CN114795786A - Precise medical operation robot executing mechanism and working method thereof - Google Patents

Abstract

The invention discloses an actuating mechanism of an accurate medical surgical robot and a working method thereof. According to the precise medical operation robot actuating mechanism, the operation robot drives the operation manipulator to perform an operation flexibly, and meanwhile, the positioning assembly additionally arranged on the operation manipulator can ensure that the position of an operation device is accurate and avoid falling off, so that the operation robot and an operation bed are high in flexibility in the matching process and wide in application range.

Description

Precise medical operation robot executing mechanism and working method thereof

Technical Field

The invention belongs to the technical field of cash production and automation, and particularly relates to an actuating mechanism of an accurate medical surgical robot. The invention also relates to a working method of the precise medical surgical robot executing mechanism.

Background

The surgical robot is a complex integrating a plurality of modern high-tech means, is widely accepted in surgery, and a surgeon can operate the robot to perform surgery through the surgical robot, so that the safety and the convenience of the surgery are greatly improved.

Surgical robots have been widely used in many operating rooms around the world, such as cardiothoracic surgery, urology surgery, gynecology, and abdominal surgery. Meanwhile, with the rapid development of computer and microelectronic technologies and medical science, a large number of medical instruments are popularized and applied. These robots provide powerful assistance for surgery with computer and microelectronics support.

For the current domestic surgical instruments, especially basic instruments such as surgical forceps, scissors and clamps used in the special department, the following problems exist in the clinical application process:

1. the existing design takes instruments used by doctors for directly performing operations as starting points, and is incompatible with automatic intelligent systems such as surgical robots and the like and difficult to keep up with the development trend of the industry;

2. the applicability to special departments and special diseases is poor, customized designs are lacked, and only universal and generalized equipment can be adopted, so that the operation is inconvenient and the operation effect is poor;

3. a small amount of domestic special surgical instruments have large differences from clinical expectations in use reliability, flexibility and stability.

The existing problems indicate that the domestic surgical equipment has huge gaps with the international advanced level, clinical operation requirements and industry development trends, and the development of special and intelligent surgical equipment is urgently needed.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects, the invention aims to provide an actuating mechanism of an accurate medical surgical robot, which solves the problems that the surgical robot in the prior art has poor flexibility, the surgical robot is limited in some operations and can not be operated flexibly, and the compatibility is poor in the cooperative use process of the surgical robot and intelligent medical equipment.

The technical scheme is as follows: an actuating mechanism of an accurate medical operation robot comprises an operation robot, an operation mechanical arm, a robot rotation driving device, a robot horizontal driving device, an operation bed rotation unit and an operation bed lifting unit, wherein the robot horizontal driving device is positioned on one side of the operation bed lifting unit, the robot rotation driving device is arranged on the robot horizontal driving device, the operation robot is arranged on the robot rotation driving device, the operation mechanical arm is connected with the operation robot, the operation bed lifting unit is arranged on the operation bed rotation unit, an operation bed is arranged on the operation bed lifting unit, the operation bed lifting unit can adjust the height of the operation bed, and the operation bed rotation unit can adjust the angle of the operation bed within the range of 360 degrees on the horizontal plane; wherein the surgical manipulator comprises two surgical clamping jaws, a clamping jaw cylinder, a positioning driving cylinder, a driving rack, a driving gear and a surgical needle positioning rod, the clamping jaw cylinder is connected with the surgical robot, the two surgical clamping jaws are connected with the clamping jaw cylinder, one of the two operation clamping jaws is provided with a positioning connecting plate, the operation needle positioning rod is connected with the positioning connecting plate through a rotating shaft, the piston rod of the positioning driving cylinder is connected with a driving rack which is meshed with the driving gear, the driving gear is connected with a surgical needle positioning rod which is positioned at one side of the surgical clamping jaw provided with a positioning connecting plate, but centre gripping operation needle between two operation clamping jaws, the location drives operation needle locating lever and two operation clamping jaws between the operation needle and contacts, operation needle locating lever is the arc setting. According to the precise medical operation robot actuating mechanism, the operation robot drives the operation manipulator to perform operations flexibly, and meanwhile, the positioning assembly additionally arranged on the operation manipulator can ensure that the operation equipment is accurate in position and avoids falling off; the operation table rotary unit, the operation table lifting unit and the operation table horizontal position adjusting device that set up are at the operation in-process, when needs adjustment operation table position, can directly operation table rotary unit, operation table lifting unit and operation table horizontal position adjusting device are automatic to be adjusted for the flexibility of operation robot in the cooperation process with the operation table is higher, and application scope is wider.

Further, foretell accurate medical surgery robot actuating mechanism, the structure of robot rotation driving device and operation table rotary unit is the same to robot rotation driving device and operation table rotary unit all include rotary sliding table mount pad, rotary sliding table, thrust ball bearing and rotary platform, rotary sliding table sets up on rotary sliding table mount pad to rotary sliding table passes through thrust ball bearing and rotary platform and connects, be equipped with the surgical robot on robot rotation driving device's the rotary platform, robot rotation driving device's rotary sliding table mount pad and robot horizontal drive device connect, be equipped with operation table lifting unit on operation table rotary unit's the rotary platform. The robot rotation driving device who sets up can drive the robot and rotate 360, satisfies the required angle modulation of robot, and the operation table rotary unit who sets up can carry out operation table angle modulation according to the requirement of system to adjust operation patient's position.

Furthermore, the above-mentioned precise medical operation robot actuating mechanism, the robot horizontal driving device includes a horizontal supporting seat, a horizontal driving motor, a screw rod supporting seat, a horizontal driving screw rod, a screw nut, a horizontal sliding plate, two parallel horizontal linear guide rails and a horizontal supporting plate I, the horizontal driving motor, the screw rod supporting seat and the two parallel horizontal linear guide rails are all arranged on the horizontal supporting seat, the two parallel horizontal linear guide rails and the horizontal driving screw rod are arranged in parallel, the two parallel horizontal linear guide rails are arranged on two sides of the horizontal driving screw rod, a rotating shaft of the horizontal driving motor is connected with the horizontal driving screw rod, the horizontal driving screw rod is arranged on the screw rod supporting seat, the screw nut is in threaded connection with the horizontal driving screw rod, the horizontal sliding plate is fixedly connected with the screw nut, and horizontal sliding plate and two parallel arrangement's horizontal linear guide sliding connection, horizontal support plate one and screw-nut and horizontal sliding plate fixed connection, the rotatory slip table mount pad of robot rotary driving device is fixed to be set up on the up end of horizontal support plate one. The horizontal drive arrangement of robot that sets up makes surgical robot can reach farther distance to satisfy and receive and get the demand of putting surgical equipment.

Furthermore, in the above precise medical operation robot actuator, the operating bed lifting unit includes a horizontal support base, a horizontal support platform, an operating bed lifting driving device and a scissor mechanism, the lower end of the scissor mechanism is connected with the operating bed lifting driving device, the horizontal support platform is connected with the upper end of the scissor mechanism, and the operating bed lifting driving device is arranged on the horizontal support base; the operating table lifting driving device comprises a lifting driving assembly, a first lifting pushing arm, a second lifting pushing arm, a first horizontal sliding plate and a second horizontal sliding plate, one ends of the first lifting pushing arm and the second lifting pushing arm are all connected with the lifting driving assembly, the other end of the first lifting pushing arm is hinged to the first horizontal sliding plate, the other end of the second lifting pushing arm is hinged to the second horizontal sliding plate, the first horizontal sliding plate and the second horizontal sliding plate are all connected with a horizontal supporting seat in a sliding mode, and the lower end portion of a scissor fork mechanism is connected with the first horizontal sliding plate and the second horizontal sliding plate. The position of the operation can be flexibly adjusted through the arranged operation bed lifting unit, so that the operation requirement of the robot is met.

Furthermore, according to the execution mechanism of the precise medical operation robot, the first lifting pushing arm and the second lifting pushing arm are symmetrically arranged, the first lifting pushing arm and the second lifting pushing arm are arranged in an inverted V shape, and the crossing position of the first lifting pushing arm and the second lifting pushing arm is hinged to the lifting driving assembly. The first lifting pushing arm and the second lifting pushing arm are arranged in a V shape and can be close to or far away from each other, so that the first horizontal sliding plate and the second horizontal sliding plate are synchronously pushed to move, and the scissor fork mechanism is lifted or lowered.

Furthermore, according to the execution mechanism of the accurate medical operation robot, the horizontal supporting seats are symmetrically provided with four linear sliding rails II in pairs, the linear sliding rails II are connected with the horizontal sliding blocks I, and two ends of each of the horizontal sliding plates I and the two ends of each of the horizontal sliding plates II are fixedly connected with the horizontal sliding blocks I respectively.

Furthermore, the above-mentioned precise medical operation robot actuating mechanism, the lifting driving assembly comprises a set of support columns, a motor mounting plate, a lifting driving motor, a lifting driving screw rod, a lifting driving screw nut and a connecting block, the lower end of the set of support columns is fixedly arranged on the horizontal support base, the motor mounting plate is fixedly arranged on the upper end of the set of support columns, the lifting driving motor is fixedly arranged on the motor mounting plate and is connected with the lifting driving screw rod, the lifting driving screw nut is in threaded connection with the lifting driving screw rod, the connecting block is fixedly connected with the lifting driving screw nut, the crossing position of the lifting pushing arm I and the lifting pushing arm II is hinged with the connecting block, the lifting driving screw nut is connected with a lifting guiding sliding plate, the lifting guiding sliding plate is connected with a guiding sliding sleeve, the guide sliding sleeve is connected with the support column in a sliding mode.

Further, the above-mentioned precise medical operation robot actuator, the horizontal support platform is provided with an operation bed horizontal position adjusting device, the operation bed is arranged on the operation bed horizontal position adjusting device, the operation bed horizontal position adjusting device comprises an operation bed support flat plate, a position adjusting driving motor, a position adjusting driving rack, a position adjusting driving gear, a position adjusting slider and two parallel position adjusting linear guide rails, the position adjusting driving motor and the two parallel position adjusting linear guide rails are all arranged on the horizontal support platform, a rotating shaft of the position adjusting driving motor is connected with the position adjusting driving gear, the position adjusting driving gear is meshed with the position adjusting driving rack, the two parallel position adjusting linear guide rails and the position adjusting driving rack are arranged in parallel, and the two parallel position adjusting linear guide rails are respectively positioned at two sides of the position adjusting driving rack, position control drive rack and operation table support dull and stereotyped the connection, be equipped with position control slider on the position control linear guide, operation table supports dull and stereotyped and position control slider fixed connection, be equipped with four locking pieces on the operation table supports the dull and stereotyped, the locking of the gyro wheel of operation table can be carried out to four locking pieces. The horizontal position adjusting device of the operating table further improves the moving flexibility of the operating table, thereby meeting different use requirements.

The invention also provides a working method of the precise medical surgical robot executing mechanism, which comprises the following steps:

s1, pushing the operating table onto the operating table supporting flat plate, and locking the operating table;

s2, clockwise transmission is performed by a lifting driving motor to drive a lifting driving screw rod to rotate, so that a lifting driving screw rod nut rises along the lifting driving screw rod, and a lifting pushing arm I and a lifting pushing arm II are driven to approach each other;

s3, the first lifting push arm and the second lifting push arm drive the first horizontal sliding plate and the second horizontal sliding plate to approach each other, so that the scissor fork mechanism rises to drive the horizontal supporting platform to rise, the horizontal position adjusting device of the operating bed arranged on the horizontal supporting platform rises, and the operating bed on the horizontal position adjusting device of the operating bed is adjusted to a position adaptive to the operating robot;

s4, the robot horizontal driving device and the operating table rotating unit work cooperatively to drive the surgical robot to move to the position of the surgical tool table;

s5, the surgical robot drives the surgical manipulator to move to the position above the surgical tool table, and the clamping jaw cylinder drives the two surgical clamping jaws to clamp the surgical needle to be used;

s6, a piston rod of the positioning driving cylinder extends out to push a driving rack to move, the driving rack drives a driving gear to rotate, and the driving gear drives a surgical needle positioning rod to rotate, so that the surgical needle positioning rod is in contact with a surgical needle clamped by two surgical clamping jaws to position the surgical needle;

s7, the surgical robot drives the surgical needle to leave the position of the surgical tool table, the robot horizontal driving device and the surgical bed rotating unit work cooperatively, the surgical robot is driven to move to the position of the surgical bed on the surgical bed supporting flat plate, and the surgical robot works;

s8, starting a position adjusting driving motor to drive a position adjusting driving gear to rotate, so that the position adjusting driving gear moves to drive the position adjusting driving rack to move and drive the operating bed supporting flat plate to move, and the operating bed drives a patient to move to the next operation position;

s9, driving the operating bed to rotate by the operating bed rotating unit, so that the operating bed is in an operating position, and the operating robot works;

and S10, continuously adjusting the position of the operating bed according to the requirement of the surgical robot to perform the operation under the cooperative work of the operating bed rotating unit, the operating bed lifting unit and the operating bed horizontal position adjusting device.

The technical scheme shows that the invention has the following beneficial effects: according to the accurate medical operation robot actuating mechanism, the robot rotation driving device, the robot horizontal driving device, the operation bed rotation unit and the operation bed lifting unit work cooperatively, so that the operation robot has a wider moving space, and meanwhile, the operation bed is driven by the driving structure to adjust the position, so that the operation bed reaches the optimal operation position; the positioning assembly arranged on the surgical manipulator can improve the stability of the surgical manipulator for clamping surgical instruments, thereby improving the precision in the surgical process and ensuring the accurate operation of the surgery.

Drawings

FIG. 1 is a schematic structural diagram of an actuator of a precision medical surgical robot according to the present invention;

FIG. 2 is a schematic view of a surgical manipulator according to the present invention;

FIG. 3 is a schematic structural diagram of a surgical robot, a surgical manipulator, a robot rotation driving device and a robot horizontal driving device according to the present invention;

fig. 4 is a schematic structural view of an operating bed rotating unit and an operating bed lifting unit according to the present invention;

fig. 5 is a partial schematic structural view of the operating bed lifting unit according to the present invention;

fig. 6 is a top view of the operating bed lifting unit according to the present invention;

fig. 7 is a partial schematic structural view of the operating bed lifting unit according to the present invention;

fig. 8 is a top view of the horizontal position adjusting device of the operating bed according to the present invention;

fig. 9 is a schematic structural view of a horizontal position adjusting device of an operating table according to the present invention;

fig. 10 is a partial structural schematic view of the horizontal position adjusting device of the operating table according to the present invention.

In the figure: the surgical robot comprises a surgical robot 1, asurgical manipulator 2, asurgical clamping jaw 201, a clampingjaw air cylinder 202, a positioningdriving air cylinder 203, adriving rack 204, adriving gear 205, a surgicalneedle positioning rod 206, a robot rotation driving device 3, a rotation slidingtable mounting seat 301, a rotation sliding table 302, a thrust ball bearing 303, arotation platform 304, a robot horizontal driving device 4, a horizontal supportingseat 401, ahorizontal driving motor 402, a screwrod supporting seat 403, a horizontaldriving screw rod 404, ascrew rod nut 405, a horizontalsliding plate 406, a horizontallinear guide rail 407, a horizontal supporting plate I408, an operating table rotation unit 5, an operatingtable lifting unit 6, a horizontal supportingseat 601, a horizontal supportingplatform 602, an operating tablelifting driving device 603, ascissor fork mechanism 604, alifting driving component 605, a lifting pushing arm I606, a lifting pushing arm II 607, a horizontal sliding plate I608, a horizontal sliding plate II 609, a linear sliding rail II 610, a horizontal sliding block I611, a horizontal sliding block I, The device comprises asupport column 612, amotor mounting plate 613, alifting driving motor 614, alifting driving screw 615, a liftingdriving screw nut 616, a connectingblock 617, a liftingguide sliding plate 618, aguide sliding sleeve 619, an operating table horizontalposition adjusting device 7, an operating table supportflat plate 701, a position adjustingdriving motor 702, a position adjustingdriving rack 703, a position adjustingdriving gear 704, a position adjusting slidingblock 705, a position adjustinglinear guide 706 and alocking block 707.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

The precise medical operation robot actuating mechanism shown in fig. 1 comprises an operation robot 1, anoperation manipulator 2, a robot rotation driving device 3, a robot horizontal driving device 4, an operation bed rotation unit 5 and an operationbed lifting unit 6, the robot horizontal driving device 4 is positioned at one side of the operatingtable lifting unit 6, the robot rotary driving device 3 is arranged on the robot horizontal driving device 4, the surgical robot 1 is arranged on the robot rotation driving device 3, thesurgical manipulator 2 is connected with the surgical robot 1, the operatingbed lifting unit 6 is arranged on the operating bed rotating unit 5, and an operation bed is arranged on the operationbed lifting unit 6, the operationbed lifting unit 6 can adjust the height of the operation bed, the operating table rotating unit 5 can adjust the angle of the operating table within the range of 360 degrees of the horizontal plane.

Wherein, thesurgical manipulator 2 shown in fig. 2 comprises twosurgical clamping jaws 201, a clampingjaw cylinder 202, apositioning driving cylinder 203, adriving rack 204, adriving gear 205 and a surgicalneedle positioning rod 206, the clampingjaw cylinder 202 is connected with the surgical robot 1, the twosurgical clamping jaws 201 are connected with the clampingjaw cylinder 202, one of the twosurgical clamping jaws 201 is provided with a positioning connecting plate 207, the surgicalneedle positioning rod 206 is connected with the positioning connecting plate 207 through a rotating shaft, a piston rod of thepositioning driving cylinder 203 is connected with thedriving rack 204, thedriving rack 204 is engaged with thedriving gear 205, thedriving gear 205 is connected with the surgicalneedle positioning rod 206, the surgicalneedle positioning rod 206 is positioned at one side of thesurgical clamping jaw 201 provided with the positioning connecting plate 207, a surgical needle can be clamped between the twosurgical clamping jaws 201, thepositioning driving cylinder 203 can drive the surgicalneedle positioning rod 206 to contact with the surgical needle between the twosurgical clamping jaws 201, the surgicalneedle positioning rod 206 is arc-shaped.

As shown in fig. 3, the robot rotary driving device 3 and the operation bed rotary unit 5 have the same structure, and the robot rotary driving device 3 and the operation bed rotary unit 5 each include arotary slide mount 301, a rotary slide 302, athrust ball bearing 303, and arotary platform 304, the rotary slide 302 is disposed on therotary slide mount 301, and the rotary slide 302 is connected to therotary platform 304 through thethrust ball bearing 303, the operation robot 1 is disposed on therotary platform 304 of the robot rotary driving device 3, therotary slide mount 301 of the robot rotary driving device 3 is connected to the robot horizontal driving device 4, and the operationbed lifting unit 6 is disposed on therotary platform 304 of the operation bed rotary unit 5.

The horizontal driving device 4 of the robot shown in fig. 3 comprises a horizontal supporting seat 401, a horizontal driving motor 402, a lead screw supporting seat 403, a horizontal driving lead screw 404, a lead screw nut 405, a horizontal sliding plate 406, two parallel horizontal linear guide rails 407 and a horizontal supporting plate one 408, wherein the horizontal driving motor 402, the lead screw supporting seat 403 and the two parallel horizontal linear guide rails 407 are all arranged on the horizontal supporting seat 401, the two parallel horizontal linear guide rails 407 and the horizontal driving lead screw 404 are arranged in parallel, the two parallel horizontal linear guide rails 407 are arranged on two sides of the horizontal driving lead screw 404, a rotating shaft of the horizontal driving motor 402 is connected with the horizontal driving lead screw 404, the horizontal driving lead screw 404 is arranged on the lead screw supporting seat, the lead screw nut 405 and the horizontal driving lead screw 404 are in threaded connection, the horizontal sliding plate 406 and the lead screw nut 405 are fixedly connected, and a horizontal sliding plate 406 is slidably connected with two parallel horizontal linear guide rails 407, the first horizontal support plate 408 is fixedly connected with the lead screw nut 405 and the horizontal sliding plate 406, and the rotary sliding table mounting base 301 of the robot rotary driving device 3 is fixedly arranged on the upper end surface of the first horizontal support plate 408.

The operating table lifting unit 6 shown in fig. 4-7 comprises a horizontal supporting seat 601, a horizontal supporting platform 602, an operating table lifting driving device 603 and a scissor mechanism 604, wherein the lower end of the scissor mechanism 604 is connected with the operating table lifting driving device 603, the horizontal supporting platform 602 is connected with the upper end of the scissor mechanism 604, and the operating table lifting driving device 603 is arranged on the horizontal supporting seat 601; the lifting driving device 603 of the operating table comprises a lifting driving assembly 605, a first lifting push arm 606, a second lifting push arm 607, a first horizontal sliding plate 608 and a second horizontal sliding plate 609, one ends of the first lifting push arm 606 and the second lifting push arm 607 are both connected with the lifting driving assembly 605, the other end of the first lifting push arm 606 is hinged with the first horizontal sliding plate 608, the other end of the second lifting push arm 607 is hinged with the second horizontal sliding plate 609, the first horizontal sliding plate 608 and the second horizontal sliding plate 609 are both connected with the horizontal support base 601 in a sliding manner, and the lower end of the scissor mechanism 604 is connected with the first horizontal sliding plate 608 and the second horizontal sliding plate 609.

The firstlifting push arm 606 and the secondlifting push arm 607 are symmetrically arranged, the firstlifting push arm 606 and the secondlifting push arm 607 are arranged in an inverted V shape, and the crossing position of the firstlifting push arm 606 and the secondlifting push arm 607 is hinged to thelifting driving component 605. The two pairwise symmetry of horizontal supportingseat 601 is equipped with four two linear slide rails 610, be connected withhorizontal slider 611 on the two linear slide rails 610, the both ends of horizontal slide plate 608 andhorizontal slide plate 609 are respectively withhorizontal slider 611 fixed connection.

As shown in fig. 5, thelifting driving assembly 605 includes a set of supportingcolumns 612, amotor mounting plate 613, alifting driving motor 614, alifting driving screw 615, a lifting drivingscrew nut 616 and a connectingblock 617, the lower end of the set of supportingcolumns 612 is fixedly disposed on the horizontal supportingseat 601, themotor mounting plate 613 is fixedly disposed on the upper end of the set of supportingcolumns 612, thelifting driving motor 614 is fixedly disposed on themotor mounting plate 613, thelifting driving motor 614 is connected with thelifting driving screw 615, the lifting drivingscrew nut 616 is in threaded connection with thelifting driving screw 615, the connectingblock 617 is fixedly connected with the lifting drivingscrew nut 616, the crossing position of the firstlifting pushing arm 606 and the secondlifting pushing arm 607 is hinged to the connectingblock 617, the lifting drivingscrew nut 616 is connected with a liftingguiding sliding plate 618, and the lifting guiding slidingsleeve 619 is connected to the lifting guiding slidingplate 618, theguide sleeve 619 is slidably connected with thesupport column 612.

As shown in fig. 8-10, an operating bed horizontal position adjusting device 7 is disposed on the horizontal support platform 602, the operating bed is disposed on the operating bed horizontal position adjusting device 7, the operating bed horizontal position adjusting device 7 includes an operating bed support plate 701, a position adjusting driving motor 702, a position adjusting driving rack 703, a position adjusting driving gear 704, a position adjusting slider 705 and two parallel position adjusting linear guide rails 706, the position adjusting driving motor 702 and the two parallel position adjusting linear guide rails 706 are disposed on the horizontal support platform 602, a rotating shaft of the position adjusting driving motor 702 is connected to the position adjusting driving gear 704, the position adjusting driving gear 704 is engaged with the position adjusting driving rack 703, the two parallel position adjusting linear guide rails 706 are disposed in parallel to the position adjusting driving rack 703, and two position adjusting linear guide rails 706 arranged in parallel are respectively positioned at two sides of the position adjusting driving rack 703, the position adjusting driving rack 703 is connected with the operating bed supporting flat plate 701, a position adjusting sliding block 705 is arranged on the position adjusting linear guide rail 706, the operating bed supporting flat plate 701 is fixedly connected with the position adjusting sliding block 705, four locking blocks 707 are arranged on the operating bed supporting flat plate 701, and the four locking blocks 707 can lock the rollers of the operating bed.

Based on the structure, the working method of the execution mechanism of the precise medical surgical robot comprises the following steps:

s1, pushing the operating table onto the operatingtable support plate 701 and locking the operating table;

s2, clockwise transmission is performed by thelifting driving motor 614 to drive thelifting driving screw 615 to rotate, so that the lifting drivingscrew nut 616 ascends along thelifting driving screw 615 to drive the firstlifting pushing arm 606 and the secondlifting pushing arm 607 to approach each other;

s3, the firstlifting push arm 606 and the secondlifting push arm 607 drive the first horizontal sliding plate 608 and the second horizontal slidingplate 609 to approach, so that thescissors mechanism 604 rises to drive the horizontal supportingplatform 602 to rise, the operating bed horizontalposition adjusting device 7 arranged on the horizontal supportingplatform 602 rises, and the operating bed on the operating bed horizontalposition adjusting device 7 is adjusted to a position corresponding to the surgical robot 1;

s4, the robot horizontal driving device 4 and the operating table rotating unit 5 work cooperatively to drive the surgical robot 1 to move to the position of the surgical tool table;

s5, the surgical robot 1 drives thesurgical manipulator 2 to move to the position above the surgical tool table, and the clampingjaw cylinder 202 drives the twosurgical clamping jaws 201 to clamp the surgical needle to be used;

s6, extending a piston rod of thepositioning driving cylinder 203 to push thedriving rack 204 to move, driving thedriving rack 204 to drive thedriving gear 205 to rotate, and driving thedriving gear 205 to drive the surgicalneedle positioning rod 206 to rotate, so that the surgicalneedle positioning rod 206 is in contact with a surgical needle clamped by the twosurgical clamping jaws 201 to position the surgical needle;

s7, the surgical robot 1 drives the surgical needle to leave the position of the surgical tool table, the robot horizontal driving device 4 and the surgical bed rotating unit 5 work cooperatively, the surgical robot 1 is driven to move to the position of the surgical bed on the surgical bed supportingflat plate 701, and the surgical robot 1 works;

s8, starting the position adjusting drivingmotor 702, driving the position adjustingdriving gear 704 to rotate, so that the position adjustingdriving rack 703 moves, and the operating bed supportingflat plate 701 is driven to move, so that the operating bed moves, and the operating bed drives the patient to move to the next operation position;

s9, driving the operating bed to rotate by the operating bed rotating unit 5, so that the operating bed is in an operating position, and the operating robot 1 works;

and S10, under the cooperative work of the operating bed rotating unit 5, the operatingbed lifting unit 6 and the operating bed horizontalposition adjusting device 7, continuously adjusting the position of the operating bed according to the requirement of the surgical robot 1 to perform the operation.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.

Claims (9)

1. The utility model provides an accurate medical surgery robot actuating mechanism which characterized in that: comprises a surgical robot (1), a surgical manipulator (2), a robot rotary driving device (3), a robot horizontal driving device (4), an operating bed rotary unit (5) and an operating bed lifting unit (6), the robot horizontal driving device (4) is positioned at one side of the operating bed lifting unit (6), the robot rotation driving device (3) is arranged on the robot horizontal driving device (4), the surgical robot (1) is arranged on a robot rotation driving device (3), the surgical manipulator (2) is connected with the surgical robot (1), the operating bed lifting unit (6) is arranged on the operating bed rotating unit (5), and an operating bed is arranged on the operating bed lifting unit (6), the operating bed lifting unit (6) can adjust the height of the operating bed, the operating bed rotating unit (5) can adjust the angle of the operating bed within the range of 360 degrees of the horizontal plane;

wherein, the surgical manipulator (2) comprises two surgical clamping jaws (201), a clamping jaw air cylinder (202), a positioning driving air cylinder (203), a driving rack (204), a driving gear (205) and a surgical needle positioning rod (206), the clamping jaw air cylinder (202) is connected with the surgical robot (1), the two surgical clamping jaws (201) are connected with the clamping jaw air cylinder (202), one of the two surgical clamping jaws (201) is provided with a positioning connecting plate (207), the surgical needle positioning rod (206) is connected with the positioning connecting plate (207) through a rotating shaft, a piston rod of the positioning driving air cylinder (203) is connected with the driving rack (204), the driving rack (204) is meshed with the driving gear (205), the driving gear (205) is connected with the surgical needle positioning rod (206), the surgical needle positioning rod (206) is positioned at one side of the surgical clamping jaw (201) provided with the positioning connecting plate (207), but centre gripping operation needle between two operation clamping jaw (201), the location drives operation needle locating lever (206) and the operation needle between two operation clamping jaw (201) of actuating cylinder (203) and contacts, operation needle locating lever (206) are the arc setting.

2. The precision medical surgical robotic actuator of claim 1, wherein: the robot rotation driving device (3) and the operation bed rotation unit (5) have the same structure, and the robot rotation driving device (3) and the operating table rotation unit (5) both comprise a rotation sliding table mounting seat (301), a rotation sliding table (302), a thrust ball bearing (303) and a rotation platform (304), the rotation sliding table (302) is arranged on the rotation sliding table mounting seat (301), the rotary sliding table (302) is connected with the rotary platform (304) through a thrust ball bearing (303), a rotary platform (304) of the robot rotary driving device (3) is provided with a surgical robot (1), a rotary sliding table mounting seat (301) of the robot rotary driving device (3) is connected with a robot horizontal driving device (4), and an operating bed lifting unit (6) is arranged on a rotating platform (304) of the operating bed rotating unit (5).

3. The precision medical surgical robotic actuator of claim 2, wherein: the robot horizontal driving device (4) comprises a horizontal supporting seat (401), a horizontal driving motor (402), a screw rod supporting seat (403), a horizontal driving screw rod (404), a screw rod nut (405), a horizontal sliding plate (406), two parallel horizontal linear guide rails (407) and a horizontal supporting plate I (408), wherein the horizontal driving motor (402), the screw rod supporting seat (403) and the two parallel horizontal linear guide rails (407) are all arranged on the horizontal supporting seat (401), the two parallel horizontal linear guide rails (407) and the horizontal driving screw rod (404) are arranged in parallel, the two parallel horizontal linear guide rails (407) are positioned at two sides of the horizontal driving screw rod (404), a rotating shaft of the horizontal driving motor (402) is connected with the horizontal driving screw rod (404), and the horizontal driving screw rod (404) is arranged on the screw rod supporting seat (403), feed screw nut (405) and horizontal drive lead screw (404) threaded connection, horizontal sliding plate (406) and feed screw nut (405) and fixed connection to horizontal sliding plate (406) and two parallel arrangement's horizontal linear guide (407) sliding connection, horizontal support plate (408) and feed screw nut (405) and horizontal sliding plate (406) fixed connection, rotatory slip table mount pad (301) of robot rotary driving device (3) is fixed to be set up on the up end of horizontal support plate (408).

4. The precision medical surgical robotic actuator of claim 1, wherein: the operating table lifting unit (6) comprises a horizontal supporting seat (601), a horizontal supporting platform (602), an operating table lifting driving device (603) and a scissor mechanism (604), wherein the lower end part of the scissor mechanism (604) is connected with the operating table lifting driving device (603), the horizontal supporting platform (602) is connected with the upper end part of the scissor mechanism (604), and the operating table lifting driving device (603) is arranged on the horizontal supporting seat (601); the operating table lifting driving device (603) comprises a lifting driving assembly (605), a first lifting push arm (606), a second lifting push arm (607), a first horizontal sliding plate (608) and a second horizontal sliding plate (609), wherein one ends of the first lifting push arm (606) and the second lifting push arm (607) are connected with the lifting driving assembly (605), the other end of the first lifting push arm (606) is hinged to the first horizontal sliding plate (608), the other end of the second lifting push arm (607) is hinged to the second horizontal sliding plate (609), the first horizontal sliding plate (608) and the second horizontal sliding plate (609) are connected with a horizontal supporting seat (601) in a sliding mode, and the lower end portion of the scissor mechanism (604) is connected with the first horizontal sliding plate (608) and the second horizontal sliding plate (609).

5. The precision medical surgical robotic actuator of claim 4, wherein: the lifting push arm I (606) and the lifting push arm II (607) are symmetrically arranged, the lifting push arm I (606) and the lifting push arm II (607) are arranged in an inverted V shape, and the crossing position of the lifting push arm I (606) and the lifting push arm II (607) is hinged to the lifting driving assembly (605).

6. The precision medical surgical robotic actuator of claim 5, wherein: two bisymmetry of horizontal supporting seat (601) are equipped with four straight-line slide rail two (610), be connected with horizontal slider one (611) on straight-line slide rail two (610), the both ends of horizontal slide board one (608) and horizontal slide board two (609) respectively with horizontal slider one (611) fixed connection.

7. The precision medical surgical robotic actuator of claim 6, wherein: the lifting driving component (605) comprises a group of supporting columns (612), a motor mounting plate (613), a lifting driving motor (614), a lifting driving screw rod (615), a lifting driving screw rod nut (616) and a connecting block (617), wherein the lower end parts of the group of supporting columns (612) are fixedly arranged on a horizontal supporting seat (601), the motor mounting plate (613) is fixedly arranged on the upper end parts of the group of supporting columns (612), the lifting driving motor (614) is fixedly arranged on the motor mounting plate (613), the lifting driving motor (614) is connected with the lifting driving screw rod (615), the lifting driving screw rod nut (616) is in threaded connection with the lifting driving screw rod (615), the connecting block (617) is fixedly connected with the lifting driving screw rod nut (616), and the crossing position of the first lifting pushing arm (606) and the second lifting pushing arm (607) is hinged with the connecting block (617), lifting guide sliding plates (618) are connected to the lifting drive screw nuts (616), guide sliding sleeves (619) are connected to the lifting guide sliding plates (618), and the guide sliding sleeves (619) are in sliding connection with the supporting columns (612).

8. The precision medical surgical robotic actuator of claim 7, wherein: be equipped with operation table horizontal position adjusting device (7) on horizontal support platform (602), the operation table sets up on operation table horizontal position adjusting device (7), operation table horizontal position adjusting device (7) include that operation table supports dull and stereotyped (701), position control driving motor (702), position control drive rack (703), position control drive gear (704), position control slider (705) and two parallel arrangement's position control linear guide (706), position control driving motor (702) and two parallel arrangement's position control linear guide (706) all set up on horizontal support platform (602), the pivot and the position control drive gear (704) of position control driving motor (702) are connected, position control drive gear (704) and position control drive rack (703) mesh, two parallel arrangement's position control linear guide (706) and position control drive rack (703) parallel arrangement And two parallel position adjusting linear guide rails (706) are respectively located on two sides of a position adjusting driving rack (703), the position adjusting driving rack (703) is connected with an operating bed supporting flat plate (701), a position adjusting sliding block (705) is arranged on the position adjusting linear guide rail (706), the operating bed supporting flat plate (701) is fixedly connected with the position adjusting sliding block (705), four locking blocks (707) are arranged on the operating bed supporting flat plate (701), and the four locking blocks (707) can lock rollers of the operating bed.

9. A working method of an actuating mechanism of an accurate medical surgical robot is characterized in that: the method comprises the following steps:

s1, pushing the operating table onto the operating table support plate (701) and locking the operating table;

s2, clockwise transmission is carried out by a lifting driving motor (614), a lifting driving screw rod (615) is driven to rotate, so that a lifting driving screw rod nut (616) rises along the lifting driving screw rod (615), and a first lifting pushing arm (606) and a second lifting pushing arm (607) are driven to approach each other;

s3, the first lifting push arm (606) and the second lifting push arm (607) drive the first horizontal sliding plate (608) and the second horizontal sliding plate (609) to approach, so that the scissors mechanism (604) rises to drive the horizontal supporting platform (602) to rise, the horizontal position adjusting device (7) of the operating table arranged on the horizontal supporting platform (602) rises, and the operating table on the horizontal position adjusting device (7) of the operating table is adjusted to a position adaptive to the surgical robot (1);

s4, the robot horizontal driving device (4) and the operating table rotating unit (5) work cooperatively to drive the surgical robot (1) to move to the position of the surgical tool table;

s5, the surgical robot (1) drives the surgical manipulator (2) to move to the position above the surgical tool table, and the clamping jaw cylinder (202) drives the two surgical clamping jaws (201) to clamp the surgical needle to be used;

s6, extending a piston rod of a positioning driving cylinder (203), pushing a driving rack (204) to move, driving the driving rack (204) to drive a driving gear (205) to rotate, and driving the driving gear (205) to drive a surgical needle positioning rod (206) to rotate, so that the surgical needle positioning rod (206) is in contact with a surgical needle clamped by two surgical clamping jaws (201) to position the surgical needle;

s7, the surgical robot (1) drives a surgical needle to leave the position of the surgical tool table, the robot horizontal driving device (4) and the surgical bed rotating unit (5) work cooperatively, the surgical robot (1) is driven to move to the position of the surgical bed on the surgical bed supporting flat plate (701), and the surgical robot (1) works;

s8, starting a position adjusting driving motor (702), driving a position adjusting driving gear (704) to rotate, so that a position adjusting driving rack (703) moves, driving an operating bed supporting flat plate (701) to move, and driving a patient to move to the next operation position by the operating bed;

s9, driving the operating table to rotate by the operating table rotating unit (5), so that the operating table is in an operating position, and the operating robot (1) works;

and S10, under the cooperative work of the operating bed rotating unit (5), the operating bed lifting unit (6) and the operating bed horizontal position adjusting device (7), continuously adjusting the position of the operating bed according to the requirement of the surgical robot (1) to perform the operation.

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