit, the motion unit being configured to drive the end-effector assembly to move. The motion unit comprises a first linkage assembly, a feed linear module, a pitch drive module, and a second linkage assembly. The end-effector assembly is connected to the first linkage assembly. The feed linear module also comprises a first linear drive unit. A second slider in the pitch drive module is movably arranged along a first direction on the main shaft. The first linear drive unit is mounted on the main shaft. The pitch drive module is configured to drive the second slider to move, thereby driving the end-effector assembly to perform pitch motion. The second linkage assembly is configured to keep the first linkage assembly and the main shaft mutually parallel. This remote center of motion mechanism can ensure stability in any posture and guarantee precision of the remote center of motion.

Description

Remote motion center mechanism and intraocular surgical robot Technical Field

[0001] The present application relates to the technical field of intraocular surgery, and in particular to a remote motion center mechanism and an intraocular surgery robot. Background Art

[0002] The retina, the innermost layer of tissue at the back of the eyeball, possesses a delicate and complex structure. The macula, located at the posterior pole, is particularly susceptible to pathological changes due to its unique structure and physiological activities. Furthermore, the retina is also susceptible to pathological changes caused by both intrinsic and systemic vascular diseases. Without prompt and effective treatment, retinopathy can severely impair vision and even lead to blindness. Microsurgery is an effective treatment for retinopathy.

[0003] To meet the requirements of intraocular microsurgery, remote motion center mechanisms have been developed that enable ophthalmic surgical instruments to move around a pivot point while entering the eye. However, existing remote motion center mechanisms often utilize parallel four-bar or parallel five-bar linkages. While these mechanisms typically maintain accurate motion centers, they become less precise when the parallel four-bar linkage's included angle decreases, leading to decreased stability.

[0004] Summary of the Invention

[0005] The embodiment of the present application provides a remote motion center mechanism, which can ensure the stability of the remote motion center in any posture and ensure the accuracy of the remote motion center.

[0006] In the first aspect, an embodiment of the present application provides a remote motion center mechanism, which is used for an intraocular surgical robot. The remote motion center mechanism includes a main shaft, an end-effector assembly and a motion unit, and the end-effector assembly is used to perform intraocular surgery; the motion unit is arranged between the main shaft and the end-effector assembly, and the motion unit is used to drive the end-effector assembly to move; wherein, the motion unit includes a first connecting rod assembly, a feed linear module, a pitch drive module and a second connecting rod assembly, and the end-effector assembly is connected to the first connecting rod assembly and forms a first parallel four-bar linkage mechanism with the first connecting rod assembly; the first connecting rod assembly includes a first slider, the first slider is arranged parallel to the end-effector assembly, and the first connecting rod assembly and the feed linear module share the first slider The feed linear module also includes a first linear drive unit, which is used to drive the first slider to move along the second direction to drive the first connecting rod assembly together with the end execution assembly to perform feeding motion; the pitch drive module is installed on the main shaft, and the pitch drive module includes a second slider, which is movably arranged on the main shaft along the first direction. The first linear drive unit is installed on the main shaft, and a pull rod is connected between the first linear drive unit and the second slider. The pitch drive module is used to drive the second slider to move along the first direction on the main shaft to drive the end execution assembly to perform pitch motion through the pull rod; the second connecting rod assembly is arranged between the first connecting rod assembly and the main shaft, and the second connecting rod assembly is used to keep the first connecting rod assembly and the main shaft parallel to each other.

[0007] In this solution, the motion unit includes a first link assembly, a feed linear module, a pitch drive module, and a second link assembly. The end actuator is connected to the first link assembly and forms a first parallel four-bar linkage with the first link assembly. When the pitch drive module drives the second slider to move, the pull rod drives the angle of the feed linear module to change, and drives the end actuator to perform a pitch movement through the first parallel four-bar linkage, thereby realizing the rotation of the end actuator. Through the setting of the feed linear module, the first linear drive unit drives the first slider to move, and the first parallel four-bar linkage is used to drive the end actuator to perform a feed movement in the second direction. And under the cooperative constraint of the first link assembly and the second link assembly, the first link assembly and the second link assembly are used to form a complementary relationship, so that the motion unit drives the end actuator to keep the first link assembly and the main axis parallel to each other in any posture, so that the remote motion center can ensure stability in any posture, making it more accurate.

[0008] In some embodiments, the first link assembly also includes a first link and a second link, the first link and the second link are parallel to each other, the end effector assembly and the first slider are parallel to each other, the two ends of the first link are hinged to the end effector assembly and the first slider respectively, and the two ends of the second link are hinged to the end effector assembly and the first slider respectively, and a first parallel four-bar linkage is formed between the first slider, the first link, the second link and the end effector assembly.

[0009] In some embodiments, the first linear drive unit includes a base, a screw, a screw nut and a first drive member. The base is hinged to the main shaft at one end close to the main shaft, the screw extends along the second direction, and the screw is rotatably installed on the base. The first drive member is installed on the base for driving the screw to rotate along its axial direction. The screw nut cooperates with the screw thread, the first slider is installed on the screw nut, one end of the pull rod is hinged to the base, and the other end is hinged to the second slider.

[0010] In the above technical solution, the first linear drive unit adopts a screw-nut pair mechanism to drive the first slider to achieve lifting and lowering, with high movement accuracy and less prone to offset, which can ensure the accuracy of the feeding action of the end execution component.

[0011] In some embodiments, the pitch drive module further includes a second linear drive unit, which is mounted on the main shaft and configured to drive the second slider to move along the first direction on the main shaft.

[0012] In the above technical solution, by providing a second linear drive unit, the second slider can be driven to move along the first direction on the main shaft, thereby realizing the pitch action of the end execution component. No human participation is required, and it can be carried out automatically with the help of the second linear drive unit in the pitch drive module with high precision.

[0013] In some embodiments, the second link assembly includes a third link, a fourth link, a fifth link, a sixth link and a seventh link, the third link is parallel to the fourth link, one end of the third link and the fourth link is hinged to the first link, and the other end is hinged to the two ends of the fifth link in the length direction; the sixth link and the seventh link are parallel to each other, one end of the sixth link and the seventh link is hinged to the main shaft, the other end of the sixth link and the seventh link is hinged to the two ends of the fifth link in the length direction, and the sixth link and the third link share the same hinge end at one end on the fifth link, and the seventh link and the fourth link share the same hinge end at one end on the fifth link; the third link, the fourth link, the fifth link, the sixth link and the seventh link constitute a parallel five-link mechanism.

[0014] In the above technical solution, by adopting a parallel five-bar linkage for the second link assembly, the parallelism of the first parallel four-bar linkage and the main axis is ensured without affecting the linear motion of the first parallel four-bar linkage along the second direction, thereby ensuring that the remote motion center mechanism point O is always located on the same axis.

[0015] In some embodiments, the remote motion center mechanism also includes a third link assembly, the third link assembly includes a slide rail and an eighth link, the slide rail is parallel to the screw rod, the two ends of the eighth link are hinged to the base and the slide rail respectively, the eighth link is parallel to the main shaft, and the slide rail, the eighth link, the screw rod and the main shaft constitute a second parallel four-bar linkage; the slide rail is provided with a mating portion at a position corresponding to the first link and the second link, the mating portion is hinged to the first link and the second link, and the mating portion is slidably arranged on the slide rail.

[0016] In the above technical solution, by setting a third link assembly in the remote motion center mechanism, it is equivalent to adding a set of four-bar linkage between the first link and the main shaft. A parallel four-bar linkage is formed by the eighth link, the slide rail, the main shaft, and the screw in the feed linear module. The first slider is connected to the first link assembly, and the first slider cooperates with the slide rail to perform linear motion, ensuring that the feed motion of the first parallel four-bar linkage is not affected when the feed linear module moves. When the pitch angle of this structure is 90°, due to its own weight, the end of the first parallel four-bar linkage will sink, and the offset will be large. At the extreme position, the offset is reduced, thereby compensating for the lack of stability of the parallel five-bar linkage. In other words, at a pitch angle of 90°, the stability of the end actuator is mainly guaranteed by the parallel five-bar linkage. At the extreme pitch angle, the stability of the end actuator is guaranteed by the pitch linear drive module in cooperation with the first parallel four-bar linkage, and the two complement each other.

[0017] In some embodiments, the number of first link assemblies is set to two groups, the two groups of first link assemblies have the same structure, and the two groups of first link assemblies are respectively located on opposite sides of the third direction of the base and the end execution assembly; the number of second link assemblies is set to two groups, the two groups of second link assemblies have the same structure, and the two groups of second link assemblies are respectively located on opposite sides of the third direction of the main shaft.

[0018] In the above technical solution, by providing two sets of first link assemblies, the first link assemblies act as a pull and tug on opposite sides of the end effector, enhancing the stability of the first parallelogram linkage. Similarly, by providing two sets of second link assemblies, one on each side of the main shaft, the first link remains parallel to the main shaft, achieving greater precision during position adjustment of the end effector.

[0019] In some embodiments, in the two groups of first link assemblies, a first connecting rod is connected between the two first links, and a second connecting rod is connected between the two second links.

[0020] In the above technical solution, the arrangement of the first connecting rod and the second connecting rod can make the integrity between the two groups of first connecting rod assemblies stronger.

[0021] In some embodiments, the remote motion center mechanism further includes a rotation unit, which is disposed on a side of the motion unit away from the end effector assembly. The rotation unit is connected to the main shaft and is used to drive the main shaft to rotate to realize the rotation of the end effector assembly.

[0022] In the above technical solution, the main shaft is driven to rotate by the rotating unit, providing the remote motion center mechanism with rotational motion, so that the rotating unit can drive the end actuator to rotate and meet the rotation requirements of the end actuator.

[0023] In a second aspect, an embodiment of the present application further provides an intraocular surgical robot, which includes the aforementioned remote motion center mechanism.

[0024] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0026] FIG1 is a schematic structural diagram of a remote motion center mechanism provided in some embodiments of the present application;

[0027] FIG2 is a schematic structural diagram of a remote motion center mechanism including a third connecting rod assembly provided by some embodiments of the present application;

[0028] FIG3 is a schematic structural diagram of a remote motion center mechanism including a third connecting rod assembly provided in some embodiments of the present application;

[0029] FIG4 is a front view of a remote motion center mechanism provided by some embodiments of the present application;

[0030] FIG5 is a schematic structural diagram of a remote motion center mechanism performing a feeding action according to some embodiments of the present application;

[0031] FIG6 is a schematic structural diagram of a remote motion center mechanism performing a pitching motion according to some embodiments of the present application;

[0032] FIG7 is a schematic diagram of the O-point offset of the remote center of motion mechanism provided by some embodiments of the present application;

[0033] FIG8 is a schematic diagram of a remote motion center mechanism provided by some embodiments of the present application moving to a low point O;

[0034] FIG9 is a schematic diagram of point O in the third link assembly of the remote motion center mechanism provided in some embodiments of the present application;

[0035] FIG10 is a schematic diagram of point O of the remote motion center mechanism of FIG9 after pitching.

[0036] Icons: end effector assembly 10, first link 20, second link 21, first slider 23, first connecting rod 24, second connecting rod 25, base 30, screw rod 31, first driving member 32, second slider 40, pull rod 41, pitch motor 42, third link 50, fourth link 51, fifth link 52, sixth link 53, seventh link 54, eighth link 60, slide rail 61, main shaft 70, rotation motor 71. DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0040] In the description of the embodiments of this application, it should be noted that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the product of the application is typically placed when in use. These are merely for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood broadly. For example, they can refer to fixed connection, detachable connection, or integral connection; they can refer to direct connection, indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0042] Example

[0043] The inventors have discovered that microsurgery is an effective treatment for retinal diseases. However, due to factors such as the small intraocular space (the eyeball is approximately a sphere with a diameter of about 23mm to 24mm), the delicate nature of the objects being operated on (the diameter of fundus blood vessels is approximately 40μm to 350μm, the thickness of the retina is approximately 100μm to 300μm, and the thickness of the internal limiting membrane is approximately 1μm to 3μm), and various human physiological limitations (physiological tremors in the hand can reach 156μm RMS, and even micro-forces below 7.5mN are difficult to perceive), these procedures are extremely difficult to perform.

[0044] Take, for example, the retinal vein puncture and injection procedure for treating central retinal vein occlusion: Using a microscope, the doctor observes the patient's fundus. Simultaneously, they hold a microscopic instrument, passing its tip through a cannula (less than 1 mm in diameter) located on the sclera, into the eye and into the target area of ​​the fundus. They then insert a hollow microneedle (approximately 30 μm in diameter) into the retinal vein, which is approximately 150 μm in diameter. The microscopic instrument is then held steady for 2–10 minutes to allow for adequate injection of the thrombolytic agent and ensure successful treatment. Similar procedures include internal limiting membrane peeling for treating macular holes and subretinal injection for treating fundus hemorrhage. While the procedures are similar, the surgical instruments and targets differ (including instruments such as microsurgical forceps, and the targets are the retina and internal limiting membrane). These procedures are typically difficult for doctors to perform manually.

[0045] Moreover, since the instrument enters the eye through a cannula rather than through an open incision (such as surgery after removing the cornea or lens), this type of surgery is considered "minimally invasive" ophthalmic surgery, and the operation of the instrument must also meet the motion constraints of minimally invasive surgery. After the end of the instrument enters the eye, there is an "optimal" fulcrum on the cannula, which can minimize the additional force on the sclera. The instrument can use this fulcrum as the center of rotation to adjust its three postures, and it can also move linearly along its own axis through the fulcrum, completing the surgery through the coordination of these four degrees of freedom. If the operation is not performed in this manner, a large additional force will be applied to the sclera, causing damage to the sclera, or causing the eyeball to rotate in the eye socket, making it difficult for the doctor to locate the target area.

[0046] As you can see, surgery requires extremely high precision, stability, and dexterity from the surgeon's hands. Robots, with their superior precision, structural stability, and motion mapping capabilities, can help overcome these shortcomings.

[0047] To meet the requirements of intraocular microsurgery, remote motion center mechanisms have been developed that enable ophthalmic surgical instruments to move around a pivot point while entering the eye. However, existing remote motion center mechanisms often utilize parallel four-bar or parallel five-bar linkages. While these mechanisms typically maintain accurate motion centers, they become less precise when the parallel four-bar linkage's included angle decreases, leading to decreased stability.

[0048] In view of this, an embodiment of the present application provides a remote motion center mechanism, please refer to Figures 1 to 10, the remote motion center mechanism is used for an intraocular surgical robot, the remote motion center mechanism includes a main shaft 70, an end-effector assembly 10 and a motion unit, the end-effector assembly 10 is used to perform intraocular surgery; the motion unit is arranged between the main shaft 70 and the end-effector assembly 10, and the motion unit is used to drive the end-effector assembly 10 to move; wherein, the motion unit includes a first connecting rod assembly, a feed linear module, a pitch drive module and a second connecting rod assembly, the end-effector assembly 10 is connected to the first connecting rod assembly, and forms a first parallel four-bar linkage mechanism with the first connecting rod assembly; the first connecting rod assembly includes a first slider 23, the first slider 23 is arranged parallel to the end-effector assembly 10, the first connecting rod assembly and the feed linear module share the first slider 23, the feed linear module also includes a first linear drive unit, please refer to Figures 3 and 4, the first linear drive unit is used to drive the first slider 23 to move along the second direction (the Y-axis direction in Figure 1) to drive the first connecting rod assembly together with The end effector assembly 10 performs feed motion; the pitch drive module is mounted on the main shaft 70, and the pitch drive module includes a second slider 40, which is movably arranged on the main shaft 70 along a first direction (the direction in which the X-axis line extends in FIG1 ), and a first linear drive unit is mounted on the main shaft 70, and a pull rod 41 is connected between the first linear drive unit and the second slider 40; please refer to FIG5 and FIG6 , the pitch drive module is used to drive the second slider 40 to move along the first direction on the main shaft 70, so as to drive the end effector assembly 10 to perform pitch motion (pitch motion around the Z-axis line in FIG1 ) through the pull rod 41; the second connecting rod assembly is arranged between the first connecting rod assembly and the main shaft 70, and the second connecting rod assembly is used to keep the first connecting rod assembly and the main shaft 70 parallel to each other.

[0049] In this solution, the motion unit comprises a first link assembly, a feed linear module, a pitch drive module, and a second link assembly. The end effector 10 is connected to the first link assembly, forming a first parallelogram linkage with the first link assembly. When the pitch drive module drives the second slider 40 to move, the pull rod 41 drives the angle of the feed linear module to change, and the first parallelogram linkage drives the end effector 10 to pitch, thereby achieving rotation of the end effector 10. Through the provision of the feed linear module, the first linear drive unit drives the first slider 23 to move, and the first parallelogram linkage drives the end effector 10 to feed in the second direction. Furthermore, under the cooperative constraint of the first and second link assemblies, the first and second link assemblies complement each other, allowing the motion unit to drive the end effector 10 to maintain parallelism between the first link assembly and the main shaft 70 in any posture. This ensures the stability of the remote motion center in any posture, making it more precise.

[0050] In some embodiments, the first link assembly also includes a first link 20 and a second link 21, the first link 20 and the second link 21 are parallel to each other, the end execution assembly 10 and the first slider 23 are parallel to each other, the two ends of the first link 20 are hinged to the end execution assembly 10 and the first slider 23 respectively, and the two ends of the second link 21 are hinged to the end execution assembly 10 and the first slider 23 respectively. A first parallel four-bar linkage mechanism is formed between the first slider 23, the first link 20, the second link 21 and the end execution assembly 10.

[0051] In some embodiments, the first linear drive unit includes a base 30, a screw 31, a screw nut 31, and a first drive member 32. The base 30 is hinged to the spindle 70 at one end close to the spindle 70. The screw 31 extends along the second direction and is rotatably mounted on the base 30. The first drive member 32 is mounted on the base 30 and is used to drive the screw 31 to rotate along its axis. The screw nut 31 is threadedly engaged with the screw 31. The first slider 23 is mounted on the screw nut 31. One end of the pull rod 41 is hinged to the base 30, and the other end is hinged to the second slider 40. By using a screw nut sub-mechanism to drive the first slider 23 to achieve lifting and lowering in the second direction (Y-axis direction), the first linear drive unit has high movement accuracy and is less likely to deviate, thereby ensuring the accuracy of the feed action of the end effector assembly 10.

[0052] In some embodiments, the pitch drive module further includes a second linear drive unit mounted on the main shaft 70 and configured to drive the second slider 40 to move along the main shaft 70 in a first direction. The second linear drive unit enables the second slider 40 to move along the main shaft 70 in the first direction, thereby achieving pitch motion of the end effector 10. This motion is automated and highly precise, requiring no human intervention, thanks to the second linear drive unit in the pitch drive module.

[0053] Among them, the second linear drive unit can be a variety of linear drive mechanisms, for example, the second linear drive unit can be a synchronous pulley mechanism with a screw nut pair mechanism, a cylinder, an electric push rod, a hydraulic cylinder, a linear motor or a linear module.

[0054] In some embodiments, the second link assembly includes a third link 50, a fourth link 51, a fifth link 52, a sixth link 53 and a seventh link 54, the third link 50 is parallel to the fourth link 51, one end of the third link 50 and the fourth link 51 is hinged to the first link 20, and the other end is hinged to the two ends of the length direction of the fifth link 52; the sixth link 53 and the seventh link 54 are parallel to each other, one end of the sixth link 53 and the seventh link 54 is hinged to the main shaft 70, the other end of the sixth link 53 and the seventh link 54 is hinged to the two ends of the length direction of the fifth link 52, and the sixth link 53 and one end of the third link 50 on the fifth link 52 share the same hinge end, and the seventh link 54 and one end of the fourth link 51 on the fifth link 52 share the same hinge end; the third link 50, the fourth link 51, the fifth link 52, the sixth link 53 and the seventh link 54 constitute a parallel five-link mechanism. By employing a parallel five-bar linkage as the second link assembly, the parallelism between the first parallel four-bar linkage and the main axis 70 is maintained without affecting the linear motion of the first parallel four-bar linkage in the second direction, thereby ensuring that the remote motion center mechanism, point O, always lies on the same axis (the X-axis). Through the first parallel four-bar linkage and the parallel five-bar linkage, the surgical instrument of the end effector assembly 10 can achieve rotational motion along the X and Z axes and linear motion along the Y axis at point O.

[0055] In practice, the feed linear module first drives the end effector 10 along the Y-axis until the microswitch is triggered, recording the zero point. The feed linear module then moves in the opposite direction a certain distance, positioning the instrument on the end effector 10 at point O. The entire mechanism is then manually or remotely dragged to the scleral incision. The feed, pitch, and rotation of the remote motion center mechanism then control the micro-surgery operation within the eye. Because point O of the remote motion center mechanism is theoretically a fixed point, no matter how the instrument on the end effector 10 moves within the eye, point O will not exert any pressure on the scleral incision.

[0056] In actual processing, please refer to Figures 7 to 10. Due to problems such as part processing tolerances, assembly errors, and bearing clearances, the end-effector 10O point floats and cannot form an ideal point. The accuracy of this O point is the key to the remote motion center mechanism. The articulation between the connecting rods is achieved through bearings. Generally, the clearance of small-diameter deep groove ball bearings is 4μm-18μm. Although some of the clearance can be offset by interference fit, some clearance must still be retained to ensure smooth rotation of the bearings. Moreover, due to the machining tolerances of the parts, there will still be some clearance between the connecting rods. For ease of explanation, it is assumed that the cumulative clearance of a single connecting rod is 0.01mm (10μm), and the size of all connecting rods is 60mm. Affected by gravity, the fifth connecting rod 52 and the sixth connecting rod 53 are under pressure and their size is reduced to 59.99mm. The seventh connecting rod 54 and the main shaft 70 are affected by tension and their size becomes 60.01. When the pitch angle is 90°, the position of the end-effector 10 is offset by 0.2mm, and at the extreme angle, the position of the end-effector 10 is offset by 1.18mm. It can be seen that with the change of the pitch angle, point O will be unstable.

[0057] For ease of explanation, the original structural drawings are represented as linear diagrams. The dashed lines represent ideal dimensions, and the solid lines represent the actual dimensions of each connecting rod affected by bearing clearance and machining tolerances. Figures 7 and 8 show the two operating extremes of the five-bar linkage. A comparison shows that the position deviation of the end point of the five-bar linkage is 0.2mm at the upper extreme, increasing to 1.18mm at the lower extreme. Figures 9 and 10 show the two operating extremes of the four-bar linkage. A comparison shows that the end point deviation at the upper extreme is 3.8mm, reducing to 0.05mm at the lower extreme. This mechanism combines both a five-bar linkage and a four-bar slider mechanism, complementing each other and resulting in minimal position deviation at both the upper and lower extremes.

[0058] In some embodiments, the remote motion center mechanism also includes a third link assembly, which includes a slide rail 61 and an eighth link 60. The slide rail 61 is parallel to the screw rod 31. The two ends of the eighth link 60 are hinged to the base 30 and the slide rail 61 respectively. The eighth link 60 is parallel to the main shaft 70. The slide rail 61, the eighth link 60, the screw rod 31 and the main shaft 70 constitute a second parallel four-bar linkage mechanism; the slide rail 61 is provided with a mating portion at a position corresponding to the first link 20 and the second link 21. The mating portion is hinged to the first link 20 and the second link 21, and the mating portion is slidably arranged on the slide rail 61.

[0059] In the above technical solution, by providing a third link assembly in the remote motion center mechanism, it is equivalent to adding a four-bar linkage between the first link 20 and the spindle 70. The eighth link 60, the slide rail 61, the spindle 70, and the screw 31 in the feed linear module form a parallel four-bar linkage. The first slider 23 is connected to the first link assembly, and the first slider 23 cooperates with the slide rail 61 to perform linear motion, ensuring that the feed linear module does not affect the feed motion of the first parallel four-bar linkage when the feed linear module moves. When the pitch angle of this structure is 90°, due to its own weight, the end of the first parallel four-bar linkage (end effector assembly 10) will sink, resulting in a large offset. However, at the extreme position, the offset is reduced, thereby compensating for the lack of stability of the parallel five-bar linkage. In other words, at a pitch angle of 90°, the stability of the end effector assembly 10 is mainly ensured by the parallel five-bar linkage. At the extreme pitch angle, the stability of the end effector assembly 10 is ensured by the pitch linear drive module in conjunction with the first parallel four-bar linkage, and the two complement each other.

[0060] In some embodiments, the number of first link assemblies is set to two, and the two groups of first link assemblies have the same structure. The two groups of first link assemblies are located on opposite sides of the base 30 and the end effector assembly 10 in the third direction. The number of second link assemblies is set to two, and the two groups of second link assemblies have the same structure. The two groups of second link assemblies are located on opposite sides of the main shaft 70 in the third direction. By setting the number of first link assemblies to two, the first link assemblies act as a pull and pull on opposite sides of the end effector assembly 10, thereby enhancing the stability of the first parallelogram linkage. Similarly, by setting the number of second link assemblies to two, and positioning the second link assemblies on opposite sides of the main shaft 70, the first link 20 and the main shaft 70 remain parallel at all times, thereby enhancing the precision of the end effector assembly 10 during position adjustment.

[0061] In some embodiments, in two sets of first connecting rod assemblies, a first connecting rod 24 is connected between the two first connecting rods 20, and a second connecting rod 25 is connected between the two second connecting rods 21. The provision of the first connecting rod 24 and the second connecting rod 25 can enhance the integrity of the two sets of first connecting rod assemblies.

[0062] In some embodiments, the remote center of motion mechanism further includes a rotation unit, which is disposed on a side of the motion unit away from the end effector assembly 10. The rotation unit is connected to the main shaft 70 and is used to drive the main shaft 70 to rotate, thereby achieving rotation of the end effector assembly 10. The rotation unit drives the main shaft 70 to rotate about the X-axis, providing the remote center of motion mechanism with rotational motion. In this way, the rotation unit can drive the end effector assembly 10 to rotate, meeting the rotation requirements of the end effector assembly 10.

[0063] Among them, the rotating unit includes a rotating motor 71, the driving end of the rotating motor 71 is connected to the main shaft 70, driving the main shaft 70 to rotate, and the O point of the remote motion center is located on the rotation axis of the rotating motor 7110 and the main shaft 7013. When the remote motion center mechanism rotates, it is ensured that the O point is on the X-axis.

[0064] In a second aspect, an embodiment of the present application further provides an intraocular surgical robot, which includes the aforementioned remote motion center mechanism.

[0065] It should be noted that, unless there is any conflict, the features in the embodiments of this application can be combined with each other.

[0066] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A remote motion center mechanism for an intraocular surgical robot, characterized in that: include: spindle; end effector assembly for performing intraocular surgery; A motion unit is provided between the main shaft and the end effector assembly, and is used to drive the end effector assembly to move; Among them, the motion unit includes a first connecting rod assembly, a feed linear module, a pitch drive module and a second connecting rod assembly. The end execution assembly is connected to the first connecting rod assembly and forms a first parallel four-bar linkage mechanism with the first connecting rod assembly; the first connecting rod assembly includes a first slider, the first slider is arranged parallel to the end execution assembly, the first connecting rod assembly and the feed linear module share the first slider, the feed linear module also includes a first linear drive unit, the first linear drive unit is used to drive the first slider to move along the second direction to drive the first connecting rod assembly together with the end execution assembly to feed movement; the pitch driving module is installed on the main shaft, the pitch driving module includes a second slider, the second slider is movably arranged on the main shaft along a first direction, the first linear driving unit is installed on the main shaft, and a pull rod is connected between the first linear driving unit and the second slider, the pitch driving module is used to drive the second slider to move along the first direction on the main shaft, so as to drive the end effector assembly to perform pitch movement through the pull rod; the second connecting rod assembly is provided between the first connecting rod assembly and the main shaft, and the second connecting rod assembly is used to keep the first connecting rod assembly and the main shaft parallel to each other; The first connecting rod assembly further includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are parallel to each other, two ends of the first connecting rod are respectively hinged to the end effector assembly and the first slider, and two ends of the second connecting rod are respectively hinged to the end effector assembly and the first slider, and the first slider, the first connecting rod, the second connecting rod and the end effector assembly form a first parallel four-bar linkage; The first linear drive unit includes a base, a screw, a screw nut and a first driving member, wherein one end of the base close to the main shaft is hinged to the main shaft, the screw extends along the second direction, the screw is rotatably mounted on the base, the first driving member is mounted on the base, and is used to drive the screw to rotate along its axial direction, the screw nut is threadably engaged with the screw, the first slider is mounted on the screw nut, one end of the pull rod is hinged to the base, and the other end is hinged to the second slider; The second connecting rod assembly includes a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a seventh connecting rod, the third connecting rod is parallel to the fourth connecting rod, one end of the third connecting rod and the fourth connecting rod is hinged to the first connecting rod, and the other end is hinged to the two ends of the fifth connecting rod respectively; the sixth connecting rod and the seventh connecting rod are parallel to each other, one end of the sixth connecting rod and the seventh connecting rod is hinged to the main shaft, the other end of the sixth connecting rod and the seventh connecting rod is hinged to the two ends of the fifth connecting rod, and the sixth connecting rod and the third connecting rod share the same hinge end on one end of the fifth connecting rod, and the seventh connecting rod and the fourth connecting rod share the same hinge end on one end of the fifth connecting rod; the third connecting rod, the fourth connecting rod, the fifth connecting rod, the sixth connecting rod and the seventh connecting rod constitute a parallel five-bar linkage; The remote motion center mechanism further includes a third connecting rod assembly, the third connecting rod assembly including a slide rail and an eighth connecting rod, the slide rail is parallel to the lead screw, the ends of the eighth connecting rod are hinged to the base and the slide rail respectively, the eighth connecting rod is parallel to the main shaft, and the slide rail, the eighth connecting rod, the lead screw and the main shaft form a second parallel four-bar linkage; The slide rail is provided with a matching portion at a position corresponding to the first connecting rod and the second connecting rod. The matching portion is hinged to the first connecting rod and the second connecting rod, and the matching portion is slidably provided on the slide rail.

2. The remote motion center mechanism according to claim 1, wherein: The pitch drive module further includes a second linear drive unit, which is mounted on the main shaft and configured to drive the second slider to move along the first direction on the main shaft.

3. The remote motion center mechanism according to claim 1, wherein: The number of the first connecting rod assemblies is set to two groups, the two groups of the first connecting rod assemblies have the same structure, and the two groups of the first connecting rod assemblies are respectively located on opposite sides of the base and the end effector assembly in the third direction; The number of the second connecting rod assemblies is set to two groups, the two groups of the second connecting rod assemblies have the same structure, and the two groups of the second connecting rod assemblies are respectively located on opposite sides of the third direction of the main shaft.

4. The remote motion center mechanism according to claim 3, wherein: In the two groups of the first connecting rod assemblies, a first connecting rod is connected between the two first connecting rods, and a second connecting rod is connected between the two second connecting rods.

5. The remote motion center mechanism according to claim 1, wherein: The remote motion center mechanism further includes a rotation unit, which is arranged on a side of the motion unit away from the end effector assembly. The rotation unit is connected to the main shaft and is used to drive the main shaft to rotate, thereby realizing the rotation of the end effector assembly.

6. An intraocular surgical robot, characterized in that: It comprises the remote motion center mechanism as described in any one of claims 1-5.

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