CN210990702U - Multi-degree-of-freedom surgical robot based on high-rigidity parallelogram telecentric mechanism - Google Patents

Abstract

The application provides a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism. The three-dimensional moving platform is used for adjusting the spatial position of a surgical tool, the high-rigidity parallelogram mechanism is used for adjusting the posture of the surgical tool, and the surgical tool moving mechanism is used for feeding and adjusting the angle of the surgical tool and comprises a surgical tool quick-detaching mechanism. The posture adjustment can be carried out to the operation instrument to this application, can guarantee that the operation instrument removes along the arbitrary orbit in space, the angle realizes adjusting wantonly, guarantees the accuracy and the stability of operation. The application has the advantages of stable structure, simple motion mode, convenient operation and good application prospect.

Description

Multi-degree-of-freedom surgical robot based on high-rigidity parallelogram telecentric mechanism

Technical Field

The application relates to the technical field of surgical robots, in particular to a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism.

Background

The orbit of a human is a conical bony space with the volume of only about 30ml, and once inflammation occurs, the volume of the orbital tissues is increased, the eyeball protrudes outwards, and hyperthyroidism exophthalmos is caused. When patients are not sensitive or tolerant to radiotherapy, hormone therapy and the like, orbital decompression surgery becomes the only effective means for relieving the compressive optic neuropathy and the exposed keratitis. The orbital decompression operation can enlarge the orbital volume by chiseling out the orbital bone wall, thereby achieving the treatment effect of orbital decompression.

However, orbital decompression surgery has a series of problems, such as difficulty, complex anatomy, narrow space, limited visual field, inaccurate positioning, full experience of decompression range and the like, and doctors with abundant experience are limited, so that the popularization of the surgery is limited. With the rise of medical robots, the robot technology is combined with the traditional surgical technology, and the surgery performed with the assistance of robots can effectively improve the problems. The position adjusting mechanism of the robot can quickly move the surgical tool to the position near a focus point and simulate a surgical path to move; the telecentric mechanism is specially designed, so that the robot can adjust the posture around the target point, and the safety of the operation is guaranteed. But orbital decompression operation needs to carry out the grinding to the bone, can produce great effort, and current telecentric mechanism is mostly idle running, and rigidity is not enough, can't satisfy the demand of this type of operation.

SUMMERY OF THE UTILITY MODEL

In view of the above drawbacks of the prior art, the present application provides a multi-degree-of-freedom surgical robot based on a parallelogram telecentric mechanism with high rigidity, which is used to solve the problems of inaccurate positioning, long operation time, and full experience of decompression range during orbital decompression surgery.

To achieve the above and other related objects, the present application provides a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism, the multi-degree-of-freedom surgical robot comprising: the device comprises a base, a three-dimensional moving platform, a horizontal rotating mechanism, a linear module mechanism, a parallelogram mechanism and a surgical tool moving mechanism; the three-dimensional moving platform is arranged on the supporting frame of the base; a Z-axis sliding table in the three-dimensional mobile platform is fixedly connected with the horizontal rotating mechanism; the linear module mechanism is fixed on a flange shaft of the horizontal rotating mechanism; the high-rigidity parallelogram mechanism is fixed on a first bottom plate of the linear module mechanism, and a driving plate of the parallelogram mechanism is connected with a first bearing seat of the linear module mechanism; the surgical tool moving mechanism is fixed on the bottom plate at the tail end of the parallelogram mechanism.

In an embodiment of the present application, the three-dimensional moving platform includes: the X-axis sliding table, the Y-axis sliding table and the Z-axis sliding table are respectively connected with a mobile servo motor; the Y-axis sliding table is horizontally and vertically fixed on the X-axis sliding seat corresponding to the X-axis sliding table; the Z-axis sliding table is longitudinally and vertically fixed on a Y-axis sliding seat corresponding to the Y-axis sliding table; and the horizontal rotating mechanism is fixed on the Z-axis sliding seat corresponding to the Z-axis sliding table.

In an embodiment of this application, X axle slip table, Y axle slip table, and the side of Z axle slip table is equipped with photoelectric switch respectively, X axle slide, Y axle slide, and Z axle slide is equipped with the response piece respectively, photoelectric switch with the response piece is used for the record to remove the number of times.

In an embodiment of the present application, the horizontal rotation mechanism includes: the device comprises a box body, a side cover, a rotary servo motor, a speed reducer, a first synchronous belt wheel, a second synchronous belt wheel, a first synchronous belt, a first bearing, a second bearing and a flange shaft; the box body is fixed on the Z-axis sliding table; the rotary servo motor is connected with the speed reducer; the speed reducer is fixed on the outer side of the side cover, and an output shaft of the speed reducer penetrates through a first hole formed in the side cover and is inserted into the first synchronous pulley; the flange shaft is embedded and fixed in a second hole formed in the side cover; the long output shaft of the flange shaft is inserted into the second synchronous belt pulley; the first synchronous belt is sleeved on the first synchronous belt wheel and the second synchronous belt wheel; a third hole is formed in the side plate, corresponding to the second hole of the side cover, of the box body so as to be embedded with the first bearing, and the long output shaft of the flange shaft is inserted into the first bearing; the second bearing is sleeved on the short output shaft of the flange shaft; the first bearing and the second bearing are respectively in interference fit with the flange shaft.

In an embodiment of the present application, the linear module mechanism includes: the device comprises a connecting plate, a first bottom plate, a supporting beam, a first motor bracket, a module servo motor, a third bearing, a transmission shaft, a first coupler, a third synchronous pulley, a fourth synchronous pulley, a second synchronous belt, a linear module, a module sliding block, a sliding block connecting plate and a first bearing seat; the connecting plate is connected with the flange shaft of the horizontal rotating mechanism; the first bottom plate is fixedly connected with the connecting plate; the supporting beams are respectively fixedly connected with the first bottom plate and the connecting plate for reinforcement; the first motor bracket is arranged at the bottom of the first bottom plate and is used for loading the module servo motor; the third bearing is embedded in the hole of the connecting plate; one end of the transmission shaft is connected with the third bearing, and the other end of the transmission shaft is connected with one end of the first coupler; the third synchronous belt wheel is connected with the module servo motor; the fourth synchronous belt pulley is sleeved on the transmission shaft; the second synchronous belt is sleeved on the third synchronous belt wheel and the fourth synchronous belt wheel; the other end of the first coupler is connected with the input end of a lead screw on the linear module; the module sliding block is used for sliding on a lead screw of the linear module, the sliding block connecting plate is arranged on the module sliding block, and the first bearing seat is arranged on the sliding block connecting plate and is used for being fixedly connected with the parallelogram mechanism.

In an embodiment of the present application, the parallelogram mechanism includes: the driving plate, the first short shaft, the second short shaft, the third short shaft, the first long shaft, the second long shaft, the third long shaft, the second bearing seat, the first plate, the second plate, the third plate, the fourth plate, the fifth plate, the thrust needle roller bearing, the fifth bearing, the gasket, the bolt, the end cover, the beam, the ball shaft plunger and the tail end base plate; the first short shaft penetrates through the first bearing seat and is connected with one end of the driving plate; the other end of the driving plate is arranged on the first long shaft; the first long shaft is arranged between the second plates; the second bearing seat is arranged on a first bottom plate of the linear module mechanism; the second short shaft penetrates through the second bearing seat to be connected with the first plate; the second long shaft penetrates through the second bearing seat to be connected with the second plate; the third long shaft is arranged between the first plate and the second plate; the third short shaft is arranged on the fifth plate; the thrust needle roller bearing is sleeved on the third short shaft and two ends of the third long shaft; the fifth bearing is respectively embedded in bearing holes of the second plate, the third plate and the fourth plate; the third plate and the fourth plate are respectively arranged at two ends of the third long shaft and the third short shaft through the fifth bearing; the gaskets and the bolts are respectively arranged at two ends of the first long shaft, two ends of the third long shaft and the third short shaft; the end covers cover the bearing holes of the second plate, the third plate and the fourth plate; the beam is fixedly arranged between the third plate and the fourth plate; the ball shaft plunger is arranged on the third plate; the end bottom plate is arranged between the fifth plates.

In one embodiment of the present application, the surgical tool moving mechanism includes: the device comprises a second bottom plate, a second motor bracket, a first motor, a second coupler, a lead screw, a linear guide rail, a slide block, a lead screw nut, a slide block connecting block, a third bearing seat, a fourth bearing seat, a proximity switch, a movable bottom plate, a third motor bracket, a second motor, a pinion, a gearwheel, a thin-wall bearing seat, a rotary shaft barrel and a navigation bracket; the second bottom plate is fixed on the bottom plate at the tail end of the parallelogram mechanism; the second motor support, the third bearing seat, the linear guide rail and the fourth bearing seat are sequentially and respectively arranged on the second bottom plate; the first motor is arranged on the second motor bracket, and the second coupling is connected with an output shaft of the first motor and an input end of the lead screw; the linear guide rail is correspondingly provided with the sliding block capable of sliding on the linear guide rail; the movable bottom plate is fixedly connected with the sliding block through the sliding block connecting block; the lead screw nut is connected with the sliding block connecting block; the proximity switch is arranged on the third bearing seat; the third motor bracket is fixed on the movable bottom plate and is used for loading the second motor; the thin-wall bearing block is arranged on the movable bottom plate; the pinion is arranged on an output shaft of the second motor; the small gear is meshed with the large gear; the bull gear is fixedly connected with the rotating shaft barrel; the rotating shaft cylinder is matched with a bearing of the thin-wall bearing block; the navigation support is arranged on the rotating shaft cylinder.

In an embodiment of the present application, the method further includes: a surgical tool quick release mechanism; the surgical tool quick-release mechanism is fixedly connected with the rotating shaft cylinder of the surgical tool moving mechanism.

In one embodiment of the present application, the surgical tool quick release mechanism includes: the quick-release base body, the surgical tool clamp, the hand-screwed bolt, the limiting key and the elastic steel ball assembly are arranged on the base body; the quick-release base body is sleeved on the rotating shaft barrel of the surgical tool moving mechanism, and a hand-screwed bolt, a limiting key and an elastic steel ball assembly are arranged on the quick-release base body; the surgical tool clamp is provided with a sliding groove, and the sliding groove is clamped on the quick-release base body along the limiting key.

In one embodiment of the present application, the elastic steel ball assembly is jacked up by rotating the surgical tool fixture; and the tightness between the surgical tool clamp and the quick-release base body is adjusted by rotating the hand-screwed bolt.

As mentioned above, the multi-degree-of-freedom surgical robot based on the high-rigidity parallelogram telecentric mechanism provided by the application is compared with the prior art, and the application has the following beneficial effects:

on the basis of the existing parallelogram telecentric mechanism, a novel high-rigidity parallelogram telecentric mechanism is designed by adopting components such as a thrust needle bearing, a ball plunger, a supporting beam and the like and optimizing the connection mode. The tail end of the high-rigidity parallelogram mechanism is additionally provided with the operation tool moving mechanism, so that the robot can complete feeding and rotating operations such as bone drilling and bone grinding, and the quick-release mechanism of the operation tool is designed, so that the operation tool can be quickly and conveniently replaced to adapt to different operation requirements. The medical robot has the advantages of stable structure, simple motion mode, convenience in operation and good application prospect in the medical field.

Drawings

Fig. 1 shows a schematic structural diagram of a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism in an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a three-dimensional moving platform according to an embodiment of the present application.

Fig. 3 is an exploded view of the horizontal rotation mechanism in an embodiment of the present application.

Fig. 4 is an exploded view of the linear module mechanism according to an embodiment of the present invention.

FIG. 5 is an exploded view of the parallelogram mechanism of the present application in one embodiment.

Fig. 6 is an exploded view of the surgical tool movement mechanism of the present application in one embodiment.

Fig. 7 is an exploded view of the surgical tool quick release mechanism according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

Embodiments of the present application will be described in detail below with reference to the accompanying drawings so that those skilled in the art to which the present application pertains can easily carry out the present application. The present application may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly explain the present application, components that are not related to the description are omitted, and the same reference numerals are given to the same or similar components throughout the specification.

Throughout the specification, when a component is referred to as being "connected" to another component, this includes not only the case of being "directly connected" but also the case of being "indirectly connected" with another element interposed therebetween. In addition, when a component is referred to as "including" a certain constituent element, unless otherwise stated, it means that the component may include other constituent elements, without excluding other constituent elements.

When an element is referred to as being "on" another element, it can be directly on the other element, or intervening elements may also be present. When a component is referred to as being "directly on" another component, there are no intervening components present.

Although the terms first, second, etc. may be used herein to describe various elements in some instances, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first interface and the second interface, etc. are described. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a", "an" and "the" include plural forms as long as the words do not expressly indicate a contrary meaning. The term "comprises/comprising" when used in this specification is taken to specify the presence of stated features, regions, integers, steps, operations, elements, and/or components, but does not exclude the presence or addition of other features, regions, integers, steps, operations, elements, and/or components.

Terms indicating "lower", "upper", and the like relative to space may be used to more easily describe a relationship of one component with respect to another component illustrated in the drawings. Such terms are intended to include not only the meanings indicated in the drawings, but also other meanings or operations of the device in use. For example, if the device in the figures is turned over, elements described as "below" other elements would then be oriented "above" the other elements. Thus, the exemplary terms "under" and "beneath" all include above and below. The device may be rotated 90 or other angles and the terminology representing relative space is also to be interpreted accordingly.

Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism according to an embodiment of the present application. As shown in the drawing, the multiple degree of freedom surgical robot includes: the device comprises a base 1, a three-dimensional moving platform 2, a horizontal rotating mechanism 3, a linear module mechanism 4, a parallelogram mechanism 5 and an operation tool moving mechanism 6.

It should be noted that the multiple degree of freedom surgical robot described in the present application may further include a surgical tool quick release mechanism. Such as the surgical tool quick release mechanism 7 shown in fig. 1. It is understood that in other embodiments, the multiple degree of freedom surgical robot described herein may not include the surgical tool quick release mechanism.

In this embodiment, the three-dimensional moving platform 2 is used for adjusting the spatial position of a surgical tool, the parallelogram mechanism 5 is used for adjusting the posture of the surgical tool, and the surgical tool moving mechanism 6 is used for feeding and angle adjustment of the surgical tool.

In this embodiment, the three-dimensional moving platform 2 is disposed on the supporting frame 11 of the base 1; a Z-axis sliding table 23 in the three-dimensional mobile platform 2 is fixedly connected with the horizontal rotating mechanism 3; the linear module mechanism 4 is fixed on the flange shaft 310 of the horizontal rotating mechanism 3; the high-rigidity parallelogram mechanism 5 is fixed on the first bottom plate of the linear module mechanism 4, and the driving plate 51 of the parallelogram mechanism 5 is connected with the first bearing seat 493 of the linear module mechanism 4; the surgical tool movement mechanism 6 is fixed to the end base plate 59 of the parallelogram mechanism 5.

In addition, as shown in fig. 1, the surgical tool quick release mechanism 7 is connected to the rotary shaft cylinder fixing 619 of the surgical tool moving mechanism 6. Wherein the surgical tool quick release mechanism 7 is used for clamping a surgical tool 8.

Fig. 2 is a schematic structural diagram of a three-dimensional mobile platform according to an embodiment of the present invention. As shown, the three-dimensional moving platform 2 includes: an X-axis sliding table 21, a Y-axis sliding table 22 and the Z-axis sliding table 23 which are respectively connected with a mobile servo motor 24.

In the present embodiment, the three-dimensional moving platform 2 is mainly used for adjusting the spatial position of the surgical tool.

Further, the Y-axis slide table 22 is horizontally and vertically fixed on the X-axis slide seat 211 corresponding to the X-axis slide table 21; the Z-axis sliding table 23 is vertically fixed on a Y-axis sliding seat 221 corresponding to the Y-axis sliding table 22 in the longitudinal direction; the horizontal rotating mechanism 3 as shown in fig. 1 is fixed on the Z-axis slide 231 corresponding to the Z-axis sliding table 23.

In this embodiment, the three-dimensional moving platform 2 is a main moving mechanism for realizing multiple degrees of freedom of the multiple degree of freedom surgical robot described in the present application, and is a unit having the largest moving distance in the multiple degree of freedom surgical robot described in the present application. The X-axis sliding table 21, the Y-axis sliding table 22 and the Z-axis sliding table 23 form a whole, and large-range movement in three dimensions can be achieved. Each sliding table is correspondingly provided with a sliding seat, and the sliding seats are driven by correspondingly connected moving servo motors 24 to move in the corresponding axial direction. For example, the movement servo motor 24 moves the X-axis slide 211, and the movement in the X-axis direction can be realized.

In some embodiments, the X-axis slide table 21, the Y-axis slide table 22, and the Z-axis slide table 23 can be driven by the moving servo motor 24 to move simultaneously, or move separately, or move sequentially in an XYZ sequence.

In an embodiment of the present application, the side of X axle slip table 21, Y axle slip table 22, and Z axle slip table 23 is equipped with photoelectric switch 25 respectively, X axle slide 211, Y axle slide 221, and Z axle slide 231 is equipped with response piece 26 respectively, photoelectric switch 25 with response piece 26 is used for the record to remove the number of times.

It should be noted that the photoelectric switch 25 disposed on the X-axis sliding table 21 and the sensing piece 26 disposed on the X-axis sliding base 211 are not shown in fig. 2 due to the angle, but it is understood that the photoelectric switch 25 is also disposed on the X-axis sliding table 21 and the sensing piece 26 is also disposed on the X-axis sliding base 211.

In this embodiment, the photoelectric switch 25 is a short term photoelectric proximity switch, and detects the presence or absence of an object by using the shielding or reflection of the detected object to the light beam and turning on the circuit by the synchronous circuit.

Each photoelectric switch 25 is relatively fixed relative to each axial sliding table, each sensing piece 26 is relatively fixed relative to each axial sliding base, each axial sliding base is relatively moved relative to each axial sliding base, therefore, each sensing piece 26 is also relatively moved relative to the corresponding photoelectric switch 25, and through the relative movement of the sensing piece 26 and the photoelectric switch 25, the photoelectric switch 25 can be shielded or reflected by light beams, so that the circuit of the photoelectric switch 25 is switched on and off, and the recording of the number of times of each axial movement is realized.

It should be noted that the X-axis sliding table 21, the Y-axis sliding table 22, and the Z-axis sliding table 23 are made of high-strength materials, such as alloy and metal, so as to solve the problem that when the orbital decompression surgery grinds bones, a large acting force generated by the orbital decompression surgery is insufficient in rigidity of the existing telecentric mechanism which mostly runs in an idle state.

Fig. 3 is an exploded view of the horizontal rotation mechanism according to an embodiment of the present invention. As shown in the figure, the horizontal rotation mechanism 3 includes: the main body 31, the side cover 32, the rotation servo motor 33, the speed reducer 34, the first timing pulley 35, the second timing pulley 36, the first timing belt 37, the first bearing 38, the second bearing 39, and the flange shaft 310.

Specifically, the box 31 is fixed to the Z-axis sliding table 23 shown in fig. 1 or fig. 2, and more specifically, the box 31 is fixed to the Z-axis sliding seat 231 shown in fig. 2; the rotary servo motor 33 is connected with the speed reducer 34 to drive the speed reducer 34 to rotate; the reducer 34 is fixed on the outer side of the side cover 32, and an output shaft 341 of the reducer 34 passes through a first hole 321 formed in the side cover 32 and is inserted into the first synchronous pulley 35; the flange shaft 310 is embedded and fixed in a second hole 322 arranged on the side cover 32; the long output shaft 3101 of the flange shaft 310 is inserted into the second timing pulley 36; the first synchronous belt 37 is sleeved on the first synchronous pulley 35 and the second synchronous pulley 36 to realize synchronous rotation of the first synchronous pulley 35 and the second synchronous pulley 36; a third hole 311 is formed in a side plate of the case 31 corresponding to the second hole 322 of the side cover 32 to receive the first bearing 38, and the long output shaft 3101 of the flange shaft 310 is inserted into the first bearing 38; the second bearing 39 is sleeved on the short output shaft 3102 of the flange shaft 310; the first bearing 38 and the second bearing 39 are respectively in interference fit with two ends of the flange shaft 310.

In this embodiment, the horizontal rotation mechanism 3 can buffer the direct impact force from the rotation servo motor 33 through the components arranged therein, so as to enable the linear module mechanism 4 connected with the horizontal rotation mechanism 3 and shown in fig. 1 to rotate smoothly.

Fig. 4 is an exploded view of the linear module mechanism according to an embodiment of the present invention. As shown, the linear die set mechanism 4 includes: the connecting plate 41, the first bottom plate 42, the supporting beam 43, the first motor bracket 44, the module servo motor 45, the third bearing 46, the transmission shaft 47, the first coupling 48, the third synchronous pulley 471, the fourth synchronous pulley 472, the second synchronous belt 473, the linear module 49, the module sliding block 491, the sliding block connecting plate 492, and the first bearing seat 493.

Specifically, the connecting plate 41 is connected to the flange shaft 310 of the horizontal rotation mechanism 3 in fig. 1 or 3; the first bottom plate 42 is fixedly connected with the connecting plate 41; the supporting beams 43 are fixedly connected with the first bottom plate 42 and the connecting plate 41 respectively for reinforcement, wherein the supporting beams 43 may include two ones, which are composed of an upper supporting beam and a lower supporting beam; the first motor bracket 44 is disposed at the bottom of the first base plate 42 and loads the module servo motor 45.

The third bearing 46 is embedded in the hole 411 of the connecting plate 41; one end of the transmission shaft 47 is connected to the third bearing 46, and the other end of the transmission shaft 47 is connected to one end of the first coupling 48; the third synchronous pulley 471 is connected to the module servo motor 45, wherein the output shaft 451 of the module servo motor 45 passes through the shaft hole 441 of the first motor bracket 44 and is inserted into the third synchronous pulley 471; the fourth synchronous pulley 472 is sleeved on the transmission shaft; the second timing belt 473 is sleeved on the third timing pulley 471 and the fourth timing pulley 472; the other end of the first coupling 48 is connected to the input end of a lead screw 494 on the linear module 49.

The module sliding block 491 is used for sliding on the lead screw 494 of the linear module 49, the sliding block connecting plate 492 is arranged on the module sliding block 491, and the first bearing seat 493 is arranged on the sliding block connecting plate 492 and is used for fixedly connecting the parallelogram mechanism 5.

In this embodiment, straight line module mechanism 4 can carry out the removal of an axial direction and the rotation of certain angle, with three-dimensional moving platform 2 compares its displacement and diminishes, with horizontal slewing mechanism 3 compares its rotation amplitude and diminishes, relatively speaking, in this application straight line module mechanism 4 is in three-dimensional moving platform 2 with further fine setting on horizontal slewing mechanism 3's the basis, so that this application the removal of multi freedom surgical robot is gentler moderate with the rotation more.

Fig. 5 is an exploded view of the parallelogram mechanism of the present application in one embodiment. As shown, the parallelogram mechanism 5 includes: the drive plate 51, first stub shaft 521, second stub shaft 522, third stub shaft 523, first major shaft 531, second major shaft 532, third major shaft 533, second bearing housing 54, first plate 551, second plate 552, third plate 553, fourth plate 554, fifth plate 555, thrust bearing 56, fifth bearing 57, washer 581, bolt 582, end cap 583, beam 584, ball plunger 585, and end plate 59.

In the present embodiment, the parallelogram mechanism 5 is used for adjusting the posture of the surgical tool.

Specifically, the first short shaft 521 is connected to one end of the driving plate 51 through the first bearing seat 493 shown in fig. 1 or 4; the other end of the driving plate 51 is disposed on the first long shaft 531; the first long axis 531 is disposed between the two second plates 552; the second bearing seat 54 is disposed on the first bottom plate 42 of the linear module mechanism 4 shown in fig. 4; the second stub shaft 522 passes through the second bearing seat 54 and is connected with the first plate 551; the second long shaft 532 passes through the second bearing seat 54 and is connected to the second plate 552; the third long axis 533 is disposed between the first plate 551 and the second plate 552; the third short shaft 523 is disposed on the fifth plate 555; the thrust needle roller bearings 56 are sleeved on the third short shaft 523 and both ends of the third long shaft 533; the fifth bearings 57 are respectively fitted in bearing holes of the second plate 552, the third plate 553, and the fourth plate 554; the third plate 553 and the fourth plate 554 are respectively disposed on both ends of the third major axis 533 and the third minor axis 523 through the fifth bearing 57.

The spacers 581 and the bolts 582 are respectively disposed on both ends of the first long axis 531, both ends of the third long axis 533, and the third short axis 523; the end cap 583 covers the bearing holes of the second plate 552, the third plate 553, and the fourth plate 554; the beam 584 is fixedly disposed between the third plate 553 and the fourth plate 554; the ball plunger 585 is disposed on the third plate 553; the end bottom plates 59 are disposed between the fifth plates 555.

In this embodiment, the driving plate 51, the first plate 551, the second plate 552, the third plate 553, and the fourth plate 554 form a pair.

It should be noted that the structures of the parallelogram mechanism are many or more pairs, and fig. 5 shows the structures of the parallelogram mechanism for simplicity and clarity, and only one marked line is shown for each structure.

In this embodiment, the components of the parallelogram mechanism 5 are made of high-strength materials, such as alloy and metal materials, so as to form a flat high-strength parallelogram telecentric mechanism.

Fig. 6 is an exploded view of the surgical tool mobility mechanism of the present application in one embodiment. As shown, the surgical tool moving mechanism 6 includes: the device comprises a second bottom plate 61, a second motor bracket 62, a first motor 63, a second coupler 64, a lead screw 65, a linear guide rail 66, a slide block 67, a lead screw nut 68, a slide block connecting block 69, a third bearing seat 610, a fourth bearing seat 611, a proximity switch 612, a movable bottom plate 613, a third motor bracket 614, a second motor 615, a pinion 616, a gearwheel 617, a thin-wall bearing seat 618, a rotary shaft tube 619 and a navigation bracket 620;

in the present embodiment, the surgical tool moving mechanism 6 is used for feeding and adjusting the angle of the surgical tool.

Further, the second bottom plate 61 is fixed to the end bottom plate 59 of the parallelogram mechanism 5 as shown in fig. 1 or 5; the second base plate 61 is sequentially provided with the second motor support 62, a third bearing seat 610, a linear guide 66 and a fourth bearing seat 611; the first motor 63 is arranged on the second motor bracket 62, and the second coupling 64 is connected with the output shaft of the first motor 63 and the input end of the lead screw 65; the linear guide rail 66 is correspondingly provided with the slide block 67 which can slide on the linear guide rail; the movable bottom plate 613 is fixedly connected with the slide 67 through the slide connecting block 69; the feed screw nut 68 is connected with the slide block connecting block 69; the proximity switch 612 is arranged on the third bearing seat 610; the third motor support 614 is fixed to the moving base 613 and carries the second motor 615; the thin-walled bearing block 618 is disposed on the movable bottom plate 613; the pinion 616 is disposed on an output shaft of the second motor 615; the small gear 616 meshes with the large gear 617; the large gear 617 is fixedly connected with the rotary shaft barrel 619; the rotating shaft barrel 619 is installed in a matching way with the bearing of the thin-wall bearing block 618; the navigation bracket 620 is disposed on the rotary shaft 619.

The first motor 63 and the second motor 615 are preferably MAXON motors.

Fig. 7 is an exploded view of the surgical tool quick release mechanism according to an embodiment of the present invention. As shown, the surgical tool quick release mechanism 7 includes: the quick-release base 71, the surgical tool clamp 72, the hand-screwed bolt 73, the limiting key 74 and the elastic steel ball assembly 75.

In this embodiment, the elastic steel ball element 75 is preferably at least one.

The quick release base 71 is sleeved on the rotating shaft 619 of the surgical tool moving mechanism 6 shown in fig. 1 or fig. 6, and a hand-screwed bolt 73, a limit key 74 and an elastic steel ball assembly 75 are arranged on the quick release base 71; the surgical tool clamp 72 has a sliding slot 721 clamped to the quick release base 71 along the limiting key 74.

In one embodiment of the present application, the elastic ball assembly 75 is lifted by rotating the surgical tool holder 72; the tightness between the surgical tool holder 72 and the quick release base 71 is adjusted by rotating the hand screw 73.

In this embodiment, the surgical tool holder 72 is used for holding a surgical tool, such as a scalpel, a surgical needle, etc.

To sum up, the multi-degree-of-freedom surgical robot based on the high-rigidity parallelogram telecentric mechanism provided by the application can ensure that the surgical tool moves along any space track and the angle can be adjusted freely by adjusting the pose of the surgical tool through the three-dimensional moving platform and the high-rigidity parallelogram telecentric mechanism, and the accuracy and the stability of the operation are ensured. The application has the advantages of stable structure, simple motion mode, convenient operation and good application prospect.

In summary, the present application effectively overcomes various disadvantages of the prior art and has a high industrial utility value.

The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.

Claims (10)

1. The utility model provides a multi freedom surgical robot based on high rigidity parallelogram telecentric mechanism which characterized in that, multi freedom surgical robot includes: the device comprises a base, a three-dimensional moving platform, a horizontal rotating mechanism, a linear module mechanism, a parallelogram mechanism and a surgical tool moving mechanism;

the three-dimensional moving platform is arranged on the supporting frame of the base; a Z-axis sliding table in the three-dimensional mobile platform is fixedly connected with the horizontal rotating mechanism; the linear module mechanism is fixed on a flange shaft of the horizontal rotating mechanism; the high-rigidity parallelogram mechanism is fixed on a first bottom plate of the linear module mechanism, and a driving plate of the parallelogram mechanism is connected with a first bearing seat of the linear module mechanism; the surgical tool moving mechanism is fixed on the bottom plate at the tail end of the parallelogram mechanism.

2. The multiple degree of freedom surgical robot of claim 1, wherein the three-dimensional moving platform comprises: the X-axis sliding table, the Y-axis sliding table and the Z-axis sliding table are respectively connected with a mobile servo motor;

the Y-axis sliding table is horizontally and vertically fixed on the X-axis sliding seat corresponding to the X-axis sliding table; the Z-axis sliding table is longitudinally and vertically fixed on a Y-axis sliding seat corresponding to the Y-axis sliding table; and the horizontal rotating mechanism is fixed on the Z-axis sliding seat corresponding to the Z-axis sliding table.

3. The multi-degree-of-freedom surgical robot according to claim 2, wherein photoelectric switches are respectively arranged on the sides of the X-axis sliding table, the Y-axis sliding table and the Z-axis sliding table, the X-axis sliding base, the Y-axis sliding base and the Z-axis sliding base are respectively provided with an induction sheet, and the photoelectric switches and the induction sheets are used for recording the moving times.

4. The multiple degree of freedom surgical robot of claim 1, wherein the horizontal rotation mechanism comprises: the device comprises a box body, a side cover, a rotary servo motor, a speed reducer, a first synchronous belt wheel, a second synchronous belt wheel, a first synchronous belt, a first bearing, a second bearing and a flange shaft;

the box body is fixed on the Z-axis sliding table; the rotary servo motor is connected with the speed reducer; the speed reducer is fixed on the outer side of the side cover, and an output shaft of the speed reducer penetrates through a first hole formed in the side cover and is inserted into the first synchronous pulley; the flange shaft is embedded and fixed in a second hole formed in the side cover; the long output shaft of the flange shaft is inserted into the second synchronous belt pulley; the first synchronous belt is sleeved on the first synchronous belt wheel and the second synchronous belt wheel; a third hole is formed in the side plate, corresponding to the second hole of the side cover, of the box body so as to be embedded with the first bearing, and the long output shaft of the flange shaft is inserted into the first bearing; the second bearing is sleeved on the short output shaft of the flange shaft; the first bearing and the second bearing are respectively in interference fit with the flange shaft.

5. The multiple degree of freedom surgical robot of claim 1, wherein the linear module mechanism comprises: the device comprises a connecting plate, a first bottom plate, a supporting beam, a first motor bracket, a module servo motor, a third bearing, a transmission shaft, a first coupler, a third synchronous pulley, a fourth synchronous pulley, a second synchronous belt, a linear module, a module sliding block, a sliding block connecting plate and a first bearing seat;

the connecting plate is connected with the flange shaft of the horizontal rotating mechanism; the first bottom plate is fixedly connected with the connecting plate; the supporting beams are respectively fixedly connected with the first bottom plate and the connecting plate for reinforcement; the first motor bracket is arranged at the bottom of the first bottom plate and is used for loading the module servo motor;

the third bearing is embedded in the hole of the connecting plate; one end of the transmission shaft is connected with the third bearing, and the other end of the transmission shaft is connected with one end of the first coupler; the third synchronous belt wheel is connected with the module servo motor; the fourth synchronous belt pulley is sleeved on the transmission shaft; the second synchronous belt is sleeved on the third synchronous belt wheel and the fourth synchronous belt wheel; the other end of the first coupler is connected with the input end of a lead screw on the linear module;

the module sliding block is used for sliding on a lead screw of the linear module, the sliding block connecting plate is arranged on the module sliding block, and the first bearing seat is arranged on the sliding block connecting plate and is used for being fixedly connected with the parallelogram mechanism.

6. The multiple degree of freedom surgical robot of claim 1, wherein the parallelogram mechanism comprises: the driving plate, the first short shaft, the second short shaft, the third short shaft, the first long shaft, the second long shaft, the third long shaft, the second bearing seat, the first plate, the second plate, the third plate, the fourth plate, the fifth plate, the thrust needle roller bearing, the fifth bearing, the gasket, the bolt, the end cover, the beam, the ball shaft plunger and the tail end base plate;

the first short shaft penetrates through the first bearing seat and is connected with one end of the driving plate; the other end of the driving plate is arranged on the first long shaft; the first long shaft is arranged between the second plates; the second bearing seat is arranged on a first bottom plate of the linear module mechanism; the second short shaft penetrates through the second bearing seat to be connected with the first plate; the second long shaft penetrates through the second bearing seat to be connected with the second plate; the third long shaft is arranged between the first plate and the second plate; the third short shaft is arranged on the fifth plate; the thrust needle roller bearing is sleeved on the third short shaft and two ends of the third long shaft; the fifth bearing is respectively embedded in bearing holes of the second plate, the third plate and the fourth plate; the third plate and the fourth plate are respectively arranged at two ends of the third long shaft and the third short shaft through the fifth bearing;

the gaskets and the bolts are respectively arranged at two ends of the first long shaft, two ends of the third long shaft and the third short shaft; the end covers cover the bearing holes of the second plate, the third plate and the fourth plate; the beam is fixedly arranged between the third plate and the fourth plate; the ball shaft plunger is arranged on the third plate; the end bottom plate is arranged between the fifth plates.

7. The multiple degree of freedom surgical robot of claim 1, wherein the surgical tool movement mechanism comprises: the device comprises a second bottom plate, a second motor bracket, a first motor, a second coupler, a lead screw, a linear guide rail, a slide block, a lead screw nut, a slide block connecting block, a third bearing seat, a fourth bearing seat, a proximity switch, a movable bottom plate, a third motor bracket, a second motor, a pinion, a gearwheel, a thin-wall bearing seat, a rotary shaft barrel and a navigation bracket;

the second bottom plate is fixed on the bottom plate at the tail end of the parallelogram mechanism; the second motor support, the third bearing seat, the linear guide rail and the fourth bearing seat are sequentially and respectively arranged on the second bottom plate; the first motor is arranged on the second motor bracket, and the second coupling is connected with an output shaft of the first motor and an input end of the lead screw; the linear guide rail is correspondingly provided with the sliding block capable of sliding on the linear guide rail; the movable bottom plate is fixedly connected with the sliding block through the sliding block connecting block; the lead screw nut is connected with the sliding block connecting block; the proximity switch is arranged on the third bearing seat; the third motor bracket is fixed on the movable bottom plate and is used for loading the second motor; the thin-wall bearing block is arranged on the movable bottom plate; the pinion is arranged on an output shaft of the second motor; the small gear is meshed with the large gear; the bull gear is fixedly connected with the rotating shaft barrel; the rotating shaft cylinder is matched with a bearing of the thin-wall bearing block; the navigation support is arranged on the rotating shaft cylinder.

8. The multiple degree of freedom surgical robot of claim 7, further comprising: a surgical tool quick release mechanism; the surgical tool quick-release mechanism is fixedly connected with the rotating shaft cylinder of the surgical tool moving mechanism.

9. The multiple degree of freedom surgical robot of claim 8, wherein the surgical tool quick release mechanism comprises: the quick-release base body, the surgical tool clamp, the hand-screwed bolt, the limiting key and the elastic steel ball assembly are arranged on the base body;

the quick-release base body is sleeved on the rotating shaft barrel of the surgical tool moving mechanism, and a hand-screwed bolt, a limiting key and an elastic steel ball assembly are arranged on the quick-release base body; the surgical tool clamp is provided with a sliding groove, and the sliding groove is clamped on the quick-release base body along the limiting key.

10. The multiple degree of freedom surgical robot of claim 9, wherein the resilient steel ball assembly is jacked up by rotating the surgical tool clamp; and the tightness between the surgical tool clamp and the quick-release base body is adjusted by rotating the hand-screwed bolt.

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