CN210990702U - Multi-degree-of-freedom surgical robot based on high-stiffness 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-stiffness parallelogram telecentric mechanism

technical field

The present 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 technique

The human orbit is a conical bony space with a volume of only about 30ml. Once inflammation occurs, the volume of the orbital tissue will increase, causing the eyeball to bulge out, resulting in hyperthyroid exophthalmos. Orbital decompression surgery is the only effective way to relieve compressive optic neuropathy and exposure keratitis when patients are insensitive or intolerant to radiotherapy and hormone therapy. Orbital decompression surgery can expand the orbital volume by cutting out the orbital bone wall, thereby achieving the therapeutic effect of orbital decompression.

However, orbital decompression surgery has a series of problems, such as difficulty, complex anatomy, narrow space, limited field of view, inaccurate positioning, and the range of decompression depends on experience, and the limited number of experienced physicians limit the popularization of this surgery. With the rise of medical robots, combining robotics with traditional surgical techniques, robotic-assisted surgery can effectively improve the above problems. The position adjustment mechanism of the robot can quickly move the surgical tool to the vicinity of the lesion point and simulate the operation path for movement; the telecentric mechanism, with its special design, enables the robot to adjust the posture around the target point, ensuring the safety of the operation. However, orbital decompression surgery needs to grind the bone, which will generate a large force. Most of the existing telecentric mechanisms operate without load and have insufficient rigidity, which cannot meet the needs of this type of surgery.

Utility model content

In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present application is to provide a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism, which is used to solve the existing positioning problems during orbital decompression surgery. Inaccuracy, long operation time, and decompression range are all based on experience.

In order to achieve the above purpose and other related purposes, the present application provides a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism. group mechanism, parallelogram mechanism, and surgical tool moving mechanism; the three-dimensional mobile platform is set on the support frame of the base; the Z-axis slide in the three-dimensional mobile platform is fixedly connected to the horizontal rotation mechanism; the straight line The module mechanism is fixed on the flange shaft of the horizontal rotation mechanism; the high-rigidity parallelogram mechanism is fixed on the first bottom plate of the linear module mechanism, and the driving plate of the parallelogram mechanism is connected to the straight line The first bearing seat of the module mechanism is connected; the operation tool moving mechanism is fixed on the end bottom plate of the parallelogram mechanism.

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

In an embodiment of the present application, the side surfaces of the X-axis sliding table, the Y-axis sliding table, and the Z-axis sliding table are respectively provided with photoelectric switches, and the X-axis sliding seat, the Y-axis sliding seat, and the The Z-axis sliding seat is respectively provided with an induction sheet, and the photoelectric switch and the induction sheet are used to record the number of movements.

In an embodiment of the present application, the horizontal rotation mechanism includes: a box body, a side cover, a rotating servo motor, a reducer, a first synchronous pulley, a second synchronous pulley, a first synchronous belt, a first bearing, The second bearing and the flange shaft; the box body is fixed on the Z-axis slide table; the rotary servo motor is connected to the reducer; the reducer is fixed on the outside of the side cover, and the reducer The output shaft of the device passes through the first hole provided on the side cover and is inserted into the first synchronous pulley; the flange shaft is embedded and fixed in the second hole provided on the side cover; the flange The long output shaft of the shaft is inserted into the second synchronous pulley; the first synchronous belt is sleeved on the first synchronous pulley and the second synchronous pulley; the box on the box corresponds to the side cover A third hole is arranged on the side plate of the second hole to embed 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 the short output shaft of the flange shaft; the first bearing and the second bearing are respectively fitted with the flange shaft by interference.

In an embodiment of the present application, the linear module mechanism includes: a connecting plate, a first base plate, a support beam, a first motor bracket, a module servo motor, a third bearing, a transmission shaft, a first coupling, The third synchronous pulley, the fourth synchronous pulley, the second synchronous belt, the linear module, the module slider, the slider connecting plate, and the first bearing seat; the flange shaft is connected; the first bottom plate is fixedly connected with the connecting plate; the support beams are respectively fixedly connected with the first bottom plate and the connecting plate for reinforcement; the first motor bracket is arranged on The bottom of the first base plate is loaded with 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 transmission The other end of the shaft is connected with one end of the first coupling; the third synchronous pulley is connected with the servo motor of the module; the fourth synchronous pulley is sleeved on the transmission shaft; the The second synchronous belt is sleeved on the third synchronous pulley and the fourth synchronous pulley; the other end of the first coupling is connected with the input end of the lead screw on the linear module; the mould A set of sliders is used to slide on the lead screw of the linear module, the slider connecting plate is arranged on the module slider, the first bearing seat is arranged on the slider connecting plate, the For fixedly connecting the parallelogram mechanism.

In an embodiment of the present application, the parallelogram mechanism includes: the driving plate, a first short axis, a second short axis, a third short axis, a first long axis, a second long axis, and a third long axis Shaft, second bearing seat, first plate, second plate, third plate, fourth plate, fifth plate, thrust needle roller bearing, fifth bearing, gasket, bolt, end cover, a beam, a ball shaft plunger, and the end bottom plate; the first short shaft passes through the first bearing seat and is connected to one end of the drive plate; the other end of the drive plate is arranged on the first on a long axis; the first long axis is arranged between the second plates; the second bearing seat is arranged on the first bottom plate of the linear module mechanism; the second short axis passes through The second bearing seat is connected with the first plate; the second long axis is connected with the second plate through the second bearing seat; the third long axis is arranged on the first plate between the plate and the second plate; the third short axis is arranged on the fifth plate; the two ends of the third long axis and the third short axis are sleeved with the thrust Needle roller bearing; the fifth bearing is respectively embedded in the bearing holes of the second plate, the third plate, and the fourth plate; the third plate and the fourth plate The plates are respectively arranged on both ends of the third long axis and the third short axis through the fifth bearing; the washer and the bolt are respectively arranged on both ends of the first long axis, Both ends of the third long axis and the third short axis; the end caps are covered on 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 on the fifth plate between pieces.

In an embodiment of the present application, the surgical tool moving mechanism includes: a second base plate, a second motor support, a first motor, a second coupling, a lead screw, a linear guide, a slider, a lead screw nut, a slide Block connecting block, third bearing seat, fourth bearing seat, proximity switch, moving base plate, third motor bracket, second motor, pinion gear, large gear, thin-walled bearing seat, rotating shaft barrel, and navigation bracket; the The second bottom plate is fixed on the end bottom plate of the parallelogram mechanism; the second motor bracket, the third bearing seat, the linear guide rail, and the fourth bearing seat are respectively arranged on the second bottom plate in sequence; the first The motor is arranged on the second motor bracket, and the second coupling connects the output shaft of the first motor and the input end of the lead screw; the sliding block; the moving bottom plate is fixedly connected with the sliding block through the sliding block connecting block; the 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 moving base plate and mounts the second motor; the thin-walled bearing seat is arranged on the moving base plate; the pinion is arranged at the output of the second motor the pinion gear meshes with the large gear; the large gear is fixedly connected with the rotating shaft barrel; the rotating shaft barrel is fitted with the bearing of the thin-walled bearing seat; the navigation bracket is arranged on the on the rotating shaft.

In an embodiment of the present application, it further includes: a quick-release mechanism for surgical tools; the quick-release mechanism for surgical tools is fixedly connected to the rotating shaft barrel of the moving mechanism for surgical tools.

In an embodiment of the present application, the quick-release mechanism of the surgical tool includes: a quick-release base, a surgical tool clamp, a hand-tightening bolt, a limit key, and an elastic steel ball assembly; the quick-release base is sleeved on the surgical tool. On the rotating shaft barrel of the tool moving mechanism, the quick-release base is provided with hand-tightening bolts, limit keys, and elastic steel ball assemblies; the surgical tool clamp is provided with a chute, along the limit key card suitable for the quick release base.

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

As mentioned above, the present application provides a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism. Compared with the prior art, the present application achieves the following beneficial effects:

On the basis of the existing parallelogram telecentric mechanism, a new type of parallelogram telecentric mechanism with high rigidity was designed by adopting thrust needle roller bearings, ball-head plungers, support beams and other components, and at the same time optimizing the connection method. The high-rigidity parallelogram mechanism is equipped with a surgical tool moving mechanism at the end, which can complete feeding and rotating operations such as bone drilling and bone grinding with the help of a robot, and a quick-release mechanism for surgical tools is designed, which can quickly and easily replace surgical tools to adapt to different surgical needs. The present invention has stable structure, simple movement mode and convenient operation, and has good application prospects in the medical field.

Description of drawings

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.

FIG. 2 is a schematic structural diagram of a three-dimensional mobile platform in an embodiment of the present application.

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

FIG. 4 is an exploded schematic view of the linear module mechanism in an embodiment of the present application.

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

FIG. 6 is an exploded schematic view of the operation mechanism of the surgical tool in an embodiment of the present application.

FIG. 7 is an exploded schematic view of the quick release mechanism of a surgical tool in an embodiment of the present application.

Detailed ways

The embodiments of the present application are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other under the condition of no conflict.

The 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 implement. The present application can be embodied in many different forms, and is not limited to the embodiments described herein.

In order to clearly describe the present application, components irrelevant 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 said to be "connected" to another component, this includes not only the case of "direct connection" but also the case of "indirect connection" with other elements interposed therebetween. In addition, when a certain member is said to "include" a certain constituent element, unless there is particularly no description to the contrary, it does not exclude other constituent elements, but means that other constituent elements may also be included.

When an element is said to be "on" another element, it can be directly on the other element, but it can also be accompanied by other elements in between. When an element is referred to as being "directly on" another element, it is not accompanied by the other element in between.

Although in some instances the terms first, second, etc. are used herein to describe various elements, 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 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 dictates otherwise. It should be further understood that the terms "comprising", "comprising" indicate the presence of stated features, steps, operations, elements, components, items, kinds, and/or groups, but do not exclude one or more other features, steps, operations, The existence, appearance or addition of elements, assemblies, items, categories, and/or groups. The terms "or" and "and/or" as used herein are to be construed to be inclusive or to mean 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" . Exceptions to this definition arise only when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way.

The technical terms used herein are only used to refer to specific embodiments and are not intended to limit the application. The singular form used here also includes the plural form, as long as the sentence does not clearly express the opposite meaning. The meaning of "comprising" as used in the specification is to embody particular characteristics, regions, integers, steps, operations, elements and/or components, but not to exclude other characteristics, regions, integers, steps, operations, elements and/or components exist or append.

The relative spatial terms "lower," "upper," etc. may be used to more easily describe the relationship of one element to another element as illustrated in the figures. Such terms refer not only to the meaning indicated in the drawings, but also to 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 described as "on" the other elements. Thus, the exemplary term "below" includes both above and below. The device may be rotated through 90° or other angles, and terms representing relative space are to be interpreted accordingly.

As shown in FIG. 1 , 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 is shown. As shown in the figure, the multi-degree-of-freedom surgical robot includes: a base 1 , a three-dimensional moving platform 2 , a horizontal rotation mechanism 3 , a linear module mechanism 4 , a parallelogram mechanism 5 , and a surgical tool moving mechanism 6 .

It should be noted that the multi-degree-of-freedom surgical robot described in this application may further include a quick-release mechanism for surgical tools. Surgical tool quick release mechanism 7 as shown in FIG. 1 . It can be understood that, in other embodiments, the multi-degree-of-freedom surgical robot described in this application may not include the surgical tool quick release mechanism.

In this embodiment, the three-dimensional moving platform 2 is used to adjust the spatial position of the surgical tool, the parallelogram mechanism 5 is used to adjust the posture of the surgical tool, and the surgical tool moving mechanism 6 is used to feed and adjust the surgical tool. Angle adjustment.

In this embodiment, the three-dimensional moving platform 2 is arranged on the support frame 11 of the base 1; the Z-axis slide table 23 in the three-dimensional moving platform 2 is fixedly connected to the horizontal rotation mechanism 3; The group mechanism 4 is fixed on the flange shaft 310 of the horizontal rotation mechanism 3; the high-rigidity parallelogram mechanism 5 is fixed on the first bottom plate of the linear module mechanism 4, and the drive plate of the parallelogram mechanism 5 The component 51 is connected with the first bearing seat 493 of the linear module mechanism 4 ; the surgical tool moving mechanism 6 is fixed on the end bottom plate 59 of the parallelogram mechanism 5 .

In addition, as shown in FIG. 1 , the surgical tool quick release mechanism 7 is fixedly connected 619 to the rotating shaft barrel of the surgical tool moving mechanism 6 . Wherein, the surgical tool quick release mechanism 7 is used for clamping the surgical tool 8 .

As shown in FIG. 2 , a schematic structural diagram of a three-dimensional mobile platform in an embodiment of the present application is shown. As shown in the figure, 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 respectively connected with a moving servo motor 24 .

In this embodiment, the three-dimensional moving platform 2 is mainly used to adjust the spatial position of the surgical tool.

Further, the Y-axis sliding table water 22 is vertically and horizontally fixed on the X-axis sliding seat 211 corresponding to the X-axis sliding table 21 ; the Z-axis sliding table 23 is vertically and vertically fixed on the Y-axis sliding table 22 The corresponding Y-axis sliding seat 221; the Z-axis sliding seat 231 corresponding to the Z-axis sliding table 23 is fixed on the horizontal rotation mechanism 3 as shown in FIG. 1 .

In this embodiment, the three-dimensional moving platform 2 is the main moving mechanism for the multi-degree-of-freedom surgical robot described in the present application to achieve multiple degrees of freedom, and is the unit with the largest moving distance among the multi-degree-of-freedom surgical robots described in the present application. Among them, it is composed of an X-axis slide table 21, a Y-axis slide table 22, and the Z-axis slide table 23, which can realize a wide range of movement in three dimensions. Each sliding table has a corresponding sliding seat, which is driven by a corresponding moving servo motor 24 to realize the movement of the sliding seat in the corresponding axial direction. For example, the moving servo motor 24 drives the movement of the X-axis sliding seat 211, which can realize the movement in the X-axis direction.

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 to move independently, or in an XYZ sequence. Move in sequence.

In an embodiment of the present application, the side surfaces of the X-axis sliding table 21, the Y-axis sliding table 22, and the Z-axis sliding table 23 are respectively provided with photoelectric switches 25, and the X-axis sliding seat 211, the Y-axis sliding table 211, the Y-axis sliding table The seat 221 and the Z-axis sliding seat 231 are respectively provided with a sensing piece 26 , and the photoelectric switch 25 and the sensing piece 26 are used to record the number of movements.

It should be noted that the photoelectric switch 25 disposed on the X-axis slide 21 and the induction sheet 26 disposed on the X-axis slide 211 are not shown in FIG. 2 due to the angle problem However, it can be understood that the photoelectric switch 25 is also provided on the X-axis sliding table 21 , and the induction sheet 26 is also provided on the X-axis sliding seat 211 .

In this embodiment, the photoelectric switch 25 is the abbreviation of the photoelectric proximity switch, which uses the shielding or reflection of the detected object to the light beam, and the circuit is turned on by the synchronization circuit, so as to detect the presence or absence of the object.

Each of the photoelectric switches 25 in this application is relatively fixed with respect to each axial sliding table, and each of the induction sheets 26 is relatively fixed with respect to each of the axial sliding seats, and each axial sliding seat is relatively fixed with respect to each of the axial sliding seats. The axial slide table is relatively movable, therefore, each of the induction pieces 26 is also relatively movable with respect to the corresponding photoelectric switch 25. The photoelectric switch 25 forms the shielding or reflection of the light beam, so that the circuit of the photoelectric switch 25 is turned on and off, so as to realize the recording of the times of movement of each axis.

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 all made of high-strength materials, such as alloys and metals, to solve the problem of grinding bones in orbital decompression surgery. When , the large force generated causes the problem of insufficient rigidity for the existing telecentric mechanisms which are mostly no-load operation.

As shown in FIG. 3 , an exploded schematic diagram of the horizontal rotation mechanism in an embodiment of the present application is shown. As shown in the figure, the horizontal rotation mechanism 3 includes: a box body 31, a side cover 32, a rotary servo motor 33, a reducer 34, a first synchronous pulley 35, a second synchronous pulley 36, a first synchronous belt 37, The first bearing 38 , the second bearing 39 , and the flange shaft 310 .

Specifically, the box body 31 is fixed on the Z-axis sliding table 23 as shown in FIG. 1 or FIG. 2 , and more specifically, the box body 31 is fixed on the Z-axis sliding seat 231 as shown in FIG. 2 . ; The rotary servo motor 33 is connected to the reducer 34 to drive the rotation of the reducer 34; the reducer 34 is fixed on the outside of the side cover 32, and the output shaft 341 of the reducer 34 passes through The first hole 321 provided on the side cover 32 is inserted into the first timing pulley 35; the flange shaft 310 is embedded in the second hole 322 provided on the side cover 32; the flange The long output shaft 3101 of the shaft 310 is inserted into the second synchronous pulley 36; the first synchronous belt 37 is sleeved on the first synchronous pulley 35 and the second synchronous pulley 36 to realize the A timing pulley 35 rotates synchronously with the second timing pulley 36 ; a third hole 311 is provided on the side plate of the box body 31 corresponding to the second hole 322 of the side cover 32 for embedding 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 The first bearing 38 and the second bearing 39 are respectively fitted on both ends of the flange shaft 310 by interference fit.

In this embodiment, the horizontal rotation mechanism 3 can buffer the direct impulse brought by the rotation servo motor 33 through the various components provided therein, so that the horizontal rotation mechanism 3 can be connected correspondingly as shown in FIG. 1 . The linear module mechanism 4 is driven to rotate smoothly.

As shown in FIG. 4 , an exploded schematic diagram of the linear module mechanism in an embodiment of the present application is shown. As shown in the figure, the linear module mechanism 4 includes: a connecting plate 41, a first base plate 42, a support beam 43, a first motor bracket 44, a module servo motor 45, a third bearing 46, a transmission shaft 47, a first Coupling 48 , third synchronous pulley 471 , fourth synchronous pulley 472 , second synchronous belt 473 , linear module 49 , module slider 491 , slider connecting plate 492 , and the first bearing seat 493 .

Specifically, the connecting plate 41 is connected with the flange shaft 310 of the horizontal rotation mechanism 3 as shown in FIG. 1 or FIG. 3 ; the first bottom plate 42 is fixedly connected with the connecting plate 41 ; the support The beams 43 are respectively fixedly connected with the first bottom plate 42 and the connecting plate 41 for reinforcement, wherein, the supporting beams 43 may include two, which are composed of an upper supporting beam and a lower supporting beam; the first motor bracket 44 is arranged at the bottom of the first base plate 42 and mounts 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 the first coupling shaft 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 provided on the first motor bracket 44 hole 441 and insert the third synchronous pulley 471; the fourth synchronous pulley 472 is sleeved on the transmission shaft; the second synchronous belt 473 is sleeved on the third synchronous pulley 471 and the The fourth synchronous pulley 472 ; the other end of the first coupling 48 is connected to the input end of the lead screw 494 on the linear module 49 .

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

In this embodiment, the linear module mechanism 4 is capable of moving in an axial direction and rotating at a certain angle. Compared with the three-dimensional moving platform 2, its moving distance is smaller, and it is comparable to the horizontal rotation mechanism 3. Relatively speaking, in this application, the linear module mechanism 4 is further fine-tuned on the basis of the three-dimensional moving platform 2 and the horizontal rotation mechanism 3, so as to make the application more free The movement and rotation of the surgical robot are more gentle and moderate.

As shown in FIG. 5 , an exploded schematic diagram of the parallelogram mechanism in an embodiment of the present application is shown. As shown in the figure, the parallelogram mechanism 5 includes: the driving plate 51, a first short axis 521, a second short axis 522, a third short axis 523, a first long axis 531, a second long axis 532, The third long shaft 533, the second bearing seat 54, the first plate 551, the second plate 552, the third plate 553, the fourth plate 554, the fifth plate 555, the thrust needle bearing 56, the first plate Five bearings 57 , spacers 581 , bolts 582 , end caps 583 , beams 584 , ball shaft plungers 585 , and the end bottom plate 59 .

In this embodiment, the parallelogram mechanism 5 is used to adjust the posture of the surgical tool.

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

The washer 581 and the bolt 582 are respectively disposed on the two ends of the first long shaft 531, the two ends of the third long shaft 533, and the third short shaft 523; the end cover 583 Covered on the bearing holes of the second plate 552, the third plate 553, and the fourth plate 554; the beam 584 is fixedly arranged on the third plate 553 and the fourth plate 554 between the plates 554 ; the ball shaft plunger 585 is arranged on the third plate 553 ; the end bottom plate 59 is arranged between the fifth plates 555 .

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

It should be noted that most of the structures of the parallelogram mechanism are multiple or multiple pairs, and FIG. 5 shows the structure of the parallelogram mechanism concisely and clearly, and only one marking line is shown for each structure.

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

As shown in FIG. 6 , it is an exploded schematic diagram of the operation mechanism of the surgical tool in an embodiment of the present application. As shown in the figure, the surgical tool moving mechanism 6 includes: a second base plate 61 , a second motor bracket 62 , a first motor 63 , a second coupling 64 , a lead screw 65 , a linear guide 66 , a slider 67 , and a lead screw 65 . Rod nut 68, slider connecting block 69, third bearing seat 610, fourth bearing seat 611, proximity switch 612, moving base plate 613, third motor bracket 614, second motor 615, pinion 616, large gear 617, thin The wall bearing seat 618, the rotating shaft barrel 619, and the navigation bracket 620;

In this embodiment, the surgical tool moving mechanism 6 is used for the feeding and angle adjustment of the surgical tool.

Further, the second bottom plate 61 is fixed on the end bottom plate 59 of the parallelogram mechanism 5 as shown in FIG. 1 or FIG. 5 ; the second bottom plate 61 is respectively provided with the second motor bracket 62 and the first Three bearing seats 610 , linear guide rails 66 , and fourth bearing seats 611 ; the first motor 63 is disposed on the second motor bracket 62 , and the second coupling 64 is connected to the output of the first motor 63 The input end of the shaft and the lead screw 65; the linear guide 66 is correspondingly provided with the sliding block 67 that can slide on it; the moving bottom plate 613 is connected to the sliding block 67 through the sliding block connecting block 69 Fixed connection; the screw nut 68 is connected with the slider connecting block 69 ; the proximity switch 612 is arranged on the third bearing seat 610 ; the third motor bracket 614 is fixed on the moving base plate 613 , and load the second motor 615; the thin-walled bearing seat 618 is arranged on the moving bottom plate 613; the pinion gear 616 is arranged on the output shaft of the second motor 615; the pinion gear 616 and the The large gear 617 is engaged; the large gear 617 is fixedly connected with the rotating shaft barrel 619; the rotating shaft barrel 619 is fitted with the bearing of the thin-walled bearing seat 618; the navigation bracket 620 is arranged on the Rotate the shaft barrel 619.

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

As shown in FIG. 7 , it is an exploded schematic view of the quick-release mechanism of a surgical tool in an embodiment of the present application. As shown in the figure, the surgical tool quick release mechanism 7 includes: a quick release base 71 , a surgical tool clamp 72 , a hand-tightening bolt 73 , a limit key 74 , and an elastic steel ball assembly 75 .

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

The quick-release base 71 is sleeved on the rotating shaft barrel 619 of the surgical tool moving mechanism 6 as shown in FIG. 1 or FIG. 6 , and the quick-release base 71 is provided with hand-tightening bolts 73 and limit keys 74 . , and an elastic steel ball assembly 75 ; the surgical tool holder 72 has a chute 721 , which is engaged with the quick release base 71 along the limit key 74 .

In an embodiment of the present application, the elastic steel ball assembly 75 is lifted up by rotating the surgical tool clamp 72 ; Elastic.

In this embodiment, the surgical tool holder 72 is used for holding surgical tools, such as scalpels, surgical needles, and the like.

To sum up, the present application provides a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism, which can adjust the position and posture of the surgical tool through the three-dimensional moving platform and the high-rigidity parallelogram telecentric mechanism, ensuring that The surgical tool moves along any trajectory in space, and the angle can be adjusted arbitrarily, ensuring the accuracy and stability of the operation. The present invention has stable structure, simple motion mode, convenient operation and good application prospect.

To sum up, the present application effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

The above-mentioned embodiments merely illustrate the principles and effects of the present application, but are not intended to limit the present application. Anyone skilled in the art can make modifications or changes to the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed in this application should still be covered by the claims of this 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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