CN-121987358-A - Slave end execution structure suitable for fundus operation scene and use method

CN121987358ACN 121987358 ACN121987358 ACN 121987358ACN-121987358-A

Abstract

The invention discloses a slave end execution structure suitable for fundus operation scene and a use method thereof, relating to the technical field of intelligent medical equipment and operation robots, comprising a supporting trolley, a vertical moving mechanism, a rotary joint and at least one posture adjusting mechanism, wherein the vertical moving mechanism is arranged on the supporting trolley; the device comprises a vertical moving mechanism, a rotary joint, a microscope, a posture adjusting mechanism and a control mechanism, wherein the rotary joint is arranged on the vertical moving mechanism, the microscope is arranged on the rotary joint, the rotary joint can drive the microscope to rotate, an objective lens of the microscope extends downwards to a target operation position to form a sight line channel, the posture adjusting mechanism is fixedly connected with the vertical moving mechanism and is used for installing a surgical instrument so as to adjust the spatial posture of the surgical instrument through multi-degree-of-freedom motion, and the motion track of the posture adjusting mechanism is always restrained at the side and the lower side of the sight line channel so as to keep the sight line channel smooth. The invention improves the safety, the precision and the efficiency of fundus surgery, fully utilizes the existing medical resources and reduces the clinical application threshold.

Inventors

YU HONGJIAN
LI JIACHEN
ZHANG YUHAN
YANG YICHEN
SUN LINING

Assignees

哈尔滨工业大学

Dates

Publication Date: 20260508
Application Date: 20260403

Claims (10)

1. A slave-end execution structure adapted to fundus operation scene is characterized by comprising: a support trolley for performing position adjustment in a three-dimensional space; The fixed end of the vertical moving mechanism is arranged on the supporting trolley; The rotary joint is arranged at the output end of the vertical moving mechanism, a microscope installation station is arranged in the middle of the rotary joint and used for installing a microscope, the rotary joint can drive the microscope to rotate and keep the rotated position, and an objective lens of the microscope extends downwards to a target operation position to form a sight line channel; The fixed end of the gesture adjusting mechanism is fixedly connected with the output end of the vertical moving mechanism, the output end of the gesture adjusting mechanism is used for installing a surgical instrument so as to adjust the spatial gesture of the surgical instrument through multi-degree-of-freedom motion, and the motion track of the gesture adjusting mechanism is always restrained at the side and the lower part of the sight line channel so as to keep the sight line channel smooth.
2. The slave-end execution structure adapted to a fundus surgical scene according to claim 1, wherein the number of the posture adjustment mechanisms is two, and fixed ends of the two posture adjustment mechanisms are symmetrically disposed with respect to the line-of-sight channel.
3. The slave end execution structure adapted to a fundus surgery scene according to claim 2, wherein the posture adjustment mechanism comprises a boom, an adapter, a first linear movement mechanism, a second linear movement mechanism and a parallel wrist, the boom is horizontally arranged, one end of the boom is fixedly connected with the output end of the vertical movement mechanism, the top end of the adapter is slidably connected with the boom in the length direction of the boom and can keep the position after sliding, the fixed end of the first linear movement mechanism is fixedly connected with the bottom end of the adapter, the fixed end of the second linear movement mechanism is fixedly connected with the output end of the first linear movement mechanism, the output end of the second linear movement mechanism is fixedly connected with the fixed end of the parallel wrist to drive the fixed end of the parallel wrist to move in an inclined plane with a first preset angle with a horizontal plane, the output end of the parallel wrist is inclined towards the direction of the sight line channel, and the output end of the parallel wrist is used for installing a surgical instrument and achieving posture fine adjustment of the surgical instrument through self multi-degree-of-freedom movement.
4. The slave end execution structure adapted to a fundus surgical scene according to claim 3, wherein the top surface of the adapter is a horizontal surface, the horizontal surface is used for being horizontally and slidably connected with the suspension arm, the bottom surface of the adapter is an inclined surface, the inclined surface is used for being mounted on the fixed end of the first linear moving mechanism, and an included angle between the inclined surface and the horizontal surface is 30-60 degrees.
5. The slave end execution structure adapted to a fundus surgical scene according to claim 4, wherein the first linear moving mechanism comprises a first door-shaped beam, a first motor, a first mounting plate, a first screw rod, a first nut, a first sliding block, a first supporting plate and a first sliding plate, the back of the first door-shaped beam is fixedly connected with the inclined surface of the adapter, a first mounting groove is formed in one side, far away from the adapter, of the first door-shaped beam, a first guide rail is arranged at the outer edge of the first mounting groove, the first motor is fixedly connected in the first mounting groove through the first mounting plate, one end of the first screw rod is fixedly connected with the output end of the first motor, the other end of the first screw rod is rotatably connected with the first supporting plate mounted in the first mounting groove through a bearing, the first nut is slidably connected in the first mounting groove, the first nut is fixedly connected with the first sliding block, the first guide rail is slidably connected with the first sliding plate, and the first sliding plate is fixedly connected with the first sliding plate.
6. The slave end execution structure adapted to a fundus surgical scene according to claim 5, wherein the second linear movement mechanism comprises a second portal beam, a second motor, a second mounting plate, a second screw rod, a second nut, a second slider, a second support plate and a second sliding plate, the back of the second portal beam is fixedly connected with the first sliding plate, a second mounting groove is formed in one side, far away from the adapting piece, of the second portal beam, a second guide rail is arranged at the outer edge of the second mounting groove, the second motor is fixedly connected in the second mounting groove through the second mounting plate, one end of the second screw rod is fixedly connected with the output end of the second motor, the other end of the second screw rod is rotatably connected with a second support plate mounted in the second mounting groove through a bearing, the second nut is slidably connected in the second mounting groove, the second nut is in threaded connection with the second screw rod, the second slider is slidably connected with the second guide rail, and the second slider is fixedly connected with the second fixing end of the second nut and the second sliding plate in parallel connection with the second support plate.
7. The slave end execution structure adapted to a fundus surgical scene according to claim 6, wherein the parallel wrist comprises a base and three active driving branched chains, the base is vertically and fixedly connected with the second sliding plate, the three active driving branched chains are mounted on the base, the output end of each active driving branched chain is hinged with the surgical instrument, two active driving branched chains form PRR-RRP branched chains, the other active driving branched chains form PU branched chains, the PRR-RRP branched chains are used for driving the surgical instrument to realize adjustment of a deflection angle, the PU branched chains are used for driving the surgical instrument to realize adjustment of a pitching angle, and the PRR-RRP branched chains and the PU branched chains synchronously move to realize linear feeding of the surgical instrument.
8. The slave end execution structure adapted to a fundus surgery scene according to claim 7, wherein the active driving branched chain comprises a third motor, a third mounting plate, a third screw rod, a third screw nut, a third sliding block, a third supporting plate, a third sliding plate and a hook joint, three third mounting grooves are formed in the base, third guide rails are formed in the outer edges of the third mounting grooves, the third motor is fixedly connected in the third mounting grooves through the third mounting plate, one end of the third screw rod is fixedly connected with the output end of the third motor, the other end of the third screw rod is rotatably connected with the third supporting plate mounted in the third mounting grooves through a bearing, the third screw nut is slidably connected in the third mounting grooves, the third screw nut is in threaded connection with the third screw rod, the third sliding block is slidably connected with the third guide rails, the third sliding plate is fixedly connected with the third sliding block and the third screw nut, and the third sliding plate is fixedly connected with the hook joint instrument through the hook joint.
9. The slave-end execution structure adapted to a fundus surgery scene according to claim 1, wherein the supporting trolley is a movable trolley with movable wheels, and the vertical moving mechanism is a telescopic upright post or a liftable electric push rod.
10. The slave-end execution structure adapted to a fundus surgery scene according to any one of claims 1 to 9, comprising the steps of: Mounting a microscope on a microscope mounting station of the rotary joint; The sight line channel is established by adjusting the position of the supporting trolley, the height of the vertical moving mechanism and the angle of the rotary joint to enable the visual field of the microscope to be aligned to a target operation area; Installing the surgical instrument at the output end of the gesture adjusting mechanism, and adjusting the initial gesture of the surgical instrument through the gesture adjusting mechanism to enable the tail end of the surgical instrument to be aligned with a surgical access point; By controlling the multi-degree-of-freedom motion of the attitude adjustment mechanism, the surgical instrument is driven to perform an operation while ensuring that the moving parts of the attitude adjustment mechanism do not enter the line-of-sight path.

Description

Slave end execution structure suitable for fundus operation scene and use method Technical Field The invention relates to the technical field of intelligent medical equipment and surgical robots, in particular to a slave-end execution structure suitable for fundus surgery scenes and a use method. Background Under the background of continuous progress of modern medical technology, the requirement of fundus surgery on precision reaches the extremely high standard of the submillimeter level. However, when the current doctor performs fundus surgery freehand, numerous challenges are faced. On the one hand, the physiological tremor of the hands of doctors is unavoidable, so that the operation accuracy is limited, and secondary damage is very easy to be caused to patients when fine operations such as vascular suturing, nerve separation and the like are performed. On the other hand, fatigue caused by long-time operation can also significantly affect the stability and accuracy of doctor operation. Meanwhile, when the traditional surgical instrument is used for coping with complex surgical trajectories, the traditional surgical instrument is worry about, the ever-increasing accurate operation requirements of modern fundus surgery are difficult to meet, and the problems severely restrict the improvement of the surgical quality. Surgical robotic products remain in the development stage as a whole, mostly focusing on imitation, low precision tracking and semi-automatic control. The system structure is generally mainly in master-slave series connection, and is lack of a high-performance series-parallel mechanism and innovation of a slave-end structure. In particular in terms of the design of end effector systems that support surgical instruments, a versatile and reliable solution has not been developed. Meanwhile, the combination mode of the existing surgical robot and a microscope has limitations. Part of the design integrates the microscope with the robot, and although the cooperation is achieved to some extent, the integrated design results in poor compatibility with different types of commercial microscopes of different specifications. In an actual clinical environment, each medical institution is equipped with commercial microscopes of various brands and models, if the surgical robot can only be adapted to a specific microscope, not only the purchase cost of the equipment can be increased, but also the universality and expandability of the equipment can be reduced, and the existing microscope resources of the medical institution can not be fully utilized. Furthermore, most current surgical robots have significant limitations in dealing with surgical access points. On the one hand, they lack sufficient freedom to flexibly adjust to adapt the angle of different surgical access points. This not only results in an underutilization of the working space, but also makes the robot less adaptable in complex surgical scenarios. On the other hand, even if some adjustment can be performed, the sight of a microscope is often blocked in the process of adjusting the position of the surgical instrument, and the definition of the surgical field is seriously affected. This view blocking problem presents great inconvenience to the physician's view and operation, and the physician has to spend additional effort to adjust the view angle or re-plan the operation path during the operation, which undoubtedly increases the difficulty and risk of the operation. Therefore, the secondary end execution structure which can adapt to the fundus operation scene, has high degree of freedom, strong compatibility with a commercial microscope, can avoid shielding the operation vision and can realize accurate operation and the corresponding use method are continued. Disclosure of Invention The invention aims to provide a slave-end execution structure and a using method thereof, which are suitable for fundus operation scenes, so as to solve the problems of insufficient freedom degree, poor microscope compatibility, easiness in shielding of visual field, limited operation precision and the like of the slave-end structure of an operation robot in the prior art, thereby improving the safety, the precision and the efficiency of fundus operation, fully utilizing the existing medical resources and reducing the clinical application threshold. In order to achieve the above object, the present invention provides the following solutions: The invention provides a slave end execution structure suitable for fundus operation scenes, which comprises a supporting trolley, a vertical moving mechanism, a rotary joint and at least one gesture adjusting mechanism, wherein the supporting trolley is used for carrying out position adjustment in a three-dimensional space, a fixed end of the vertical moving mechanism is arranged on the supporting trolley, the rotary joint is arranged at an output end of the vertical moving mechanism, a microscope installation station is arranged