CN112971994B - An ophthalmic surgical robot based on continuum configuration - Google Patents

Abstract

The invention relates to an ophthalmic surgical robot based on a continuum configuration. Comprises a workbench, a mounting bracket, a driving mechanism and a scalpel, wherein the driving mechanism comprises a continuum joint, a connecting rod, a continuum bracket and a pulley block bracket for fixing a first pulley block and a second pulley block, the driving mechanism also comprises a motor base connected with the mounting bracket, and a first motor, a second motor, a third motor, a fourth motor and a fifth motor which are fixed on the motor base, the output ends of the first motor, the second motor, the third motor and the fourth motor are respectively connected with a first flexible cable, a second flexible cable, a third flexible cable and a fourth flexible cable, the first flexible cable, the second flexible cable, the third flexible cable and the fourth flexible cable are sequentially wound through the first pulley block and the second pulley block, the output end of the fifth motor is connected with the continuum bracket to drive the scalpel to realize the adjustment of the telescopic freedom degree.

Description

An ophthalmic surgical robot based on continuum configuration

technical field

The invention belongs to the field of robots, in particular to an ophthalmic surgical robot based on a continuum configuration.

Background technique

Compared with traditional surgery, robot-assisted minimally invasive surgery has the advantages of accurate target positioning, easy to achieve minimally invasive surgery, and remote surgery. It can improve the efficiency and success rate of surgery, reduce the pain of surgery, and shorten the recovery time after surgery. However, the progress of any surgical method will inevitably bring about an increase in the difficulty of surgical operations. Minimally invasive means smaller surgical incisions, which poses a big challenge to the stability and accuracy of the doctor's hand movement. . During the operation, the movement precision of the doctor's arm and the hand tremor caused by fatigue after a long-term operation will affect the final treatment effect of the operation, and also restrict the progress of medical technology. Robot-assisted minimally invasive surgery can well promote the development of surgery in the direction of minimally invasive, intelligent, and precise, and can realize remote operation.

Because the various tissues inside the human eyeball are small in size and extremely fragile, and the internal environment of the eyeball is relatively complex, eye surgery has become one of the most precise types of surgery in the world. A slight error in the operation of the operator may cause the Causes irreversible damage to the patient's eye. By combining medical imaging technology, modern robotic technology and sensor technology, the ophthalmic surgical robot has great advantages over human hands in terms of operation accuracy, stability and flexibility, which can promote contemporary ophthalmology Surgery is developing towards a minimally invasive, precise and intelligent direction. The continuum robot is a flexible robot with a "spineless" flexible configuration inside, which can make the outer diameter very small, and also has a high degree of freedom of movement, excellent bending performance, and is suitable for complex non-structural The environment has the characteristics of very strong adaptability, so it can well meet the various characteristics of ophthalmic surgery operations.

The domestic ophthalmic surgical robot is still in its infancy, and there is a big gap with the foreign research level. The current ophthalmic surgical robot still needs to be improved in many places. The patent with publication number CN107019559A discloses a fully automatic ophthalmic surgical robot. The invention patent has the characteristics of flexible movement, high installation and movement precision, but its structure is complex, the production cost is high, and the installation and debugging are difficult. The patent with publication number CN210962596U discloses an ophthalmic surgical robot. The invention patent has the advantages of short debugging period, high stability and simple control, but because its mechanical arm adopts oil cylinder transmission, the transmission accuracy is difficult to be guaranteed and failure occurs. It is not easy to find the cause, and it is prone to dynamic error accumulation due to its long transmission line.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an ophthalmic surgery robot based on a continuum configuration, which can improve the therapeutic effect of surgery and reduce the operation burden of doctors.

In order to achieve the above purpose, the present invention adopts the following technical solutions: including a workbench, a mounting bracket arranged on the workbench, a driving mechanism fixed on the mounting bracket, and a scalpel connected with the driving mechanism, and the driving mechanism includes a The continuum joint connected with the scalpel, the connecting rod connected with the continuum joint, the continuum bracket for fixing the connecting rod, the pulley block bracket for fixing the first pulley block and the second pulley block, and the drive mechanism also includes and installs The motor base connected to the bracket and the first motor, the second motor, the third motor, the fourth motor and the fifth motor fixed on the motor base, the first motor, the second motor, the third motor and the fourth motor The output ends are respectively connected with the first flexible cable, the second flexible cable, the third flexible cable, and the fourth flexible cable, and the first flexible cable, the second flexible cable, the third flexible cable, and the fourth flexible cable are wound around the warp in turn After the first pulley group and the second pulley group are connected with the continuum joint through the inner part of the connecting rod to realize the adjustment of the pitch and deflection degrees of freedom of the scalpel, the output end of the fifth motor is connected with the continuum bracket to drive the scalpel to achieve freedom of expansion degree of adjustment, the first motor, the second motor, the third motor, the fourth motor and the fifth motor are all linear motors;

The connecting rod includes a first connecting rod connected with the scalpel and a second connecting rod connected with the first connecting rod, the other end of the second connecting rod is provided with a flange, and the flange is fixed by screws On the continuum support, the first connecting rod and the second connecting rod are both stepped hollow tubes, and the first flexible cable, the second flexible cable, the third flexible cable and the fourth flexible cable are respectively Pass through the inside of the first link and the second link;

The second pulley group and the first pulley group are arranged in parallel in the front-rear direction, the first pulley group and the second pulley group have the same structure, different sizes, and the center axes are consistent; the first pulley group includes a square-shaped first pulley group. A frame body, the four corners of the first frame body are respectively provided with a first pulley, a second pulley, a third pulley and a fourth pulley, and the second pulley group includes a box-shaped second frame body, and the four corners of the second frame body are A fifth pulley, a sixth pulley, a seventh pulley and an eighth pulley are respectively provided, wherein: the position of the first pulley corresponds to the fifth pulley, and the first pulley and the fifth pulley are matched with the first flexible cable, and the first pulley The position of the second pulley corresponds to the sixth pulley, the second pulley and the sixth pulley cooperate with the second flexible cable, the position of the third pulley corresponds to the seventh pulley, and the third pulley, the seventh pulley and the third pulley The flexible cables are matched, the position of the fourth pulley corresponds to the eighth pulley, and the fourth pulley and the eighth pulley are matched with the fourth flexible cable.

The head of the continuum joint is fixed with the scalpel, the tail of the continuum joint is fixed with the connecting rod, the continuum joint is composed of a plurality of joint bodies arranged in a row, and the joint bodies are all short cylinders The joint bodies are matched and connected by spherical hinges, and the joint bodies are uniformly provided with a first flexible cable hole, a second flexible cable hole, a third flexible cable hole and a fourth flexible cable hole along the circumferential direction of the joint body. The flexible cable hole, the first flexible cable hole, the second flexible cable hole, the third flexible cable hole, and the fourth flexible cable hole are all through holes passing through the axial direction of the joint body. One end of the second flexible cable, the third flexible cable and the fourth flexible cable is fixed with the head of the continuum joint, and the other ends pass through the corresponding flexible cable holes of each joint body in turn to form a series connection of a plurality of joint bodies.

The first frame body is surrounded by an upper frame, a left frame, a lower frame and a right frame which are connected in sequence, and one end of the upper frame is provided with a fourth shaft body in the direction of 45° to the lower left. The shaft body forms a plug fit with the upper end of the left bracket, and the fourth pulley is arranged on the fourth shaft body; the other end of the upper bracket is provided with a first shaft body in the direction of 45° downward to the right, and the first shaft The body and the upper end of the right bracket form a plug fit, and the first pulley is arranged on the first shaft body; one end of the lower bracket is provided with a third shaft body in the direction of 45° to the upper left, and the third shaft body and the left The lower end of the bracket forms a plug fit, and the third pulley is arranged on the third shaft body; the other end of the lower bracket is provided with a second shaft body in the direction of 45° to the upper right, and the second shaft body is connected to the right bracket. The lower end forms a plug fit, and the second pulley is arranged on the second shaft body, and the bottom of the lower bracket is also provided with a connecting seat connected with the pulley block bracket.

The first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley, the sixth pulley, the seventh pulley and the eighth pulley are all composed of an outer ring and an inner deep groove ball bearing. The outer ring is provided with a V-shaped groove matched with the flexible cable.

The continuous body support and the pulley block support are arranged opposite to each other and are located in the same vertical plane. One end of the pulley block support is fixedly connected with the motor seat, and the other end is overhanging, and the overhanging end is provided with a connecting rod for passing through. holes.

The first motor, the second motor, the third motor and the fourth motor are uniformly arranged in sequence along the circumferential direction of the motor base, wherein: the first motor and the fourth motor are arranged symmetrically, the second motor and the third motor are arranged symmetrically, The fifth motor is arranged between the first motor and the fourth motor.

The workbench is composed of a platform body, a universal wheel arranged at the bottom of the platform body, and a mounting seat arranged on the upper part of the platform body, the mounting seat is connected with the mounting bracket, and the mounting seat is fixed on the platform body through a pair of guide rails; The guide rail pair is a linear sliding guide rail pair with double guide rails and four sliders, a ball screw nut pair is arranged between the double guide rails, and the lead screw in the ball screw nut pair is connected with the servo motor through a coupling , the screw nut in the ball screw nut pair is fixedly connected with the bottom of the mounting seat.

It can be seen from the above technical solutions that the present invention provides tension to the first flexible cable, the second flexible cable, the third flexible cable and the fourth flexible cable through the first motor, the second motor, the third motor and the fourth motor respectively, The cable converts the linear motion of the output end of the motor into the pitch and deflection of the continuum joint mechanism and the telescopic action of the continuum bracket to complete various operations, such as removal, injection, and suction. The ball screw nut pair on the worktable is responsible for adjusting the approximate position of the scalpel according to the different eyeballs to be performed and the interpupillary distance of different people, which can reduce the burden of doctors and have high surgical precision.

Description of drawings

Figure 1 is a schematic structural diagram of the present invention.

Figure 2 is a schematic structural diagram of the workbench of the present invention.

FIG. 3 is a schematic diagram of the connection between the mounting bracket and the motor base of the present invention.

FIG. 4 is a schematic view of the structure of the motor seat of the present invention.

FIG. 5 is a schematic structural diagram of the first pulley block and the second pulley block of the present invention.

FIG. 6 is a schematic structural diagram of the first pulley block of the present invention.

FIG. 7 is a schematic diagram of the exploded structure of FIG. 6 .

FIG. 8 is a schematic structural diagram of the first frame of the present invention.

FIG. 9 is a schematic structural diagram of a continuum joint of the present invention.

FIG. 10 is a first structural schematic diagram of the joint body of the present invention.

FIG. 11 is a second structural schematic diagram of the joint body of the present invention.

Figure 12 is a schematic diagram of the connection between each flexible cable and a continuum joint of the present invention.

13 is a schematic diagram of the connection of each flexible cable with the first pulley block and the second pulley block according to the present invention.

FIG. 14 is a schematic structural diagram of the drive mechanism.

Fig. 15 is a working schematic diagram of the continuum joint of the present invention.

Fig. 16 is a use state diagram of the present invention.

The symbols in the above drawings are: workbench 1, table body 11, universal wheel 12, mounting seat 13, guide rail pair 14, ball screw nut pair 15, servo motor 16 connected, mounting bracket 2, drive mechanism 3, continuous Body joint 31, joint body 311, spherical hinge 312, first flexible cable hole 313, second flexible cable hole 314, third flexible cable hole 315 and fourth flexible cable hole 316, connecting rod 32, first connecting rod 321, Second link 322, flange 323, continuous body bracket 33, first pulley set 34, first pulley 341, second pulley 342, third pulley 343, fourth pulley 344, upper bracket 345, fourth shaft 3451 , the first axle body 3452, the left bracket 346, the lower bracket 347, the third axle body 3471, the second axle body 3472, the connecting seat 3473, the right bracket 348, the second pulley group 35, the fifth pulley 351, the sixth pulley 352, The seventh pulley 353, the eighth pulley 354, the pulley block bracket 36, the hole 361, the motor base 4, the first motor 41, the second motor 42, the third motor 43, the fourth motor 44, the fifth motor 45, the scalpel 5, The first flexible cable 51 , the second flexible cable 52 , the third flexible cable 53 , and the fourth flexible cable 54 .

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings:

As shown in FIGS. 1 to 16 , an ophthalmic surgical robot based on a continuum configuration includes a worktable 1 , a mounting bracket 2 arranged on the worktable 1 , a drive mechanism 3 fixed on the mounting bracket 2 , and a drive mechanism 3 . Mechanism 3 is attached to scalpel 5.

The drive mechanism 3 includes a continuum joint 31 connected with the scalpel 5 , a link 32 connected with the continuum joint 31 , a continuum bracket 33 for fixing the link 32 , and a first pulley set 34 and a second pulley set 35 for fixing The pulley block bracket 36, the driving mechanism 3 also includes a motor base 4 connected to the mounting bracket 2 and a first motor 41, a second motor 42, a third motor 43, a fourth motor 44 and a fifth motor fixed on the motor base 4 45. The output ends of the first motor 41, the second motor 42, the third motor 43, and the fourth motor 44 are respectively connected to the first flexible cable 51, the second flexible cable 52, the third flexible cable 53, and the fourth flexible cable 54. After the first flexible cable 51, the second flexible cable 52, the third flexible cable 53, and the fourth flexible cable 54 pass through the first pulley block 34 and the second pulley block 35 in turn, they are connected to the continuum joint 31 through the interior of the connecting rod 32 to To realize the adjustment of the pitch and yaw degrees of freedom of the scalpel 5, the output end of the fifth motor 45 is connected to the continuum bracket 33 to drive the scalpel 5 to realize the adjustment of the degree of freedom of expansion and contraction, the first motor 41, the second motor 42, the third motor 43. The fourth motor 44 and the fifth motor 45 are both linear motors. That is, the driving mechanism 3 can drive the scalpel 5 with two bending degrees of freedom and one moving degree of freedom through the flexible cable. Specifically, the motor base 4 is fixed on the mounting bracket 2 by hexagon socket screws, and the first motor 41, the second motor 42, the third motor 43 and the fourth motor 44 drive the first flexible cable 51, the second flexible cable 52, The third flex cable 53 and the fourth flex cable 54 are stretched, and the first flex cable 51 and the fourth flex cable 54 are pulled by the first motor 41 and the fourth motor 44, respectively, to achieve the upward elevation of the continuum joint 31, and the second motor 42 and the third motor 43 pull the second flex cable 52 and the third flex cable 53 respectively to realize the lowering of the continuum joint 31, and the first motor 41 and the second motor 42 respectively pull the first flex cable 51 and the second flex cable 52 To realize the left deflection of the continuum joint 31, the third motor 43 and the fourth motor 44 pull the third flexible cable 53 and the fourth flexible cable 54 respectively to realize the right deflection of the continuum joint 31, and output a quantitative displacement through the four linear motors. The joint 31 of the continuum can be rotated in all directions, and the two degrees of freedom of pitch and deflection of the scalpel 5 can be realized; The degree of freedom of the continuum holder 33 to reciprocate along a straight line.

Further, as shown in FIG. 9 , FIG. 10 , and FIG. 11 , the head of the continuum joint 31 is fixed with the scalpel 5 , the tail of the continuum joint 31 is fixed with the connecting rod 32 , and the continuum joint 31 is composed of a plurality of continuous joints. The set joint bodies 311 are formed, the joint bodies 311 are all short cylinders, and the two adjacent joint bodies 311 are connected by a spherical hinge 312. The spherical hinge 312 and the joint body 311 are an integral structure, and the joint body 311 follows A first flexible cable hole 313 , a second flexible cable hole 314 , a third flexible cable hole 315 and a fourth flexible cable hole 316 are evenly arranged in the circumferential direction, the first flexible cable hole 313 , the second flexible cable hole 314 , and the third flexible cable hole 314 The cable hole 315 and the fourth flexible cable hole 316 are all through holes passing through the axial direction of the joint body 311. One end of the first flexible cable 51, the second flexible cable 52, the third flexible cable 53 and the fourth flexible cable 54 is connected to the The heads of the joints 31 are fixed, and the other ends of the joints 311 pass through the corresponding flexible cable holes of each joint body 311 in sequence to form a series connection of the plurality of joint bodies 311 . In this embodiment, the continuum joint 31 is composed of twelve joint bodies 311 , and each joint body 311 is provided with the first flexible cable 51 , the second flexible cable 52 , the third flexible cable 53 , and the first flexible cable 51 , the second flexible cable 52 , the third flexible cable 53 , the third flexible cable 53 The four flexible cables 54 are matched with the flexible cable holes, and the bending angle that each joint body 311 can reach in one direction is 14.25°. The maximum bending angle that 31 can achieve is 156.75°, as shown in Figure 15.

Further, the connecting rod 32 includes a first connecting rod 321 connected with the scalpel 5 and a second connecting rod 322 connected with the first connecting rod 321. The other end of the second connecting rod 322 is provided with a flange 323. The blue plate 323 is fixed on the continuum bracket 33 by screws. The first connecting rod 321 and the second connecting rod 322 are both stepped hollow tubes. The first flexible cable 51, the second flexible cable 52, and the third flexible cable 53 and the fourth flexible cable 54 respectively pass through the inside of the first link 321 and the second link 322 . The connecting rod 32 adopts a split design structure, which can prevent the ratio of the depth to the diameter of the connecting rod 32 from being too large, is easy to process, and can also save the replacement cost after damage.

Further, as shown in FIG. 5 , the second pulley group 35 and the first pulley group 34 are arranged in parallel in the front-rear direction. The first pulley group 34 and the second pulley group 35 have the same structure, different sizes, and the center axes match. Specifically, the first pulley group 34 includes a box-shaped first frame body, and four corners of the first frame body are respectively provided with a first pulley 341, a second pulley 342, a third pulley 343 and a fourth pulley 344. The second pulley assembly 35 includes a box-shaped second frame body, and the four corners of the second frame body are respectively provided with a fifth pulley 351, a sixth pulley 352, a seventh pulley 353 and an eighth pulley 354, wherein: the position of the first pulley 341 is the same as the The fifth pulley 351 corresponds to the first pulley 341 and the fifth pulley 351 are matched with the first flexible cable 51 , the position of the second pulley 342 corresponds to the sixth pulley 352 , and the second pulley 342 and the sixth pulley 352 In cooperation with the second flexible cable 52, the position of the third pulley 343 corresponds to that of the seventh pulley 353, and the third pulley 343 and the seventh pulley 353 cooperate with the third flexible cable 53, and the position of the fourth pulley 344 corresponds to the third pulley 344. The eight pulleys 354 correspond to each other, and the fourth pulley 344 and the eighth pulley 354 are matched with the fourth flexible cable 54 . That is, the pulleys in each pulley group are in a parallel state, and the first pulley group and the second pulley group are in a series state.

As shown in Figure 12 and Figure 13, the connection paths of each flexible cable in the present invention are as follows:

The first flexible cable: one end of the first flexible cable 51 is connected to the output end of the first motor 41, and the other end of the first flexible cable 51 first goes around the first pulley 341 and the fifth pulley 351 in sequence, and then passes through the second pulley in sequence. The inner parts of the connecting rod 322 and the first connecting rod 321 are finally fixed to the head of the continuum joint 31 through the first flexible cable hole 313 on each joint body 311 in sequence;

Second flexible cable: one end of the second flexible cable 52 is connected to the output end of the second motor 42 , and the other end of the second flexible cable 52 first goes around the second pulley 342 and the sixth pulley 352 in sequence, and then passes through the second pulley 342 and the sixth pulley 352 in sequence. The inside of the connecting rod 322 and the first connecting rod 321 are finally fixed to the head of the continuum joint 31 through the second flexible cable hole 314 on each joint body 311 in sequence;

The third flexible cable: one end of the third flexible cable 53 is connected to the output end of the third motor 43 , and the other end of the third flexible cable 53 first goes around the third pulley 343 and the seventh pulley 353 in sequence, and then passes through the second pulley 343 and the seventh pulley 353 in sequence. The inner parts of the connecting rod 322 and the first connecting rod 321 are finally fixed to the head of the continuum joint 31 through the third flexible cable hole 315 on each joint body 311 in sequence;

Fourth flexible cable: one end of the fourth flexible cable 54 is connected to the output end of the fourth motor 44, and the other end of the fourth flexible cable 54 first goes through the fourth pulley 344 and the eighth pulley 354 in sequence, and then passes through the second pulley 344 and the eighth pulley 354. The inner parts of the connecting rod 322 and the first connecting rod 321 are finally fixed to the head of the continuous body joint 31 through the fourth flexible cable hole 316 on each joint body 311 in sequence.

Further, as shown in FIG. 6 , FIG. 7 , and FIG. 8 , taking the first pulley group 34 as an example, the first frame body is surrounded by an upper bracket 345 , a left bracket 346 , a lower bracket 347 , and a right bracket 348 connected in sequence. In this way, one end of the upper bracket 345 is provided with a fourth shaft body 3451 in the direction of 45° to the lower left. The other end of the upper bracket 345 is provided with a first shaft body 3452 in the direction of 45° to the lower right. The first shaft body 3452 forms a plug fit with the upper end of the right bracket 348, and the first pulley 341 is arranged on the first shaft body 3452; One end of the lower bracket 347 is provided with a third shaft body 3471 in the direction of 45° to the upper left. The third shaft body 3471 forms a plug fit with the lower end of the left bracket 346, and the third pulley 343 is arranged on the third shaft body 3471; the lower bracket The other end of 347 is provided with a second shaft body 3472 in the direction of 45° to the upper right. The second shaft body 3472 forms a plug fit with the lower end of the right bracket 348, and the second pulley 342 is arranged on the second shaft body 3472. The lower bracket 347 There is also a connecting seat 3473 connected with the pulley block bracket 36 at the bottom of the . The structure of the second pulley group 35 is the same as that of the first pulley group 34 , and details are not repeated here.

Further, the first pulley 341 , the second pulley 342 , the third pulley 343 , the fourth pulley 344 , the fifth pulley 351 , the sixth pulley 352 , the seventh pulley 353 and the eighth pulley 354 are formed by the outer ring and the inner depth. It is composed of grooved ball bearings, and the outer ring is provided with a V-shaped groove which is matched with the flexible cable.

Further, the continuum support 33 and the pulley block support 36 are arranged opposite to each other and are located in the same vertical plane. One end of the pulley block support 36 is fixedly connected with the motor base 4, and the other end is in a cantilever shape, and the overhanging end is provided with a connecting rod 32. Hole 361 through.

Further, as shown in FIG. 4 , the first motor 41 , the second motor 42 , the third motor 43 and the fourth motor 44 are uniformly arranged in sequence along the circumferential direction of the motor base 4 , wherein: the first motor 41 and the fourth motor 44 Symmetrically arranged, the second motor 42 and the third motor 43 are arranged symmetrically, and the fifth motor 45 is arranged between the first motor 41 and the fourth motor 44 .

Further, as shown in FIG. 2, the workbench 1 is composed of a table body 11, a universal wheel 12 arranged at the bottom of the table body 11, and a mounting seat 13 arranged on the upper part of the table body 11, and the mounting seat 13 is connected with the mounting bracket 2, And the mounting seat 13 is fixed on the table body 11 through the guide rail pair 14; the guide rail pair 14 is a linear sliding guide rail pair with double guide rails and four sliders, and a ball screw nut pair 15 is arranged between the double guide rails. The lead screw is connected with the servo motor 16 through a coupling, and the lead screw nut in the ball screw nut pair is fixedly connected with the bottom of the mounting seat 13 . That is, the worktable 1 is a horizontal worktable mechanism driven by a servo motor and a ball screw nut pair.

The surgical robot of the present invention is oriented towards ophthalmic surgery such as monocular cataract, and is used to assist doctors in ophthalmic surgery operations. During the operation, the robot is located on both sides of the operating table. As shown in Figure 16, the scalpel can realize operations such as removal, injection, and suction.

The working principle of the present invention and the specific working process are as follows:

Before performing the operation, the table moves to the vicinity of the patient's head through the universal wheel at the bottom and locks the universal wheel to prevent slipping; the ball screw and nut pair are driven by the servo motor, thereby driving the slider to slide stably on the guide rail, so that the The scalpel slowly approaches the eyeball;

During the operation, the first motor, the second motor, the third motor and the fourth motor provide power to the first flexible cable, the second flexible cable, the third flexible cable and the fourth flexible cable respectively, The linear motion of the output end of the motor is transformed into the pitch and deflection of the continuum joint mechanism and the telescopic action of the continuum bracket to complete various operations, and realize operations such as removal, injection, and suction. The ball screw nut pair on the worktable is responsible for adjusting the approximate position of the scalpel according to the different eyeballs to be operated on and the interpupillary distance of different people. In actual operation, the scalpel can be replaced with various other surgical machines.

The beneficial effects of the present invention are: 1) the present invention is an ophthalmic surgical robot based on a continuum configuration, and the scalpel has two degrees of freedom of rotation and one degree of freedom of movement; 2) the scalpel of the present invention is driven by a flexible cable 3) The present invention adopts a continuum as a flexible configuration transmission, and the joints of the continuum are cooperated with spherical hinges, which has excellent bending performance and is suitable for complex non-structural environments. It has very strong adaptability; 4) The continuum bracket of the present invention is directly driven by a linear motor, which can reduce the transmission error and realize the freedom of movement of the scalpel; 5) The worktable of the present invention is driven by a ball screw and nut pair, which can Adjust the position of the robot body according to the different eyeballs to be performed and the interpupillary distance of different people.

The above-mentioned embodiments merely describe the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, those of ordinary skill in the art can make various modifications to the technical solutions of the present invention. Variations and improvements should fall within the protection scope determined by the claims of the present invention.

Claims (7)

1. An ophthalmic surgical robot based on a continuum configuration, characterized by: including workstation (1), setting installing support (2) on workstation (1), fixing actuating mechanism (3) on installing support (2) and scalpel (5) continuous with actuating mechanism (3), actuating mechanism (3) including continuum joint (31) continuous with scalpel (5), connecting rod (32) continuous with continuum joint (31), continuum support (33) that are used for fixed connecting rod (32), assembly pulley support (36) that are used for fixed first assembly pulley (34) and second assembly pulley (35), actuating mechanism (3) still include motor cabinet (4) continuous with installing support (2) and fix first motor (41), second motor (42), third motor (43), fourth motor (44) and fifth motor (45) on motor cabinet (4), first motor (41), The output ends of a second motor (42), a third motor (43) and a fourth motor (44) are respectively connected with a first flexible cable (51), a second flexible cable (52), a third flexible cable (53) and a fourth flexible cable (54), the first flexible cable (51), the second flexible cable (52), the third flexible cable (53) and the fourth flexible cable (54) sequentially wind through a first pulley block (34) and a second pulley block (35) and are connected with a continuum joint (31) through the inside of a connecting rod (32) to realize the adjustment of the pitching and deflecting freedom degrees of the scalpel (5), the output end of a fifth motor (45) is connected with a continuum support (33) to drive the scalpel (5) to realize the adjustment of the stretching freedom degrees, and the first motor (41), the second motor (42), the third motor (43), the fourth motor (44) and the fifth motor (45) are linear motors;

the connecting rod (32) comprises a first connecting rod (321) connected with the scalpel (5) and a second connecting rod (322) connected with the first connecting rod (321), a flange plate (323) is arranged at the other end of the second connecting rod (322), the flange plate (323) is fixed on the continuum support (33) through screws, the first connecting rod (321) and the second connecting rod (322) are both stepped hollow round tubes, and the first flexible cable (51), the second flexible cable (52), the third flexible cable (53) and the fourth flexible cable (54) respectively penetrate through the first connecting rod (321) and the second connecting rod (322);

the second pulley block (35) and the first pulley block (34) are arranged in parallel in the front-back direction, and the first pulley block (34) and the second pulley block (35) have the same structure and different sizes and are identical with each other in central axis; first assembly pulley (34) including the first support body of square frame shape, the four corners department of first support body is equipped with first pulley (341), second pulley (342), third pulley (343) and fourth pulley (344) respectively, second assembly pulley (35) are including the second support body of square frame shape, the four corners department of second support body is equipped with fifth pulley (351), sixth pulley (352), seventh pulley (353) and eighth pulley (354) respectively, wherein: the position of the first pulley (341) corresponds to that of the fifth pulley (351), the first pulley (341) and the fifth pulley (351) are matched with the first flexible cable (51), the position of the second pulley (342) corresponds to that of the sixth pulley (352), the second pulley (342) and the sixth pulley (352) are matched with the second flexible cable (52), the position of the third pulley (343) corresponds to that of the seventh pulley (353), the positions of the third pulley (343) and the seventh pulley (353) are matched with the third flexible cable (53), the position of the fourth pulley (344) corresponds to that of the eighth pulley (354), and the positions of the fourth pulley (344) and the eighth pulley (354) are matched with the fourth flexible cable (54).

2. An ophthalmic surgical robot based on continuum configuration, according to claim 1, characterized in that: the head of the continuum joint (31) is fixed with the scalpel (5), the tail of the continuum joint (31) is fixed with the connecting rod (32), the continuum joint (31) is composed of a plurality of continuously arranged joint bodies (311), the joint bodies (311) are all short cylinders, two adjacent joint bodies (311) are matched and connected through a spherical hinge (312), the joint bodies (311) are uniformly provided with a first flexible cable hole (313) along the circumferential direction, a second flexible cable hole (314), a third flexible cable hole (315) and a fourth flexible cable hole (316) are all through holes which penetrate through the joint bodies (311) in the axial direction, one end of each of the first flexible cable (51), the second flexible cable (52), the third flexible cable (53) and the fourth flexible cable hole (316) is fixed with the head of the continuum joint (31), the other end of the connecting rod sequentially passes through the corresponding flexible cable holes of the joint bodies (311) to form a series connection of a plurality of joint bodies (311).

3. An ophthalmic surgical robot based on continuum configuration, according to claim 1, characterized in that: the first frame body is formed by enclosing an upper support (345), a left support (346), a lower support (347) and a right support (348) which are connected in sequence, a fourth shaft body (3451) is arranged at one end of the upper support (345) in a 45-degree left-lower direction, the fourth shaft body (3451) is in plug-in fit with the upper end of the left support (346), and a fourth pulley (344) is arranged on the fourth shaft body (3451); a first shaft body (3452) is arranged at the other end of the upper support (345) in a 45-degree direction from right to bottom, the first shaft body (3452) is in inserted connection with the upper end of the right support (348), and a first pulley (341) is arranged on the first shaft body (3452); a third shaft body (3471) is arranged at one end of the lower support (347) in the direction of 45 degrees towards the left upper part, the third shaft body (3471) is in inserted connection fit with the lower end of the left support (346), and a third pulley (343) is arranged on the third shaft body (3471); the other end of the lower support (347) is provided with a second shaft body (3472) in the direction of 45 degrees upwards to the right, the second shaft body (3472) and the lower end of the right support (348) form a splicing fit, a second pulley (342) is arranged on the second shaft body (3472), and the bottom of the lower support (347) is further provided with a connecting seat (3473) connected with the pulley block support (36).

4. An ophthalmic surgical robot based on continuum configuration, according to claim 1, characterized in that: the first pulley (341), the second pulley (342), the third pulley (343), the fourth pulley (344), the fifth pulley (351), the sixth pulley (352), the seventh pulley (353) and the eighth pulley (354) are all composed of outer rings and inner deep groove ball bearings, and V-shaped grooves matched with the flexible cables are formed in the outer rings.

5. An ophthalmic surgical robot based on continuum configuration, according to claim 1, characterized in that: the continuum support (33) and the pulley block support (36) are oppositely arranged and located in the same vertical plane, one end of the pulley block support (36) is fixedly connected with the motor base (4), the other end of the pulley block support is in a suspension extending shape, and a hole (361) for the connecting rod (32) to penetrate through is formed in the suspension extending end.

6. An ophthalmic surgical robot based on continuum configuration, according to claim 1, characterized in that: first motor (41), second motor (42), third motor (43) and fourth motor (44) evenly arrange in proper order along the circumference of motor cabinet (4), wherein: the first motor (41) and the fourth motor (44) are symmetrically arranged, the second motor (42) and the third motor (43) are symmetrically arranged, and the fifth motor (45) is arranged between the first motor (41) and the fourth motor (44).

7. An ophthalmic surgical robot based on continuum configuration, according to claim 1, characterized in that: the workbench (1) consists of a workbench body (11), universal wheels (12) arranged at the bottom of the workbench body (11) and a mounting seat (13) arranged at the upper part of the workbench body (11), wherein the mounting seat (13) is connected with the mounting bracket (2), and the mounting seat (13) is fixed on the workbench body (11) through a guide rail pair (14); the guide rail pair (14) is a linear sliding guide rail pair with double guide rails and four sliding blocks, a ball screw nut pair (15) is arranged between the double guide rails, a screw in the ball screw nut pair is connected with a servo motor (16) through a coupler, and a screw nut in the ball screw nut pair is fixedly connected with the bottom of the mounting seat (13).

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