Simulation training device for eye surgery robot

Abstract

A simulation training device for an eye surgery robot, relating to the technical field of intraocular surgery. The simulation training device for an eye surgery robot comprises a base plate (100) and an eye movement simulation structure (200); the eye movement simulation structure (200) comprises a base (201), a movable platform (202), a U-shaped ring (203), a first axis driving assembly, and a second axis driving assembly; the base (201) is detachably connected to the top of the base plate (100); a holder (204) is provided on the top of the base (201); the top of the holder (204) abuts against the bottom of the movable platform (202); the U-shaped ring (203) is detachably connected to the surface of the movable platform (202); the first axis driving assembly is arranged on the surface of the base (201); the second axis driving assembly is arranged on one side of the U-shaped ring (203); a cavity (205) is formed in the movable platform (202); an eyeball model (206) is arranged in the cavity (205); by means of the U-shaped ring (203), the first axis driving assembly can drive the movable platform (202) to rotate around a first axis, and the second axis driving assembly can drive the movable platform (202) to rotate around a second axis, so that the eye movement condition of human eyes during surgery is simulated, and a real ophthalmic robot surgery environment is restored as much as possible, increasing the success rate of real surgery.

Description

A simulation training device for ophthalmic surgical robots Technical Field

[0001] The present application relates to the technical field of intraocular surgery, and in particular to a simulation training device for an ophthalmic surgical robot. Background Art

[0002] In recent years, the application of robotic technology in medical surgery has continued to expand. Robots have unparalleled advantages over humans in terms of smoothness and precision of movement. Since fundus surgery requires extremely high precision from doctors, which exceeds the physiological limits of doctors, it is a reasonable and feasible solution for doctors to perform surgery using robotic technology. However, performing surgery using robots has changed doctors' operating habits. Doctors need to undergo relevant training before officially using robots to perform surgery so that they are familiar with the operating procedures.

[0003] Since the human eye moves involuntarily during real surgery, it directly tests the doctor's experience and proficiency. Therefore, during the training process, the robot needs to simulate eye movements while proficiently operating the process to ensure that the doctor's proficiency is increased after the training is completed, thereby improving the success rate of the operation. However, the existing technology lacks simulation training devices that can simulate eye movements. Summary of the Invention

[0004] The present application provides a simulation training device for an ophthalmic surgical robot to solve the problem that the inventors recognize that the involuntary movement of the human eye during real surgery directly tests the doctor's experience and proficiency. Therefore, during the training process, the robot's operating procedures must be proficient while simulating eye movements to ensure that the doctor's proficiency is increased after the training is completed, thereby improving the success rate of the operation. However, the existing technology lacks a simulation training device that can simulate eye movements.

[0005] The present application provides a simulation training device for an ophthalmic surgical robot, comprising:

[0006] substrate;

[0007] An eye movement simulation structure, the eye movement simulation structure includes a base, a moving platform, a U-shaped ring, a first axis drive assembly and a second axis drive assembly, the base is detachably connected to the top of the substrate, a bracket is provided on the top of the base, the top of the bracket abuts against the bottom of the moving platform, the U-shaped ring is detachably connected to the surface of the moving platform, the first axis drive assembly is provided on the surface of the base, the second axis drive assembly is provided on one side of the U-shaped ring, the first axis drive assembly can rotate the moving platform around the first axis through the U-shaped ring, the second axis drive assembly can rotate the moving platform around the second axis, a cavity is provided inside the moving platform, an eyeball model is provided inside the cavity, a cavity is provided inside the moving platform, an eyeball model is provided inside the cavity, the first axis drive assembly includes a first worm seat, a first motor seat and a first pressure cover, the first worm seat and the first pressure cover are both detachably connected to the surface of the base, the first motor seat is provided on the surface of the first worm seat, a first motor is provided on one side of the first motor seat, the first motor The output end extends through the first motor seat to the first worm seat and is connected to the first worm, the other end of the first worm is movably connected to the first worm seat, a first worm gear shaft is provided on the first pressure cover, one end of the first worm gear shaft passes through the base and is connected to the U-shaped ring, and the other end of the first worm gear shaft is meshed with the surface of the first worm; the second axis drive assembly includes a second worm seat, a second motor seat and a second pressure cover, the second worm seat and the second pressure cover are both detachably connected to one side of the U-shaped ring, the second motor seat is provided on the surface of the second worm seat, a second motor is provided on one side of the second motor seat, the output end of the second motor extends through the second motor seat to the second worm seat and is connected to the second worm, the other end of the second worm is movably connected to the second worm seat, a second worm gear shaft is provided on the second pressure cover, one end of the second worm gear shaft extends into the cavity and is connected to a joint plate, the joint plate is detachably connected to the inner wall of the cavity, the other end of the second worm gear shaft is meshed with the surface of the second worm, and encoders are provided on the surfaces of the first motor and the second motor;

[0008] A surgical execution structure, which can perform surgical operations on the eyeball model, includes a main shaft, an end-execution assembly and a motion module, and the main shaft and the motion module are connected through the end-execution assembly; the motion module includes a first connecting rod assembly, a feed linear module, a pitch drive assembly, a second connecting rod assembly and a third connecting rod assembly; the end-execution assembly is used to perform surgical operations on the eyeball model, and the motion module is used to drive the end-execution assembly to move.

[0009] In any of the above technical solutions, further, the first link assembly also includes a first link, a second link and a first slider, the first link and the second link are parallel to each other, the end execution assembly and the first slider are parallel to each other, one end of the first link and the second link are hinged to the surface of the end execution assembly, the other end of the first link and the second link are hinged to the surface of the first slider, and the first slider, the first link, the second link and the end execution assembly constitute a first parallel four-bar linkage mechanism.

[0010] In any of the above technical solutions, further, the pitch drive assembly includes a second slider and a pitch motor, the pitch motor is installed on the main shaft, and there is a distance gap between the bottom of the pitch motor and the top of the substrate. The pitch motor is used to drive the second slider to move along the first direction on the main shaft, and the pitch motor can drive the second slider to move along the first direction on the surface of the main shaft.

[0011] In any of the above technical solutions, further, the feed linear module includes a base, a screw, a screw nut and a first driving member, one end of the base is hinged to the top of the main shaft, one end of the screw is movably connected to the surface of the base, the screw nut is threadedly connected to the surface of the screw, the first driving member is installed on the surface of the base, the first slider is installed on the surface of the screw nut, and the first driving member can move the first slider along the second direction through the screw; the feed linear module also includes a pull rod, one end of the pull rod is hinged to the surface of the base, and the other end of the pull rod is hinged to the surface of the second slider.

[0012] In any of the above technical solutions, further, 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, the sixth connecting rod and the seventh connecting rod are parallel to each other, one end of the third connecting rod and the fourth connecting rod are hinged to the surface of the first connecting rod, one end of the sixth connecting rod and the seventh connecting rod are hinged to the surface of the main shaft, the other end of the third connecting rod and the sixth connecting rod are hinged to one end of the fifth connecting rod, and the other end of the fourth connecting rod and the seventh connecting rod are hinged to the other end of the fifth connecting rod.

[0013] In any of the above technical solutions, further, the third connecting rod assembly includes a sliding rail and an eighth connecting rod, one end of the eighth connecting rod is hinged to the surface of the base, the other end of the eighth connecting rod is hinged to the surface of the sliding rail, the eighth connecting rod is parallel to the main shaft, the sliding rail is parallel to the screw rod, and a second parallel four-bar linkage mechanism is formed between the sliding rail, the eighth connecting rod, the screw rod and the main shaft.

[0014] In any of the above technical solutions, further, the number of the first connecting rod assemblies is set to two groups, and the two groups of the first connecting rod assemblies are symmetrically arranged in the third direction of the base; the number of the second connecting rod assemblies is set to two groups, and the two groups of the second connecting rod assemblies are symmetrically arranged in the third direction of the main axis.

[0015] In any of the above technical solutions, further, the surgical execution structure also includes a self-rotating motor, the right side of which is detachably connected to the base plate, the self-rotating motor is arranged on the side of the motion module away from the end execution component, the output shaft of the self-rotating motor is connected to the surface of the main shaft, and the self-rotating motor is used to drive the main shaft to rotate.

[0016] The beneficial effects of this application are mainly:

[0017] 1. Start the first motor, and the U-shaped ring drives the platform to rotate around the first axis through the continuous engagement of the first worm and the first worm gear shaft. When the second motor is started, the joint plate drives the platform to rotate around the second axis through the continuous engagement of the second worm and the second worm gear shaft, thereby simulating the eye movement of the human eye during surgery, restoring the real ophthalmic robotic surgery environment as much as possible, and improving the success rate of real surgery.

[0018] 2. When the pitch drive module drives the second slider to move, the pull rod drives the angle change of the feed linear module, 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 drive member 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 complement each other, so that the motion module 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 precise.

[0019] It should be understood that both the foregoing general description and the following detailed description are for purposes of illustration and description and are not necessarily limiting of the present application. The accompanying drawings, which are incorporated into and constitute a part of the specification, illustrate the subject matter of the present application. Together, the description and the drawings serve to explain the principles of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] FIG1 is a schematic structural diagram of a simulation training device according to an embodiment of the present application;

[0022] FIG2 is a schematic diagram of a first structure of a surgical execution structure according to an embodiment of the present application;

[0023] FIG3 is a first structural diagram of the surgical execution structure including a third connecting rod assembly according to an embodiment of the present application;

[0024] FIG4 is a second structural diagram of the surgical execution structure including the third connecting rod assembly in an embodiment of the present application;

[0025] FIG5 is a second schematic diagram of the surgical execution structure in an embodiment of the present application (front view);

[0026] FIG6 is a schematic diagram of an eye movement simulation structure in an embodiment of the present application;

[0027] FIG7 is a schematic structural diagram of a U-shaped ring, a base, a bracket, and a first axis drive assembly in an embodiment of the present application;

[0028] FIG8 is a schematic structural diagram of a U-shaped ring, a moving platform, and a second axis drive assembly according to an embodiment of the present application.

[0029] Icons: 100-base plate; 200-eye movement simulation structure; 201-base; 202-moving platform; 203-U-shaped ring; 204-bracket; 205-cavity; 206-eyeball model; 207-first worm seat; 208-first motor seat; 209-first pressure cover; 210-first motor; 211-first worm; 212-first worm gear shaft; 213-second motor seat; 214-second pressure cover; 215-second motor; 216-second worm; 217-second worm gear shaft; 218-joint plate; 219-second worm seat; 300-surgical execution structure; 30 1-spindle; 302-end actuator; 303-first connecting rod; 304-second connecting rod; 305-first slider; 306-base; 307-screw; 308-first driving member; 309-second slider; 310-pull rod; 311-pitch motor; 312-third connecting rod; 313-fourth connecting rod; 314-fifth connecting rod; 315-sixth connecting rod; 316-seventh connecting rod; 317-eighth connecting rod; 318-slide rail; 319-rotation motor. DETAILED DESCRIPTION

[0030] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0031] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.

[0032] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components 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," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections 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.

[0034] Please refer to Figures 1, 6, 7 and 8. In one or more embodiments, a simulation training device for an ophthalmic surgical robot is provided, including a substrate 100; an eye movement simulation structure 200, the eye movement simulation structure 200 including a base 201, a moving platform 202, a U-shaped ring 203, a first axis drive assembly and a second axis drive assembly. The base 201 is detachably connected to the top of the substrate 100, a bracket 204 is provided on the top of the base 201, the top of the bracket 204 abuts against the bottom of the moving platform 202, the U-shaped ring 203 is detachably connected to the surface of the moving platform 202, the first axis drive assembly is provided on the surface of the base 201, and the second axis drive assembly is provided on one side of the U-shaped ring 203. The first axis drive assembly can rotate the moving platform 202 around the first axis through the U-shaped ring 203, and the second axis drive assembly can rotate the moving platform 202 around the second axis direction. A cavity 205 is opened inside the moving platform 202, and an eyeball model 206 is provided inside the cavity 205.

[0035] In this embodiment, the eyeball model 206 can be placed in the cavity 205 for doctor training and exercise, and can be replaced later to ensure the training effect. The eyeball model 206 can be replaced with an ex vivo eyeball according to actual conditions; the first axis drive component can rotate the moving platform 202 around the first axis through the U-shaped ring 203, and the second axis drive component can rotate the moving platform 202 around the second axis. During this process, the moving platform 202 will drive the eyeball model 206 to continuously change its angle, thereby simulating the eye movement of the human eye during the operation to the greatest extent.

[0036] Please refer to Figures 1, 6, 7 and 8. In some embodiments, the first axis drive assembly includes a first worm seat 207, a first motor seat 208 and a first pressure cover 209. The first worm seat 207 and the first pressure cover 209 are both detachably connected to the surface of the base 201. The first motor seat 208 is arranged on the surface of the first worm seat 207. A first motor 210 is arranged on one side of the first motor seat 208. The output end of the first motor 210 passes through the first motor seat 208 and extends into the first worm seat 207 and is connected to the first worm 211. The other end of the first worm 211 is movably connected to the first worm seat 207. A first worm gear shaft 212 is provided on the first pressure cover 209. One end of the first worm gear shaft 212 passes through the base 201 and is connected to the U-shaped ring 203. The other end of the first worm gear shaft 212 is engaged with the surface of the first worm 211. The second axis drive assembly includes a second worm The rod seat 219, the second motor seat 213 and the second pressure cover 214, the second worm seat 219 and the second pressure cover 214 can be detachably connected to one side of the U-shaped ring 203, the second motor seat 213 is arranged on the surface of the second worm seat 219, and a second motor 215 is arranged on one side of the second motor seat 213. The output end of the second motor 215 passes through the second motor seat 213 and extends to the second worm seat 219 and is connected to the second worm 216. The other end of the second worm 216 is movably connected to the second worm seat 219. A second worm gear shaft 217 is provided on the second pressure cover 214, and one end of the second worm gear shaft 217 extends into the cavity 205 and is connected to the joint plate 218. The joint plate 218 is detachably connected to the inner wall of the cavity 205, and the other end of the second worm gear shaft 217 is engaged with the surface of the second worm 216. The surfaces of the first motor 210 and the second motor 215 are both provided with encoders.

[0037] In this embodiment, starting the first motor 210 will cause the first worm 211 to rotate. Through the continuous engagement of the first worm 211 and the first worm gear shaft 212, the first worm gear shaft 212 drives the moving platform 202 and the second axis driving assembly to rotate around the first axis through the U-shaped ring 203. When the second motor 215 is started, the second worm 216 will rotate. Through the continuous engagement of the second worm 216 and the second worm gear shaft 217, the second worm gear shaft 217 drives the moving platform 202 to rotate around the second axis through the joint plate 218, thereby causing the moving platform 202 to rotate continuously to simulate the human eye. Eye movement during surgery, wherein the direction of the first axis is perpendicular to the direction of the first motor 210, the direction of the second axis is perpendicular to the direction of the second motor 215, and the directions of the first axis and the second axis are perpendicular to the center position of the eyeball model 206; wherein the setting of the encoder can monitor the number of revolutions, speed and angle of the output shafts of the first motor 210 and the second motor 215 to ensure that the rotation angle of the movable platform 202 and the second axis drive assembly around the first axis is within the range of ±45° during the operation of the first motor 210, and the rotation angle of the movable platform 202 around the first axis is within the range of ±45° during the operation of the second motor 215.

[0038] Please refer to Figures 1, 2, 3, 4 and 5. In some embodiments, the surgical execution structure 300 can perform surgical operations on the eyeball model 206. The surgical execution structure 300 includes a main shaft 301, an end execution component 302 and a motion module. The main shaft 301 and the motion module are connected through the end execution component 302; the motion module includes a first connecting rod assembly, a feed linear module, a pitch drive assembly, a second connecting rod assembly and a third connecting rod assembly; the end execution component 302 is used to perform surgical operations on the eyeball model 206, and the motion module is used to drive the end execution component 302 to move.

[0039] In this embodiment, the motion module includes a first connecting rod assembly, a feed linear module, a pitch drive assembly and a second connecting rod assembly, and the end actuator 302 is connected to the first connecting rod assembly, and a first parallel four-bar linkage mechanism is formed with the first connecting rod assembly. When the pitch drive assembly drives the second slider 309 to move, the pull rod 310 drives the angle change of the feed linear module, and drives the end actuator 302 to perform a pitch action through the first parallel four-bar linkage, thereby realizing the rotation of the end actuator 302. Through the setting of the feed linear module, the first driving member 308 drives the first slider 305 to move. The first parallel four-bar linkage is used to drive the end-effector assembly 302 to perform feeding motion 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 module drives the end-effector assembly 302 to keep the first link assembly and the main shaft 301 parallel to each other in any posture, so that the surgical execution structure 300 can ensure stability in any posture, making it more precise; the first direction is the extension direction of the X axis in Figure 2, the second direction is the Y axis direction in Figure 2, and the pitch motion direction is the direction around the Z axis in Figure 2.

[0040] Please refer to Figures 1, 2, 3, 4 and 5. In some embodiments, the first link assembly further includes a first link 303, a second link 304 and a first slider 305. The first link 303 and the second link 304 are parallel to each other, the end execution assembly 302 and the first slider 305 are parallel to each other, one end of the first link 303 and the second link 304 are hinged to the surface of the end execution assembly 302, and the other ends of the first link 303 and the second link 304 are hinged to the surface of the first slider 305. The first slider 305, the first link 303, the second link 304 and the end execution assembly 302 constitute a first parallel four-bar linkage.

[0041] In this embodiment, the arrangement of the first connecting rod 303 and the second connecting rod 304 ensures the stability between the end effector assembly 302 and related structures, so that the movement direction is a limited direction and misalignment is avoided.

[0042] Please refer to Figures 1, 2, 3, 4 and 5. In some embodiments, the feed linear module includes a base 306, a screw rod 307, a screw rod 307 nut and a first drive member 308. One end of the base 306 is hinged to the top of the main shaft 301, one end of the screw rod 307 is movably connected to the surface of the base 306, the screw rod 307 nut is threadedly connected to the surface of the screw rod 307, the first drive member 308 is installed on the surface of the base 306, the first slider 305 is installed on the surface of the screw rod 307 nut, and the first drive member 308 can move the first slider 305 along the second direction through the screw rod 307; the feed linear module also includes a pull rod 310, one end of the pull rod 310 is hinged to the surface of the base 306, and the other end of the pull rod 310 is hinged to the surface of the second slider 309.

[0043] In this embodiment, the first driving member 308 causes the screw rod 307 to rotate. Since the screw rod 307 and the screw rod 307 nut are threadedly connected and the position of the screw rod 307 is fixed, the screw rod 307 nut can be lifted and lowered in the second direction (the extension direction of the Y-axis line) during the rotation of the screw rod 307, thereby driving the first slider 305 to achieve lifting and lowering in the second direction (the extension direction of the Y-axis line). The movement accuracy is high and it is not easy to deviate, which can ensure the accuracy of the feeding action of the end execution component 302.

[0044] Please refer to Figures 1, 2, 3, 4 and 5. In some embodiments, the pitch drive assembly includes a second slider 309 and a pitch motor 311. The pitch motor 311 is installed on the main shaft 301. There is a distance gap between the bottom of the pitch motor 311 and the top of the substrate 100. The pitch motor 311 is used to drive the second slider 309 to move along the first direction on the main shaft 301. The pitch motor 311 can drive the second slider 309 to move along the first direction on the surface of the main shaft 301.

[0045] In this embodiment, by providing a pitch motor 311, the second slider 309 can be driven to move along the first direction (X-axis extension direction) on the main shaft 301, thereby realizing the pitch action of the end execution component 302. No human participation is required, and it can be performed automatically with the help of the pitch motor 311 in the pitch drive module with high precision; wherein, the pitch motor 311 can be replaced by a variety of linear drive mechanisms, for example, the pitch motor 311 can be a synchronous pulley mechanism with a screw 307 nut sub-mechanism, a cylinder, an electric push rod, a hydraulic cylinder, a linear motor or a linear module, etc.; wherein the setting of the distance gap will not affect the rotation of the main shaft 301.

[0046] Please refer to Figures 1, 2, 3, 4 and 5. In some embodiments, the second link assembly includes a third link 312, a fourth link 313, a fifth link 314, a sixth link 315 and a seventh link 316. The third link 312 is parallel to the fourth link 313, the sixth link 315 and the seventh link 316 are parallel to each other, one end of the third link 312 and the fourth link 313 are hinged to the surface of the first link 303, one end of the sixth link 315 and the seventh link 316 are hinged to the surface of the main shaft 301, the other end of the third link 312 and the sixth link 315 are hinged to one end of the fifth link 314, and the other end of the fourth link 313 and the seventh link 316 are hinged to the other end of the fifth link 314.

[0047] In this embodiment, the third link 312, the fourth link 313, the fifth link 314, the sixth link 315 and the seventh link 316 constitute a parallel five-bar linkage. By adopting the second link assembly as a parallel five-bar linkage, the first parallel four-bar linkage is ensured to be parallel to the main shaft 301 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 (in the extension direction of the X-axis); through the first parallel four-bar linkage and the parallel five-bar linkage, the surgical instrument of the end-effector assembly 302 can be realized. The instrument realizes rotation along the X-axis and Z-axis and linear motion along the Y-axis at point O. In actual operation, the feed linear module first drives the end-effector 302 to move along the Y-axis extension direction until the micro switch is triggered and the zero point is recorded. Then the feed linear module moves in the opposite direction for a certain distance to position the instrument on the end-effector 302 at point O. Then, the surgical execution structure 300 is dragged to the appropriate position of the eyeball model 206 manually or remotely. Thereafter, the surgical execution structure 300 realizes feeding, pitching and rotation to control the surgical instrument to perform simulated micro-surgery operations in the eyeball model 206.

[0048] Please refer to Figures 1, 2, 3, 4 and 5. In some embodiments, the third connecting rod assembly includes a slide rail 318 and an eighth connecting rod 317. One end of the eighth connecting rod 317 is hinged to the surface of the base 306, and the other end of the eighth connecting rod 317 is hinged to the surface of the slide rail 318. The eighth connecting rod 317 is parallel to the main shaft 301, and the slide rail 318 is parallel to the screw rod 307. A second parallel four-bar linkage mechanism is formed between the slide rail 318, the eighth connecting rod 317, the screw rod 307 and the main shaft 301.

[0049] In this embodiment, by providing a third link assembly in the surgical execution structure 300, it is equivalent to adding a four-bar linkage between the first link 303 and the main shaft 301. A parallel four-bar linkage is formed by the eighth link 317, the slide rail 318, the main shaft 301, and the lead screw 307. The first slider 305 is connected to the first link assembly. The first slider 305 cooperates with the slide rail 318 to perform linear motion, ensuring that the feed linear module does not affect the feed motion of the first parallel four-bar linkage when it moves. When the pitch angle of this structure is 90°, due to its own weight, the end effector 302 of the first parallel four-bar linkage will sink, and the offset is large. However, at the extreme position, the offset is reduced, thereby compensating for the lack of stability of the parallel five-bar linkage. That is, at a pitch angle of 90°, the stability of the end effector 30210 is mainly guaranteed by the parallel five-bar linkage. At the extreme pitch angle, the stability of the end effector 30210 is guaranteed by the pitch linear drive module in cooperation with the first parallel four-bar linkage, and the two complement each other.

[0050] Please refer to Figures 1, 2, 3, 4 and 5. In some embodiments, the number of first connecting rod assemblies is set to two groups, and the two groups of first connecting rod assemblies are symmetrically arranged in the third direction of the base 306; the number of second connecting rod assemblies is set to two groups, and the two groups of second connecting rod assemblies are symmetrically arranged in the third direction of the main axis 301.

[0051] In this embodiment, by setting the number of first link assemblies to two groups, the opposite sides of the end execution assembly 30210 are both affected by the traction and pulling action of the first link assembly, so that the movement stability of the first parallel four-bar linkage is higher. Similarly, by setting the number of second link assemblies to two groups, the second link assemblies are respectively located on both sides of the main shaft 301, so that the first link 303 and the main shaft 301 are always kept parallel, and the end execution assembly 302 has higher accuracy during the position adjustment process.

[0052] Please refer to Figures 1, 2, 3, 4 and 5. In some embodiments, the surgical execution structure 300 also includes a self-rotating motor 319. The right side of the self-rotating motor 319 is detachably connected to the base plate 100. The self-rotating motor 319 is arranged on the side of the motion module away from the end execution component 302. The output shaft of the self-rotating motor 319 is connected to the surface of the main shaft 301. The self-rotating motor 319 is used to drive the main shaft 301 to rotate.

[0053] In this embodiment, the main shaft 301 is driven to rotate around the extension direction of the X-axis by the self-rotating motor 319, providing the surgical execution structure 300 with self-rotating motion, so that the self-rotating motor 319 can drive the end execution component 302 to rotate, meeting the rotation requirements of the end execution component 302. The O point of the surgical execution structure 300 is located on the rotation axis of the self-rotating motor 319 and the main shaft 301, and the O point is ensured to be on the X-axis when the surgical execution structure 300 rotates.

[0054] Specifically, the working principle of the simulation training device for ophthalmic surgical robots provided in this application is:

[0055] The eyeball model 206 is placed in the cavity 205 in advance. During operation, starting the first motor 210 will cause the first worm 211 to rotate. Under the condition that the first worm 211 and the first worm gear shaft 212 are continuously engaged, the first worm gear shaft 212 drives the moving platform 202 and the second axis driving assembly to rotate around the first axis through the U-shaped ring 203. When the second motor 215 is started, the second worm 216 is rotated. Under the condition that the second worm 216 and the second worm gear shaft 217 are continuously engaged, the second worm gear shaft 217 drives the moving platform 202 to rotate around the second axis through the joint plate 218, thereby causing the moving platform 202 to rotate continuously to simulate the eye movement of the human eye during surgery.

[0056] During the operation of the surgical execution structure 300, the first driving member 308 is used to rotate the screw rod 307. Since the screw rod 307 and the screw rod 307 nut are threadedly connected and the position of the screw rod 307 is fixed, the screw rod 307 nut can be lifted and lowered in the second direction (Y-axis extension direction) during the rotation of the screw rod 307, thereby driving the first slider 305 to achieve lifting and lowering in the second direction (Y-axis extension direction). At the same time, the pitch motor 311 can drive the second slider 309 to move along the first direction (X-axis extension direction) on the main shaft 301, thereby realizing the pitch action of the end execution component 302. The main shaft 301 is driven to rotate around the X-axis extension direction by the rotation motor 319, providing the surgical execution structure 300 with rotational motion to realize the position change of the end execution component 302, so as to realize the simulation of surgical operation on the eyeball model 206.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A simulation training device for an ophthalmic surgical robot, characterized in that: include: substrate; An eye movement simulation structure, the eye movement simulation structure includes a base, a moving platform, a U-shaped ring, a first axis drive assembly and a second axis drive assembly, the base is detachably connected to the top of the substrate, a bracket is provided on the top of the base, the top of the bracket is in contact with the bottom of the moving platform, the U-shaped ring is detachably connected to the surface of the moving platform, the first axis drive assembly is provided on the surface of the base, the second axis drive assembly is provided on one side of the U-shaped ring, the first axis drive assembly can rotate the moving platform around the first axis through the U-shaped ring, the second axis drive assembly can rotate the moving platform around the second axis, a cavity is provided inside the moving platform, an eyeball model is provided inside the cavity, the first axis drive assembly includes a first worm seat, a first motor seat and a first pressure cover, the first worm seat and the first pressure cover are both detachably connected to the surface of the base, the first motor seat is provided on the surface of the first worm seat, a first motor is provided on one side of the first motor seat, and the output end of the first motor extends through the first motor seat A first worm is connected to the first worm seat, the other end of the first worm is movably connected to the first worm seat, a first worm gear shaft is provided on the first pressure cover, one end of the first worm gear shaft passes through the base and is connected to the U-shaped ring, and the other end of the first worm gear shaft is meshed with the surface of the first worm; the second axis drive assembly includes a second worm seat, a second motor seat and a second pressure cover, the second worm seat and the second pressure cover are both detachably connected to one side of the U-shaped ring, the second motor seat is provided on the surface of the second worm seat, a second motor is provided on one side of the second motor seat, the output end of the second motor passes through the second motor seat and extends to the second worm seat and is connected to the second worm, the other end of the second worm is movably connected to the second worm seat, a second worm gear shaft is provided on the second pressure cover, one end of the second worm gear shaft extends into the cavity and is connected to a joint plate, the joint plate is detachably connected to the inner wall of the cavity, the other end of the second worm gear shaft is meshed with the surface of the second worm, and encoders are provided on the surfaces of the first motor and the second motor; A surgical execution structure, which can perform surgical operations on the eyeball model, includes a main shaft, an end-execution assembly and a motion module, and the main shaft and the motion module are connected through the end-execution assembly; the motion module includes a first connecting rod assembly, a feed linear module, a pitch drive assembly, a second connecting rod assembly and a third connecting rod assembly; the end-execution assembly is used to perform surgical operations on the eyeball model, and the motion module is used to drive the end-execution assembly to move.

2. The simulation training device for an ophthalmic surgical robot according to claim 1, characterized in that: The first link assembly also includes a first link, a second link and a first slider. The first link and the second link are parallel to each other, the end execution assembly and the first slider are parallel to each other, one end of the first link and the second link are hinged to the surface of the end execution assembly, and the other end of the first link and the second link are hinged to the surface of the first slider. The first slider, the first link, the second link and the end execution assembly constitute a first parallel four-bar linkage.

3. The simulation training device for an ophthalmic surgical robot according to claim 2, characterized in that: The pitch drive assembly includes a second slider and a pitch motor. The pitch motor is installed on the main shaft. There is a distance gap between the bottom of the pitch motor and the top of the substrate. The pitch motor is used to drive the second slider to move along the first direction on the main shaft.

4. The simulation training device for an ophthalmic surgical robot according to claim 3, characterized in that: The feed linear module includes a base, a screw, a screw nut and a first driving member, one end of the base is hinged to the top of the main shaft, one end of the screw is movably connected to the surface of the base, the screw nut is threadedly connected to the surface of the screw, the first driving member is installed on the surface of the base, the first slider is installed on the surface of the screw nut, and the first driving member can move the first slider along the second direction through the screw; the feed linear module also includes a pull rod, one end of the pull rod is hinged to the surface of the base, and the other end of the pull rod is hinged to the surface of the second slider.

5. The simulation training device for an ophthalmic surgical robot according to claim 4, characterized in that: 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, and the sixth connecting rod and the seventh connecting rod are parallel to each other. One end of the third connecting rod and the fourth connecting rod is hinged to the surface of the first connecting rod, and one end of the sixth connecting rod and the seventh connecting rod is hinged to the surface of the main shaft. The other end of the third connecting rod and the sixth connecting rod is hinged to one end of the fifth connecting rod, and the other end of the fourth connecting rod and the seventh connecting rod is hinged to the other end of the fifth connecting rod.

6. The simulation training device for an ophthalmic surgical robot according to claim 5, characterized in that: The third connecting rod assembly includes a sliding rail and an eighth connecting rod, one end of the eighth connecting rod is hinged to the surface of the base, and the other end of the eighth connecting rod is hinged to the surface of the sliding rail, the eighth connecting rod is parallel to the main shaft, and the sliding rail is parallel to the screw rod. The sliding rail, the eighth connecting rod, the screw rod and the main shaft constitute a second parallel four-bar linkage mechanism.

7. The simulation training device for an ophthalmic surgical robot according to claim 6, characterized in that: The number of the first connecting rod assemblies is set to two groups, and the two groups of the first connecting rod assemblies are symmetrically arranged in the third direction of the base; the number of the second connecting rod assemblies is set to two groups, and the two groups of the second connecting rod assemblies are symmetrically arranged in the third direction of the main axis.

8. The simulation training device for an ophthalmic surgical robot according to claim 7, characterized in that: The surgical execution structure also includes a self-rotating motor, the right side of which is detachably connected to the base plate. The self-rotating motor is arranged on the side of the motion module away from the end execution component. The output shaft of the self-rotating motor is connected to the surface of the main shaft, and the self-rotating motor is used to drive the main shaft to rotate.

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