CN115816434A - Series-parallel robot and surgical equipment - Google Patents

Abstract

The invention discloses a series-parallel hybrid robot and surgical equipment. The serial-parallel hybrid robot includes a translation module and a rotation module; the rotation module is installed at the translation end of the translation module, and the translation module is used for Drive the rotary module to move in translation. The rotary module includes a base body, a parallel spherical mechanism and a fixture for connecting the tools to be connected. The parallel spherical mechanism includes 3 kinematic chain components, and one end of the 3 kinematic chain components is respectively along the base body. The axis line is evenly distributed on the base body in a circular manner, and the other ends of the three kinematic chain components are respectively distributed on the fixed component in a circular shape along the axis line of the fixed component, and the circle centers of the three kinematic chain components are coincident. The invention adopts the parallel spherical mechanism to improve the degree of freedom and rigidity of the rotating module. Compared with the double parallelogram mechanism in series in the prior art, the parallel spherical mechanism of the present invention is a parallel mechanism, which reduces the occupied volume, thereby reducing the volume of the robot, and improving the degree of freedom and rigidity.

Description

A series-parallel hybrid robot and surgical equipment

technical field

The invention relates to the technical field of robot equipment, in particular to a series-parallel hybrid robot and surgical equipment.

Background technique

Brain interventional surgery refers to the operation of introducing medical instruments into the brain and puncturing target points in the brain under the guidance of medical imaging equipment. It can be used to diagnose and treat brain dysfunction diseases such as Parkinson's, and can also be used to study the pathogenic mechanism of brain diseases.

The general steps of clinical cranial nerve interventional surgery are as follows: 1) The patient wears a fixed head frame and drills holes in the skull; 2) The patient undergoes preoperative MRI scanning; 3) The doctor plans the operation according to the preoperative MRI images and Perform surgery.

At present, the brain tissue is usually punctured with the help of a robot. The robot includes a 3-degree-of-freedom translation mechanism, a 2-degree-of-freedom remote point rotation mechanism, and a 2-degree-of-freedom terminal needle insertion mechanism. The translation mechanism consists of a single-degree-of-freedom screw mechanism and A 2-DOF 5-bar mechanism consists of a remote point rotation mechanism consisting of a double parallelogram mechanism. The translation mechanism is used to control the position of the surgical tool, the remote point rotation mechanism is used to control the posture of the surgical tool, and the needle insertion mechanism is used to realize the puncture action. However, the double parallelogram mechanism is a series mechanism, which is weak in rigidity, takes up a large space, and is difficult to adapt to the installation in a small space. In addition, the double parallelogram mechanism can only realize the two-degree-of-freedom rotation of the surgical tool around the remote point, which is difficult to provide Actions required for surgery.

To sum up, how to reduce the size of the robot and improve the degree of freedom and rigidity of the robot is an urgent problem to be solved by those skilled in the art.

Contents of the invention

In view of this, the first object of the present invention is to provide a serial-parallel hybrid robot, which aims to reduce the size of the robot and improve the degree of freedom and rigidity of the robot.

A second object of the present invention is to provide a surgical device.

In order to realize above-mentioned first object, the present invention provides following scheme:

A series-parallel hybrid robot, including a translation module and a rotation module;

The rotation module is installed on the translation end of the translation module, and the translation module is used to drive the translation of the rotation module;

The rotating module includes a base body, a parallel spherical mechanism and a fixing piece. The parallel spherical mechanism includes 3 kinematic chain components, and one ends of the 3 kinematic chain components are respectively distributed in a ring along the axis line of the base body. On the base, the other ends of the three kinematic chain components are distributed on the fixed part in a ring along the axis line of the fixed part, and the centers of the three kinematic chain components are all coincident, so The above-mentioned fixing parts are used to connect the tools to be connected.

In a specific embodiment, the parallel spherical mechanism also includes a driver;

The driver is provided in one-to-one correspondence with the kinematic chain assembly, and the fixed end of the driver is fixed to the base body, and the driving end of the driver is connected to one end of the kinematic chain assembly.

In another specific embodiment, the driver is a non-magnetic traveling wave ultrasonic motor configured with a non-magnetic encoder;

and / or

The fixing part is a flange provided with threaded holes for connecting the tools to be connected.

In another specific embodiment, the kinematic chain assembly includes a first connecting rod and a second connecting rod;

One end of the first connecting rod is connected to the driving end of the driver, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, and the second connecting rod is connected to the fixing member rotatable connection;

Both the first connecting rod and the second connecting rod are arc-shaped rods, and the center of circle of the first connecting rod coincides with the center of circle of the second connecting rod.

In another specific embodiment, the opening angle of the first connecting rod is 77°, and the opening angle of the second connecting rod is 76°.

In another specific embodiment, the kinematic chain assembly also includes a connecting block;

One end of the connecting block is rotatably connected to an end of the second connecting rod away from the first connecting rod, and the other end of the connecting block is detachably connected to the fixing member.

In another specific embodiment, the connection between the first connecting rod and the second connecting rod is rotatably connected by a ceramic bearing;

The second connecting rod is rotatably connected to the connecting block through a ceramic bearing.

In another specific embodiment, the base includes a frame and an L-shaped block;

The frame is a hexagonal frame, and the number of the L-shaped blocks is 3, and the 3 L-shaped blocks are respectively distributed on the 3 of the frame at equal intervals along the axis line of the frame. on the face where the spacing is set;

The L-shaped block is provided in one-to-one correspondence with the kinematic chain assembly, and the L-shaped block includes a first connection part and a second connection part, the first connection part is connected to the frame, and the second connection part part is obliquely connected with the first connecting part, and the inclination angle is greater than 90°, and one end of the kinematic chain assembly is fixed on the second connecting part.

In another specific embodiment, the material of the frame is nylon;

The materials of the kinematic chain assembly, the fixing piece and the L-shaped block are all PEEK plastics.

In another specific embodiment, the translation module includes:

base;

a first translation mechanism mounted on the base movably along a first direction;

a second translation mechanism mounted on the first translation mechanism movably along a second direction;

A third translation mechanism installed on the second translation mechanism is movable along a third direction, and the rotation module is installed on the third translation mechanism;

The first direction is perpendicular to or inclined to the second direction, and the third direction is perpendicular to the first direction and the second direction.

In another specific embodiment, the first translation mechanism includes a first ultrasonic motor, a first lead screw, a first slider, a first guide rail and a first connecting plate, and the first ultrasonic motor is installed on the on the base, the first lead screw is rotatably laid on the base along the first direction, and is connected to the first ultrasonic motor in transmission, the bottom end of the first connecting plate is connected to the first A screw transmission connection, the first guide rail is laid on the base along the first direction, the first slider is slidably connected to the first guide rail, and the first slider is installed on the the bottom end of the first connecting plate;

The second translation mechanism includes a second ultrasonic motor, a second lead screw, a second slider, a second guide rail and a second connecting plate, the second ultrasonic motor is installed on the first connecting plate, and the The second lead screw is rotatably laid on the first connecting plate along the second direction, and is connected to the second ultrasonic motor in transmission, and the bottom end of the second connecting plate is connected to the second lead screw transmission connection, the second guide rail is laid on the first connecting plate along the second direction, the second slider is slidably connected to the second guide rail, and the second slider is installed on the the bottom end of the second connecting plate;

The third translation mechanism includes a third ultrasonic motor, a third lead screw, a third slider, a third guide rail, a first platform, a first connecting rod, a second connecting rod, a third connecting rod and a second platform, The third guide rail is laid on the second connecting plate along the first direction, the third slider is slidably connected to the third guide rail, and the first platform is installed on the third On the slider, the third ultrasonic motor is installed on the second connecting plate, the third lead screw is rotatably laid on the second connecting plate along the first direction, and is connected with the first Three ultrasonic motors are connected in transmission, the third lead screw is connected in transmission with the first platform, one end of the first connecting rod is rotatably connected with the end of the first platform close to the third ultrasonic motor, the The other end of the first connecting rod is rotatably connected to the end of the second platform close to the third ultrasonic motor, and one end of the second connecting rod is connected to the end of the second connecting plate away from the third ultrasonic motor Rotatably connected, the other end of the second connecting rod is rotatably connected to the first connecting rod, and one end of the third connecting rod is rotatably connected to the end of the first platform away from the third ultrasonic motor , the other end of the third link is rotatably connected to the end of the second platform away from the third ultrasonic motor.

In another specific embodiment, the first ultrasonic motor, the second ultrasonic motor and the third ultrasonic motor are non-magnetic traveling wave ultrasonic motors;

The materials of the first connecting rod, the second connecting rod and the third connecting rod are all PEEK plastics;

The first lead screw, the second lead screw, the third lead screw, the first guide rail, the second guide rail and the third guide rail are all made of aluminum alloy;

The first slider, the second slider and the third slider are all made of zinc alloy.

In another specific embodiment, the lengths of the first connecting rod and the third connecting rod are equal, and the first connecting rod, the second connecting rod and the third connecting rod are located in different in plane.

Various embodiments according to the present invention can be combined arbitrarily as required, and the embodiments obtained after these combinations are also within the scope of the present invention, and are part of the specific embodiments of the present invention.

The series-parallel hybrid robot provided by the present invention takes the tool to be connected as an example of a surgical tool. Since the parallel spherical mechanism includes 3 kinematic chain components, and one end of the 3 kinematic chain components is circularly distributed along the axis line of the base body. distributed on the base body, and the other ends are evenly distributed on the fixed piece along the axis line of the fixed piece, and the centers of the three kinematic chain components are all coincident, so the fixed piece can rotate around the center of the circle, so as to realize the fixation in the The surgical tool on the fixing part realizes the rotation adjustment angle of three degrees of freedom in space. That is, the present invention improves the degree of freedom and rigidity of the rotating module. In addition, compared with the double parallelogram mechanism in series in the prior art, the parallel spherical mechanism in the present invention is a parallel mechanism, which reduces the volume occupied, thereby reducing the volume of the robot, and improving the degree of freedom and rigidity of the robot .

In order to achieve the above-mentioned second purpose, the present invention provides the following scheme:

A surgical device includes a surgical tool and a serial-parallel hybrid robot as described above for installing the surgical tool.

Since the surgical equipment provided by the present invention includes any one of the serial-parallel hybrid robots described above, the above-mentioned beneficial effects of the serial-parallel hybrid robot are included in the surgical equipment provided by the present invention.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a structural schematic diagram of a rotation module provided by the present invention in a pose state;

Fig. 2 is a structural schematic diagram of another pose state of the rotation module provided by the present invention;

Fig. 3 is the three-dimensional structure schematic diagram of the series-parallel hybrid robot provided by the present invention;

Fig. 4 is a schematic structural diagram of the translation module provided by the present invention in a pose state;

Fig. 5 is a structural schematic diagram of another pose state of the translation module provided by the present invention.

Among them, in Figure 1-Figure 5:

Rotating module 100, base body 101, fixing member 102, parallel spherical mechanism 103, kinematic chain assembly 103a, driver 103b, first connecting rod 103a-1, second connecting rod 103a-2, connecting block 103a-3, ceramic bearing 104, Hexagonal copper column 105, coupling 106, frame 101a, L-shaped block 101b, first connection part 101b-1, second connection part 101b-2, serial-parallel hybrid robot 1000, translation module 200, base 201, second A translation mechanism 202, a second translation mechanism 203, a third translation mechanism 204, a first ultrasonic motor 202a, a first lead screw 202b, a first slider 202c, a first guide rail 202d, a first connecting plate 202e, a first Two ultrasonic motors 203a, second lead screw 203b, second slider 203c, second guide rail 203d, second connecting plate 203e, third ultrasonic motor 204a, third lead screw 204b, third slider 204c, third guide rail 204d , the first platform 204e, the first link 204f, the second link 204g, the third link 204h, and the second platform 204i.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with accompanying drawings 1 to 5 in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Example. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, and is only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the referred position or element must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance.

It should be noted that, herein, the first direction is the X direction, the second direction is the Y direction, and the third direction is the Z direction, as shown in FIG. 5 .

1-5, the first aspect of the present invention provides a serial-parallel hybrid robot 1000, wherein the serial-parallel hybrid robot 1000 includes a translation module 200 and a rotation module 100, and the rotation module 100 is installed on the translation module 100. Translating end of module 200.

The translation module 200 is used to drive the translation of the rotation module 100, and the rotation module 100 can realize three-degree-of-freedom rotation. Therefore, the serial-parallel hybrid robot 1000 in the present invention realizes three-degree-of-freedom rotation while realizing translational motion.

Specifically, the rotation module 100 includes a base 101 , a fixing member 102 and a parallel spherical mechanism 103 . The base 101 provides support for the parallel spherical module on the one hand, and is used to connect the translation end of the translation module 200 on the other hand. Of course, when the rotating module 100 can also be taken out and used on a device that only needs three degrees of freedom to rotate, the base body 101 can be directly fixed on the device.

As shown in Figure 1, the base 101 includes a frame 101a and an L-shaped block 101b. The frame 101a is a regular hexagonal frame 101a. Compared with the solid structure, the frame 101a structure reduces the weight of the base 101, thereby reducing the weight of the entire rotating module 100. the weight of. The number of L-shaped blocks 101B is three, and the three L-shaped blocks 101b are equally spaced along the axis of the frame 101a on the three surfaces of the frame 101a arranged at intervals. The L-shaped block 101b includes a first connecting portion 101b-1 and a second connecting portion 101b-2, the first connecting portion 101b-1 is connected to the frame 101a, and the second connecting portion 101b-2 is obliquely connected to the first connecting portion 101b-1 , and the inclination angle is greater than 90°. As can be seen from FIG. 1, the first connecting part 101b-1 extends outside the frame 101a, and the parallel spherical mechanism 103 is fixed on the second connecting part 101b-2, avoiding contact with the parallel spherical mechanism 103 when installing The frame 101a interferes. In order to facilitate disassembly and replacement, the present invention discloses that the first connecting portion 101b-1 is detachably connected to the frame 101a through fasteners such as bolts. It should be noted that the specific structure of the base body 101 disclosed above is only a specific embodiment of the present invention, and in practical applications, the base body 101 can also be set to other structures, for example, the frame 101a is replaced by a solid block of a regular hexagon, Alternatively, the frame 101a is set to be a regular dodecagonal frame or the like.

The fixing part 102 is used to connect the tool to be connected. The tool to be connected refers to the tool to be operated. When performing surgery, the tool to be connected is the surgical tool, and when performing other operations, the tool to be connected is other tools. Taking the fixing member 102 as an example with a flange provided with threaded holes, it is convenient to install the tools to be connected, and compared with a solid structure, the use of the flange reduces the weight, thereby reducing the weight of the entire rotating module 100 .

The parallel spherical mechanism 103 includes three kinematic chain assemblies 103a, and one end of the three kinematic chain assemblies 103a is distributed on the base body 101 circularly along the axis line of the base body 101, specifically, the kinematic chain assembly 103a and the L-shaped plate One to one corresponding setting.

The other ends of the three kinematic chain components 103a are distributed on the fixed component 102 in a ring along the axis line of the fixed component 102, and the centers of the three kinematic chain components 103a are all coincident, and the fixed component 102 can rotate around the center of the circle. In this way, the surgical tool fixed on the fixture 102 can realize the rotation and adjustment angle of three degrees of freedom in space, which is equivalent to the structure of 2 degrees of freedom rotation in the prior art. The present invention improves the degree of freedom and rigidity of the rotation module 100 . In addition, compared with the double parallelogram mechanism in series in the prior art, the parallel spherical mechanism 103 in the present invention is a parallel mechanism, which reduces the occupied volume.

In some embodiments, the parallel spherical mechanism 103 further includes a driver 103b, and the driver 103b is arranged in a one-to-one correspondence with the kinematic chain assembly 103a, and the fixed end of the driver 103b is fixed to the base 101, specifically, the fixed end of the driver 103b is connected to the L-shaped plate The second connecting portion 101b-2 is detachably connected by fasteners such as bolts. More specifically, the present invention discloses that the fixed end of the driver 103b is fixed on the second connection portion 101b-2 through the hexagonal copper post 105 .

The driving end of the driver 103b is connected to one end of the kinematic chain assembly 103a to transmit power to the kinematic chain assembly 103a.

Further, the present invention specifically discloses that the driver 103b is a non-magnetic traveling wave ultrasonic motor equipped with a non-magnetic encoder, which avoids that when the rotating module 100 is used in nuclear magnetic surgery, when the driver 103b is a magnetic driver 103b, it will affect the nuclear magnetic image and cause However, real-time MRI images cannot be used to update the position of surgical tools and the structure of brain tissue.

Specifically, the output shaft of the driver 103b is connected to the first connecting rod 204f through an aluminum alloy rigid coupling 106 .

In some embodiments, the kinematic chain assembly 103a includes a first connecting rod 103a-1 and a second connecting rod 103a-2, one end of the first connecting rod 103a-1 is connected to the driving end of the driver 103b, and the first connecting rod 103a- The other end of 1 is rotatably connected to one end of the second connecting rod 103a-2, and the second connecting rod 103a-2 is rotatably connected to the fixing member 102. Specifically, the present invention discloses that the connection between the first connecting rod 103 a - 1 and the second connecting rod 103 a - 2 is rotatably connected through two pairs of ceramic bearings 104 . It should be noted that the use of ceramic bearings 104 to realize the rotatable connection between the first connecting rod 103a-1 and the second connecting rod 103a-2 is only a specific embodiment of the present invention. The rod 103a-1 is rotatably connected to the second connecting rod 103a-2 through other components.

Both the first connecting rod 103a-1 and the second connecting rod 103a-2 are arc rods, and the center of circle of the first connecting rod 103a-1 coincides with the center of circle of the second connecting rod 103a-2, so that the movement of the flange is The point remote from the center of the circle rotates in motion.

Further, the present invention specifically discloses that the opening angle of the first connecting rod 103a-1 is 77°, and the opening angle of the second connecting rod 103a-2 is 76°. It should be noted that the above-mentioned first connecting rod 103a-1 and The opening angle value of the second connecting rod 103a-2 is only a specific embodiment of the present invention. In practical applications, the opening angle of the first connecting rod 103a-1 and the opening angle of the second connecting rod 103a-1 can also be determined through work space optimization. The opening angle of 2 is other values.

In order to facilitate the replacement of different fixing parts 102, the present invention discloses that the kinematic chain assembly 103a further includes a connecting block 103a-3, wherein one end of the connecting block 103a-3 is far away from the second connecting rod 103a-2 from the first connecting rod 103a- 1 is rotatably connected, and the other end of the connection block 103a-3 is detachably connected to the fixing piece 102. Specifically, the present invention discloses that the second connecting rod 103a-2 is rotatably connected to the connecting block 103a-3 through two pairs of ceramic bearings 104, and the connecting block 103a-3 is detachably mounted on the fixing member 102 through fasteners such as bolts.

In some embodiments, the material of the frame 101a is nylon, and the materials of the fixing member 102, the L-shaped block 101B, the first connecting rod 103a-1, the second connecting rod 103a-2 and the connecting block 103a-3 are all PEEK (polyester ether ether ketone) plastic. That is to say, the rotating module 100 disclosed in the present invention is made of non-magnetic material as a whole, which realizes the safe use in the nuclear magnetic chamber.

Further, as shown in FIG. 4 and FIG. 5 , the present invention discloses that the translation module 200 includes a base 201 , a first translation mechanism 202 , a second translation mechanism 203 and a third translation mechanism 204 .

The first translation mechanism 202 is movably installed on the base 201 along the first direction, the second translation mechanism 203 is movably installed on the first translation mechanism 202 along the second direction, and the third translation mechanism 204 is along the The third direction is movably installed on the second translation mechanism 203 , and the rotation module 100 is installed on the third translation mechanism 204 . That is to say, the rotating module 100 can move along the first direction driven by the first translation mechanism 202, can move along the second direction driven by the second translation mechanism 203, and can also move in the third translation mechanism. Driven by the mechanism 204, it moves along the third direction. The first direction is perpendicular to the second direction or arranged obliquely. Taking the first direction perpendicular to the second direction as an example, the third direction is perpendicular to the first direction and the second direction. Therefore, the rotation module 100 is driven by the translation module 200 The three-degree-of-freedom movement in space is realized.

It should be noted that the movement of the translation module 200 in three directions is only a specific embodiment of the present invention. The moving module 200 can only move in two or one direction.

Further, the present invention specifically discloses that the first translation mechanism 202 includes a first ultrasonic motor 202a, a first lead screw 202b, a first slider 202c, a first guide rail 202d and a first connecting plate 202, and the first ultrasonic motor 202a is installed On the base 201, the first lead screw 202b is rotatably laid on the base 201 along the first direction, and is connected to the first ultrasonic motor 202a, so that the first ultrasonic motor 202a can transmit power to the first lead screw 202b . The bottom end of the first connecting plate 202 is in transmission connection with the first lead screw 202b, specifically, the bottom end of the first connecting plate 202 is connected with the lead screw nut of the first lead screw 202b. The first guide rail 202d is laid on the base 201 along the first direction, the first slider 202c is slidably connected to the first guide rail 202d , and the first slider 202c is mounted on the bottom of the first connecting plate 202 . When it is necessary to move in the first direction, the first ultrasonic motor 202a starts to drive the first lead screw 202b to rotate, and the first lead screw 202b drives the first connecting plate 202 to move along the first direction, and the bottom end of the first connecting plate 202 The connected first sliding block 202c slides along the first guide rail 202d, so as to realize the movement of the first connecting plate 202 along the first direction.

In order to realize the stable sliding of the first connecting plate 202 along the first direction, the present invention discloses that the number of the first guide rails 202d is two, which are arranged symmetrically on both sides of the first lead screw 202b with respect to the first lead screw 202b respectively. , correspondingly, the first sliding block 202c can be slidably installed on the two first guide rails 202d.

It should be noted that the specific structure of the first translation mechanism 202 disclosed above is only a specific embodiment of the present invention, and in practical applications, the first translation mechanism 202 can also be set as other mechanisms.

Specifically, the second translation mechanism 203 includes a second ultrasonic motor 203a, a second lead screw 203b, a second slider 203c, a second guide rail 203d and a second connecting plate 203e, and the second ultrasonic motor 203a is installed on the first connecting plate 202, the second lead screw 203b is rotatably laid on the first connecting plate 202 along the second direction, and is in transmission connection with the second ultrasonic motor 203a, and the second ultrasonic motor 203a transmits power to the second lead screw 203b. The bottom end of the second connecting plate 203e is drivingly connected with the second lead screw 203b, specifically, the bottom end of the second connecting plate 203e is connected with the lead screw nut of the second lead screw 203b. The second guide rail 203d is laid on the first connecting plate 202 along the second direction, the second sliding block 203c is slidably connected to the second guiding rail 203d, and the second sliding block 203c is mounted on the bottom end of the second connecting plate 203e. When it is necessary to move in the second direction, the second ultrasonic motor 203a starts to drive the second lead screw 203b to rotate, and the second lead screw 203b drives the second connecting plate 203e to move along the second direction, and the bottom end of the second connecting plate 203e The connected second sliding block 203c slides along the second guide rail 203d, so as to realize the movement of the second connecting plate 203e along the second direction.

In order to realize the stable sliding of the second connecting plate 203e along the second direction, the present invention discloses that the number of the second guide rails 203d is two, which are arranged symmetrically on both sides of the first screw 202b with respect to the second screw 203b respectively. , correspondingly, the second sliding block 203c can be slidably installed on the two second guide rails 203d.

It should be noted that the specific structure of the second translation mechanism 203 disclosed above is only a specific embodiment of the present invention, and in practical applications, the first translation mechanism 202 can also be set as other mechanisms.

Specifically, the third translation mechanism 204 includes a third ultrasonic motor 204a, a third lead screw 204b, a third slider 204c, a third guide rail 204d, a first platform 204e, a first connecting rod 204f, a second connecting rod 204g, The third link 204h and the second platform 204i. The third guide rail 204d is laid on the second connecting plate 203e along the first direction, the third slider 204c is slidably connected with the third guide rail 204d, the first platform 204e is installed on the third slider 204c, and the third ultrasonic motor 204a is installed on the second connecting plate 203e, and the third lead screw 204b is rotatably laid on the second connecting plate 203e along the first direction, and is connected with the third ultrasonic motor 204a in transmission, that is, the third ultrasonic motor 204a is for the third The lead screw 204b transmits power.

The third lead screw 204b is connected to the transmission of the first platform 204e, one end of the first connecting rod 204f is rotatably connected to the end of the first platform 204e close to the third ultrasonic motor 204a, and the other end of the first connecting rod 204f is connected to the second platform 204i One end close to the third ultrasonic motor 204a is rotatably connected, one end of the second connecting rod 204g is rotatably connected to the end of the second connecting plate 203e away from the third ultrasonic motor 204a, and the other end of the second connecting rod 204g is connected to the first connecting rod 204f is rotatably connected. One end of the third link 204h is rotatably connected to the end of the first platform 204e away from the third ultrasonic motor 204a, and the other end of the third link 204h is rotatably connected to the end of the second platform 204i away from the third ultrasonic motor 204a. When the second platform 204i is required to move in the third direction, start the third ultrasonic motor 204a, the third ultrasonic motor 204a drives the third lead screw 204b to rotate, and the third lead screw 204b drives the first platform 204e to move on the third slider 204c slides along the first direction under the sliding cooperation with the third slide rail. At this time, the first connecting rod 204f, the second connecting rod 204g and the third connecting rod 204h rotate correspondingly, thereby driving the second platform 204i along the Move in the third direction.

The third translation mechanism 204 provided by the present invention integrates the displacement along the first direction and the third direction. Taking the third direction as the height direction as an example, it realizes the movement along the first direction while realizing the movement in the height direction. Direction of horizontal movement. When the object to be operated, for example, is undergoing surgery, and the object to be operated is located at one end of the serial-parallel hybrid robot 1000 along the first direction, the adjustment to be far away from or close to the object to be operated is also realized.

As shown in Figure 4 and Figure 5, the length of the first link 204f is longer than the length of the second link 204g, and the second link 204g is connected to the middle position of the length of the first link 204f. It should be noted that the second link The rod 204g is not limited to being hinged at a position in the middle of the length of the first link 204f, but may be hinged at other positions along the length of the first link 204f.

Further, the present invention discloses that the lengths of the first connecting rod 204f and the third connecting rod 204h are equal, which realizes the interchangeability of the first connecting rod 204f and the third connecting rod 204h, and reduces the number of different components.

The first connecting rod 204f, the second connecting rod 204g and the third connecting rod 204h are located in different planes, so as to achieve stable support for the second platform 204i.

In some embodiments, the first ultrasonic motor 202a, the second ultrasonic motor 203a and the third ultrasonic motor 204a are non-magnetic traveling wave ultrasonic motors, the first connecting rod 204f, the second connecting rod 204g and the third connecting rod 204h The materials are all PEEK plastic, which realizes the safe use in the nuclear magnetic room.

Specifically, the first lead screw 202b, the second lead screw 203b, the third lead screw 204b, the first guide rail 202d, the second guide rail 203d and the third guide rail 204d are all made of aluminum alloy, and the overall weight is light. The materials of the first slider 202c, the second slider 203c and the third slider 204c are zinc alloy.

Taking the application of the serial-parallel hybrid robot 1000 provided by the present invention in surgery as an example, when working, first use the translation module 200 to move the rotation center of the rotation module 100 to an appropriate position, and then use the rotation module 100 to change the position of the flange , so that the surgical tool has a suitable posture, and assists the doctor to complete the surgical action.

The second aspect of the present invention provides a surgical device, including a surgical tool and a serial-parallel hybrid robot according to any one of the above embodiments for installing the surgical tool.

Since the surgical equipment provided by the present invention includes the serial-parallel hybrid robot in any one of the above-mentioned embodiments, the above-mentioned beneficial effects of the serial-parallel hybrid robot are included in the surgical equipment provided by the present invention.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and inventive features disclosed herein.

In the description of this specification, descriptions with reference to the terms "one embodiment", "example", "specific example" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment of the present invention. In an embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are only to help illustrate the invention. The preferred embodiments do not exhaust all details nor limit the invention to only specific embodiments. Obviously, many modifications and variations can be made based on the contents of this specification. This description selects and specifically describes these embodiments in order to better explain the principle and practical application of the present invention, so that those skilled in the art can well understand and utilize the present invention. The invention is to be limited only by the claims, along with their full scope and equivalents.

Claims (14)

1. A series-parallel hybrid robot (1000), comprising a translation module (200) and a rotation module (100); The rotation module (100) is installed on the translation end of the translation module (200), and the translation module (200) is used to drive the translation module (100) to move; The rotating module (100) includes a base (101), a fixing piece (102) and a parallel spherical mechanism (103), and the parallel spherical mechanism (103) includes 3 kinematic chain assemblies (103a), and 3 kinematic chain components (103a) One end of the chain assembly (103a) is distributed on the base body (101) circularly along the axis line of the base body (101), and the other ends of the three kinematic chain assemblies (103a) are respectively distributed along the axis line of the base body (101). The axis line of the fixing piece (102) is evenly distributed on the fixing piece (102), and the circle centers of the three kinematic chain components (103a) coincide; the fixing piece (102) is used to connect the tools to be connected. 2. The serial-parallel hybrid robot (1000) according to claim 1, characterized in that, the parallel spherical mechanism (103) further comprises a driver (103b); The driver (103b) is provided in one-to-one correspondence with the kinematic chain assembly (103a), and the fixed end of the driver (103b) is fixed to the base (101), and the driving end of the driver (103b) is connected to the One end of said kinematic chain assembly (103a) is connected. 3. The serial-parallel hybrid robot (1000) according to claim 2, wherein the driver (103b) is a non-magnetic traveling wave ultrasonic motor configured with a non-magnetic encoder; and / or The fixing part (102) is a flange provided with threaded holes for connecting the tools to be connected. 4. The serial-parallel hybrid robot (1000) according to claim 2, characterized in that, the kinematic chain assembly (103a) comprises a first connecting rod (103a-1) and a second connecting rod (103a-2) ; One end of the first connecting rod (103a-1) is connected to the driving end of the driver (103b), and the other end of the first connecting rod (103a-1) is connected to the second connecting rod (103a-2 ) is rotatably connected to one end, and the second connecting rod (103a-2) is rotatably connected to the fixing member (102); Both the first connecting rod (103a-1) and the second connecting rod (103a-2) are arc-shaped rods, and the center of circle of the first connecting rod (103a-1) and the second connecting rod The centers of (103a-2) coincide. 5. The serial-parallel hybrid robot (1000) according to claim 4, characterized in that, the opening angle of the first connecting rod (103a-1) is 77°, and the opening angle of the second connecting rod (103a-2 ) has an opening angle of 76°. 6. The serial-parallel hybrid robot (1000) according to claim 4, characterized in that, the kinematic chain assembly (103a) further comprises a connection block (103a-3); One end of the connecting block (103a-3) is rotatably connected to an end of the second connecting rod (103a-2) away from the first connecting rod (103a-1), and the connecting block (103a-3) The other end is detachably connected to the fixing part (102). 7. The serial-parallel hybrid robot (1000) according to claim 4, characterized in that, the connection between the first connecting rod (103a-1) and the second connecting rod (103a-2) is made of ceramic The bearing (104) is rotatably connected; The second connecting rod (103a-2) is rotatably connected to the connecting block (103a-3) through a ceramic bearing (104). 8. The serial-parallel hybrid robot (1000) according to claim 1, characterized in that, the base (101) comprises a frame (101a) and an L-shaped block (101b); The frame (101a) is a hexagonal frame, and the number of the L-shaped blocks (101b) is 3, and the 3 L-shaped blocks (101b) are respectively along the axis of the frame (101a) The lines are evenly distributed on the three spaced surfaces of the frame (101a); The L-shaped block (101b) is provided in one-to-one correspondence with the kinematic chain assembly (103a), and the L-shaped block (101b) includes a first connecting portion (101b-1) and a second connecting portion (101b-2 ), the first connecting part (101b-1) is connected to the frame (101a), the second connecting part (101b-2) is connected obliquely to the first connecting part (101b-1), and the oblique If the angle is greater than 90°, one end of the kinematic chain assembly (103a) is fixed on the second connecting portion (101b-2). 9. The serial-parallel hybrid robot (1000) according to claim 1, characterized in that, the material of the frame (101a) is nylon; The materials of the kinematic chain assembly (103a), the fixing piece (102) and the L-shaped block (101b) are all PEEK plastics. 10. The serial-parallel hybrid robot (1000) according to any one of claims 1-9, wherein the translation module (200) comprises: base (201); a first translation mechanism (202) movably mounted on the base (201) along a first direction; A second translation mechanism (203) mounted on the first translation mechanism (202) is movable along a second direction; A third translation mechanism (204) mounted on the second translation mechanism (203) is movable along a third direction, and the rotation module (100) is installed on the third translation mechanism (204) ; The first direction is perpendicular to or inclined to the second direction, and the third direction is perpendicular to the first direction and the second direction. 11. The serial-parallel hybrid robot (1000) according to claim 10, characterized in that, the first translation mechanism (202) comprises a first ultrasonic motor (202a), a first lead screw (202b), a second A slider (202c), a first guide rail (202d) and a first connecting plate (202e), the first ultrasonic motor (202a) is installed on the base (201), and the first lead screw (202b) It is rotatably laid on the base (201) along the first direction, and is connected with the transmission of the first ultrasonic motor (202a), and the bottom end of the first connecting plate (202e) is connected with the first The lead screw (202b) is connected by transmission, the first guide rail (202d) is laid on the base (201) along the first direction, and the first slider (202c) is connected to the first guide rail (202d) ) can be slidably connected, and the first slider (202c) is installed on the bottom end of the first connecting plate (202e); The second translation mechanism (203) includes a second ultrasonic motor (203a), a second lead screw (203b), a second slider (203c), a second guide rail (203d) and a second connecting plate (203e), The second ultrasonic motor (203a) is installed on the first connecting plate (202e), and the second lead screw (203b) is rotatably laid on the first connecting plate (202e) along the second direction ), and is connected with the transmission of the second ultrasonic motor (203a), the bottom end of the second connection plate (203e) is connected with the transmission of the second lead screw (203b), and the second guide rail (203d) Laying on the first connecting plate (202e) along the second direction, the second slider (203c) is slidably connected to the second guide rail (203d), and the second slider ( 203c) installed on the bottom of the second connecting plate (203e); The third translation mechanism (204) includes a third ultrasonic motor (204a), a third lead screw (204b), a third slider (204c), a third guide rail (204d), a first platform (204e), a third a connecting rod (204f), a second connecting rod (204g), a third connecting rod (204h) and a second platform (204i), the third guide rail (204d) is laid along the first direction on the second On the two connecting plates (203e), the third slider (204c) is slidably connected to the third guide rail (204d), and the first platform (204e) is installed on the third slider (204c) above, the third ultrasonic motor (204a) is installed on the second connecting plate (203e), and the third lead screw (204b) is rotatably laid on the second connecting plate along the first direction (203e), and is connected with the transmission of the third ultrasonic motor (204a), the third lead screw (204b) is connected with the transmission of the first platform (204e), and the first connecting rod (204f) is connected with the transmission One end is rotatably connected to an end of the first platform (204e) close to the third ultrasonic motor (204a), and the other end of the first connecting rod (204f) is close to the second platform (204i) One end of the third ultrasonic motor (204a) is rotatably connected, and one end of the second connecting rod (204g) is rotatably connected to an end of the second connecting plate (203e) away from the third ultrasonic motor (204a), The other end of the second connecting rod (204g) is rotatably connected to the first connecting rod (204f), and one end of the third connecting rod (204h) is away from the first platform (204e) One end of the three ultrasonic motors (204a) is rotatably connected, and the other end of the third connecting rod (204h) is rotatably connected to an end of the second platform (204i) away from the third ultrasonic motor (204a). 12. The serial-parallel hybrid robot (1000) according to claim 11, characterized in that, the first ultrasonic motor (202a), the second ultrasonic motor (203a) and the third ultrasonic motor (204a ) are non-magnetic traveling wave ultrasonic motors; The materials of the first connecting rod (204f), the second connecting rod (204g) and the third connecting rod (204h) are all PEEK plastics; The first lead screw (202b), the second lead screw (203b), the third lead screw (204b), the first guide rail (202d), the second guide rail (203d) and the The material of the third guide rail (204d) is aluminum alloy; The materials of the first slider (202c), the second slider (203c) and the third slider (204c) are zinc alloy. 13. The serial-parallel hybrid robot (1000) according to claim 11, characterized in that, the lengths of the first link (204f) and the third link (204h) are equal, and the first link The rod (204f), the second connecting rod (204g) and the third connecting rod (204h) are respectively located in different planes. 14. A surgical device, characterized by comprising a surgical tool and the serial-parallel hybrid robot (1000) according to any one of claims 1-13 for installing the surgical tool.

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