CN114903599A - Fixed point mechanism, mechanical arm and surgical robot - Google Patents

Abstract

The invention relates to a fixed point mechanism, a mechanical arm and a surgical robot; the surgical robot comprises a mechanical arm and a fixed point mechanism connected with the mechanical arm; the fixed point mechanism comprises a first linear motion device and a second linear motion device; the first linear motion device comprises at least two first linear motion mechanisms which are arranged in parallel, the second linear motion device comprises at least two second linear motion mechanisms which are connected in series, and at least one second linear motion mechanism and the first linear motion mechanisms are arranged in parallel or partially overlapped; the configuration can improve the structural rigidity of the fixed point mechanism, simplify the mechanical structure, improve the motion control precision and reduce the cost.

Description

Fixed point mechanism, robotic arm and surgical robot

technical field

The invention relates to the field of medical instruments, in particular to a fixed point mechanism, a mechanical arm and a surgical robot.

Background technique

In the research field of minimally invasive surgical robots, how to make the surgical instruments held by the robot swing reliably around the small incision on the body surface without enlarging the incision is a key technical problem. For this reason, a variety of mechanical structures have been studied, among which the telecentric fixed point mechanism is the most direct and effective solution. A mechanism is called a telecentric fixed-point mechanism if a part or a point in the mechanism always passes through a fixed point away from the mechanism itself and the point has no actual physical constraints in the motion of the mechanism.

A point in a mechanism is called a telecentric fixed point if a part or a point in the mechanism always passes through or around a fixed point that is far from the mechanism itself and has no actual physical constraints in the motion of the mechanism. At present, fixed-point manipulators used in micro-traumatic surgical robots mainly include single parallelogram serial manipulators, multi-parallelogram serial manipulators, and serial spherical link manipulators. However, these fixed-point manipulators usually use a large number of hinged links, which have complex structures, large transmission reduction ratios, low transmission efficiency, and it is difficult to ensure control accuracy and structural rigidity. Control of degrees of freedom, long transmission chain, poor transmission rigidity and structural rigidity, and most of them require the use of harmonic reducers, which are expensive and costly.

SUMMARY OF THE INVENTION

In order to solve the technical problems existing in the prior art, the purpose of the present invention is to provide a fixed point mechanism, which uses a parallel linear motion mechanism to realize the fixed point constraint, which has the advantages of good structural rigidity, large transmission rigidity and small reduction ratio. , high transmission efficiency, low cost and so on.

In order to achieve the above object, according to a first aspect of the present invention, a fixed point mechanism is provided, which includes a first linear motion device and a second linear motion device; the first linear motion device includes at least two parallel The first linear motion mechanism is provided, and the first linear motion mechanism is used to output the linear motion of equal proportion; the second linear motion device includes at least two second linear motion mechanisms connected in series, the second linear motion mechanism The linear motion mechanism is used for outputting linear motion in equal proportions, and at least one of the second linear motion mechanisms and at least one of the first linear motion mechanisms are arranged in parallel or partially overlapped.

Optionally, the fixed point mechanism further includes an end effector; the first linear motion device is slidably connected with the end effector to drive the end effector to swing; the second linear motion device is connected to the end effector. The end effector is fixedly connected to drive the end effector to extend and retract; the end effector is used to generate an orbiting fixed point under the joint action of the first linear motion device and the second linear motion device swing.

Optionally, both the first linear motion mechanism and the second linear motion mechanism include a guide rail and a slider for sliding on the guide rail; all the guide rails in the first linear motion device are arranged in parallel at least one guide rail in the second linear motion mechanism is arranged in parallel or overlapping with the guide rail in the first linear motion mechanism; the end effector is arranged with all the sliders in the first linear motion device It is slidably connected and fixedly connected with the corresponding sliding block in the second linear motion device.

Optionally, a slider on a guide rail in the second linear motion device that is parallel or coincident with the first linear motion mechanism is hinged with another guide rail in the second linear motion device, and the end effector It is fixedly connected with the slider on the other guide rail in the second linear motion device.

Optionally, the slider in each of the first linear motion mechanisms includes a slider body and a sliding part that are hinged to each other, the slider body slides on the guide rail, and the sliding part is connected to the sliding part. End effector slip connection.

Optionally, the number of the first linear motion mechanisms is two, and the number of the second linear motion mechanisms is two or an even number greater than two;

When the number of the second linear motion mechanisms is two, the guide rails in one of the second linear motion mechanisms are parallel or coincident with the guide rails in the first linear motion mechanism;

When the number of the second linear motion mechanisms is an even number greater than two, the guide rails in at least two of the second linear motion mechanisms are parallel or coincident with the guide rails in the first linear motion mechanism.

Optionally, the moving direction of the slider in at least one of the second linear motion mechanisms is perpendicular to the axis of the end effector, and the axis of the end effector passes through the fixed point.

Optionally, the first linear motion device is configured to simultaneously output movement with a first velocity value and a second velocity value, the ratio of the first velocity value to the second velocity value remaining unchanged ;

the second linear motion device is configured to simultaneously output movement having a third velocity value and a fourth velocity value, the ratio of the third velocity value to the fourth velocity value remaining unchanged;

The first speed value is less than the second speed value, and the third speed value is less than or equal to the fourth speed value.

Optionally, the second linear motion device is provided between the first linear motion mechanisms in the first linear motion device, or the first linear motion device is provided in the second linear motion device Above the linear motion device.

In order to achieve the above object, according to the second aspect of the present invention, a robotic arm is further provided, which includes a terminal joint and any one of the fixed point mechanisms, the fixed point mechanism is connected with the terminal joints.

To achieve the above object, according to a third aspect of the present invention, a surgical robot is further provided, which includes a robotic arm and any one of the fixed point mechanisms, wherein the fixed point mechanism is connected to the robotic arm.

Compared with the prior art, the fixed point mechanism, mechanical arm and surgical robot provided by the present invention have the following advantages:

The first and the above fixed point mechanisms include: a first linear motion device and a second linear motion device; the first linear motion device includes at least two first linear motion mechanisms arranged in parallel, the first linear motion mechanism The linear motion mechanism is used for outputting linear motion in equal proportions; the second linear motion device includes at least two second linear motion mechanisms connected in series, the second linear motion mechanisms are used for outputting linear motion in equal proportions, at least one The second linear motion mechanism and the first linear motion mechanism are arranged in parallel or partially overlapped; when configured in this way, the number of series stages of motion linkage in the fixed point mechanism is reduced, and the transmission structure of the fixed point mechanism is improved. rigidity, improve the motion control accuracy of the fixed point mechanism, and improve the accuracy of surgery; and by arranging at least one second linear motion mechanism partially overlapped with the first linear motion mechanism, the fixed point mechanism can be reduced. The number of parts, the mechanical structure is simplified, the weight and volume of the entire fixed point mechanism are reduced, and the motion control accuracy is further improved; in addition, when the constraint of the fixed point is realized by outputting linear motion, not only the linear motion device with a simple structure can be used to In addition, the reduction ratio of linear motion is small, the transmission efficiency is high, and the motion control accuracy is improved;

Second, the above fixed point mechanism can have its own end effector, so that the first linear motion device can drive the end effector to swing, and the second linear motion device can drive the end effector to extend and retract, thus realizing the end effector The two degrees of freedom of swinging and telescoping are finally realized under the joint action of the first linear motion device and the second linear motion device to realize the swing of the end effector relative to the fixed point, that is, the first linear motion device. Acting on the end effector causes the end effector to swing, and the second linear motion device acts on the end effector to cause the end effector to expand and contract; the end effector's swing and telescoping together form the way that it swings around the fixed point. a characteristic;

Third, by arranging all the second linear motion mechanisms below the first linear motion device, or by arranging all the second linear motion mechanisms on the lower side of the first linear motion device Between the first linear motion mechanisms, the distribution of the center of gravity can be improved, the structural rigidity of the entire fixed point mechanism can be improved, and the motion control accuracy can be further improved.

Description of drawings

The features, properties and advantages of implementations and related embodiments of the present invention will be described with reference to the following drawings, in which:

1 is a schematic diagram of a working scene of a surgical robot system according to a preferred embodiment of the present invention;

2 is a schematic structural diagram of a surgical robot according to a preferred embodiment of the present invention;

3 is a schematic diagram of the principle of the fixed point mechanism according to the first embodiment of the present invention;

4 is a geometrical schematic diagram of a fixed point mechanism according to the first embodiment of the present invention;

5 is a schematic diagram of the fixed point mechanism after movement according to the first embodiment of the present invention;

6 is a schematic diagram of the reciprocating motion of the fixed point mechanism according to the first embodiment of the present invention;

7 is a schematic diagram before adjusting the fixed point position according to the first embodiment of the present invention;

8 is a schematic diagram after adjusting the fixed point position according to the first embodiment of the present invention;

9 is a schematic diagram of the principle of a fixed point mechanism according to a second embodiment of the present invention;

10 is a geometrical schematic diagram of a fixed point according to a second embodiment of the present invention;

11 is a schematic diagram before adjusting the fixed point position according to the second embodiment of the present invention;

12 is a schematic diagram after adjusting the fixed point position according to the second embodiment of the present invention;

13 is a schematic diagram of the principle of the fixed point mechanism according to the third embodiment of the present invention;

14 is a schematic diagram of the principle of the fixed point mechanism according to the fourth embodiment of the present invention;

15 is a schematic diagram of the principle of the fixed point mechanism according to the fifth embodiment of the present invention;

16 is a schematic diagram of the principle of the fixed point mechanism according to the sixth embodiment of the present invention;

FIG. 17 is a schematic diagram of the principle of the fixed point mechanism according to the seventh embodiment of the present invention.

In the figure: 100-master; 101-master console; 200-slave; 201-surgical robot; 2011-manipulator; 202-surgical cart; 203-patient bed; 204-tool cart; 300-image cart; 400 - anesthesia machine; 500 - first linear motion device; 501 - first guide rail; 502 - second guide rail; 503 - first slider body; 504 - second slider body; 505 - first sliding part; 506 - second sliding part; 600 - second linear motion device; 601 - third guide rail; 602 - fourth guide rail; 603 - third slider; 604 - fourth slider; 605 - fifth guide rail; 606 - sixth rail; 607-fifth slider; 608-sixth slider; 700-end effector; O-fixed point.

Detailed ways

The technical solutions in the preferred embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As used herein, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used herein, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise. As used herein, the term "several" is generally employed in its sense including "at least one" unless the content clearly dictates otherwise. As used herein, the term "at least two" is generally employed in a sense including "two or more" unless the content clearly dictates otherwise. Furthermore, the terms "first", "second", "third", "fourth", "fifth", "sixth" are used for descriptive purposes only and should not be construed to indicate or imply relative importance or implicit Contains the number of technical features indicated. Thus, features defined as "first", "second", "third", "fourth", "fifth", "sixth" may expressly or implicitly include one or at least two of those features . Additionally, the term "end" or "distal" generally refers to the end remote from the operator of the instrument; the term "proximal" or "head end" generally refers to the end closer to the operator of the instrument.

The present invention will be further described below with reference to the accompanying drawings and preferred embodiments. The following embodiments and features in the embodiments may complement each other or be combined with each other without conflict.

FIG. 1 shows a schematic diagram of a working scene of a surgical robot system according to a preferred embodiment of the present invention. The surgical robot system is a master-slave teleoperated surgical robot system, that is, the surgical robot system includes a master end 100 and a slave end 200 that are communicatively connected. The main end 100 is the operation end of the teleoperated surgical robot, and includes a main console 101, the main console 101 includes a main operation unit (not marked, such as a main operator) installed thereon, the main operation The unit is used to receive the operator's hand motion information, which is used as the motion control signal input of the whole system. The master terminal 100 further includes a computing device, and the computing device of the master terminal 100 is configured to convert the operator's operation information into a master-slave control instruction, where the master-slave control instruction includes motion information and a master-slave mapping relationship. The main terminal 100 may further include a foot-operated surgical control device (not marked), and the operator may also use the foot-operated surgical control device to complete the input of relevant operation instructions such as electric cutting and coagulation. The slave terminal 200 is a specific execution platform of the teleoperated surgical robot system, and includes a surgical robot 201 for performing surgical operations; the computing device of the master terminal 100 sends the master-slave control instruction to the slave terminal 200; the The computing device of the slave end 200 is used to run the program in the readable storage medium to output master-slave control instructions; the surgical robot 201 controls the movement of the surgical instrument according to the received master-slave control instructions; the master end 100 and The slave end 200 can be configured with a separate computing device, or share the same computing device.

In more detail, the computing device of the slave end 200 is configured to output the master-slave control instruction according to the motion information sent by the computing device of the master end 100 and the preset master-slave mapping relationship, so as to control the surgical robot 201 to perform the master-slave control. Commands to drive surgical instrument movement. For example, the slave terminal 200 controls the surgical robot 201 to drive the surgical instrument to move according to the obtained moving speed of the operating unit in the main console 101, and controls the surgical robot 201 to drive the surgical robot 201 according to the obtained rotational angle or rotational speed of the operating unit. When the surgical instrument rotates, the surgical robot 201 can also be controlled to drive the surgical instrument to bend according to the acquired bending angle or bending direction of the operation unit. The operator and the master terminal 100 are preferably located in different rooms from the slave terminal 200, so as to achieve physical isolation between the operator and the patient.

Both the master terminal 100 and the slave terminal 200 may also be located in different hospitals and in different regions, and communicated and connected through a telecommunication technology. In this way, during the diagnosis and treatment of respiratory diseases, the operator completes the required surgical operation in another room, another hospital or another city according to the image information collected by the image acquisition device, and the surgical robot 201 reproduces all the operator's operations. action, thereby achieving physical isolation of the operator from the patient during the procedure.

The surgical robotic system may also include a surgical cart 202 . The surgical robot 201 is arranged on the operating trolley 202 . The operation trolley 202 can realize the large-scale movement of the operation robot 201 in the operation room, which makes the operation process more convenient. The surgical robot system may also include other auxiliary equipment, such as a hospital bed 203, which is responsible for supporting and adjusting the height of the patient. The main end 100 can perform operations on the patient on the hospital bed 203 through the operation unit, such as minimally invasive surgery. In addition, in some surgical application scenarios, the surgical instruments are first placed on the tool cart 204 to facilitate taking the surgical instruments from the tool cart 204 , and then the surgical instruments are installed at the end of the robotic arm of the surgical robot 201 .

Optionally, the surgical robot system may further include an image trolley 300, and the image trolley 300 includes an image processing device that is communicatively connected to the image acquisition device. The image acquisition device is, for example, an endoscope, which is used to acquire intracavity (referring to the patient's body cavity) intraoperative field images. The image processing device is used to perform image processing on the operative field image acquired by the image acquisition device, and transmit the image to the image display device. The image display device may be provided on the image cart 300 and/or at the main console 101 . The image trolley 300 can realize a wide range of movement of the image processing equipment in the operating room. In addition, the surgical robot system can also be equipped with auxiliary components such as anesthesia machine 400 and a ventilator for use in surgery. The anesthesia machine 400 is generally arranged beside the hospital bed 203 and is used to deliver anesthesia to the patient to meet the needs of surgical anesthesia. Those skilled in the art can select and configure these auxiliary components according to the prior art, which will not be described here.

It should be noted that the surgical robot system disclosed in the above example is only a demonstration of an application scenario rather than a limitation of the application scenario of the surgical robot system. The surgical robot system is not limited to a master-slave teleoperated surgical robot, but can also The single-ended surgical robot system, that is, there is no master-slave control, and the operator directly operates the surgical robot on the patient side to perform surgery, which is not limited in the present invention.

Further, the surgical robot 201 includes a robotic arm that provides support for surgical instruments and has multiple degrees of freedom. The number of robotic arms is mainly set according to surgical needs. Therefore, the application does not limit the number of robotic arms. For example, in FIG. 2 , the surgical robot 201 includes three robotic arms 2011, and the robotic arms 2011 can provide support and drive for surgical instruments or endoscopes. It should also be understood that during the operation, various instruments are often used to complete the operation, but all of them need to meet the requirements of the instrument passing through the fixed incision (poke card), so the telecentric fixed point mechanism is a minimally invasive surgical instrument. important part of the device.

As in the background art, the existing telecentric fixed-point mechanisms mainly include three types: a single parallelogram series manipulator, a multi-parallelogram series manipulator, and a series spherical link manipulator. Most of these fixed-point mechanisms are usually realized by connecting rods, and the number of connecting rods is large, the structure is complex, and the motion relationship is also complicated. For the series spherical link manipulator, the arm connecting rod requires high machining accuracy, large transmission reduction ratio, and the spherical connecting rod occupies a large space, which limits the working space of the manipulator. More than that, flexible parts will be used to achieve dual-free end control, the transmission chain is long, and the transmission rigidity and structural rigidity are poor. In addition, the existing drive joints use motors and harmonic reducers for rotation. Due to the small rated torque of the motor, the reduction ratio is basically above 80, and the efficiency of the harmonic reducer is not high. Therefore, there is a large reduction ratio and low transmission efficiency. The problem, especially the high price of the harmonic reducer, also further increases the cost.

In order to solve the technical problems existing in the existing telecentric fixed point mechanism, the present invention discloses a fixed point mechanism, which can drive a self-contained or external end effector to perform telescopic and swing movements, so it has two degrees of freedom , and the swing and retraction of the end effector together form the fixed point characteristic of its swinging around the fixed point. Specifically, the fixed point mechanism includes a first linear motion device and a second linear motion device; the first linear motion device includes at least two first linear motion mechanisms arranged in parallel; the second linear motion device The motion device includes at least two second linear motion mechanisms connected in series; the first linear motion mechanism and the second linear motion mechanism are both used for outputting linear motion in equal proportions, and both are rigid transmission structures; wherein at least one second linear motion mechanism The motion mechanism and the first linear motion mechanism are arranged in parallel or partially overlapped. The moving speeds of the different first linear motion mechanisms are not equal, but the ratio of the moving speeds of the respective first linear motion mechanisms is fixed; and the moving speeds of the different second linear motion mechanisms may be equal or are not equal, but the ratio of the moving speed of each second linear motion mechanism is also fixed; and the moving direction of at least one second linear motion mechanism parallel to the first linear motion mechanism is the same as the movement of the first linear motion mechanism. The directions are parallel (including the same direction of movement).

Preferably, the fixed point mechanism is an automatic end effector; the first linear motion device is slidably connected with the end effector to drive the end effector to swing and limit the swing angle of the end effector ; the second linear motion device is fixedly connected with the end effector to drive the end effector to extend and retract, and limit the telescopic displacement of the end effector; the end effector is used for the first straight Under the joint action of the linear motion device and the second linear motion device, a swing around the fixed point is generated. That is to say, the end effector is capable of both swinging and telescoping, so as to realize two-degree-of-freedom motion, and is limited by the angle of the at least two parallel first linear motion mechanisms, and the at least two series-connected first linear motion mechanisms. It swings around the fixed point under the combined action of the displacement limitation of the two linear motion mechanisms. Of course the end effector may be an external structure for separate assembly on the fixed point mechanism. After being configured in this way, the end effector can be driven to swing by at least two first linear motion mechanisms arranged in parallel, and by arranging at least one second linear motion mechanism parallel to or partially overlapping with the first linear motion mechanism, lowering the end effector. The series series of motion linkage in the fixed point mechanism is improved, and the rigidity of the transmission structure of the entire fixed point mechanism is improved, thereby improving the motion control accuracy of the fixed point mechanism and improving the accuracy of surgery. In addition, after the at least one second linear motion mechanism is partially overlapped with the first linear motion mechanism, the number of parts on the fixed point mechanism is reduced, the mechanical structure is simplified, and the entire fixed point mechanism is reduced The weight and volume further improve the precision of motion control. However, at least two second linear motion mechanisms are connected to each other so as to be arranged in series, so as to realize the linkage between the second linear motion mechanisms, that is, when one second linear motion mechanism produces motion, the other connected second linear motion mechanism moves Institutions also move with them. It should also be understood that when the second linear motion mechanism is partially coincident with the first linear motion mechanism, part of the structure in the first linear motion mechanism may serve as the corresponding structure in the second linear motion mechanism, and vice versa. In this case, the second linear motion mechanism shares part of the structure with the first linear motion mechanism.

However, the fixed point mechanism of the present invention is not limited to be used on the mechanical arm of the surgical robot, and can also be applied to the mechanical arm or corresponding equipment in other fields, which is not limited in this application. It should be noted that, since surgical instruments or endoscopes have a certain volume in practice, the above-mentioned "fixed point" should be understood as a fixed area. Of course, those skilled in the art can understand the "fixed point" according to the prior art.

The invention also discloses a mechanical arm, which includes a terminal joint and a fixed point mechanism, and the fixed point mechanism is connected with the terminal joint. For example, the end joint of the mechanical arm includes a base, the fixed point mechanism is arranged on the base, and a driving device capable of driving the first linear motion device and the second linear motion device can be provided on the base. . In this embodiment, the first linear motion device is used as the main motion mechanism, which is driven by an external driving device to output a linear motion of equal proportions, and drives the second linear motion device to output a linear motion of equal proportions, and the second linear motion The motion device can output proportional motion under the control of an external slave device. However, the present application does not limit the structure of the robotic arm, that is, the number and type of joints constituting the robotic arm are not particularly specified, such as a robotic arm with three degrees of freedom or a robotic arm with more degrees of freedom.

It should be understood that the rigid transmission structure can significantly improve the structural rigidity of the entire fixed point mechanism. The so-called "rigid transmission structure" means that the entire linear motion mechanism is not easily deformed when subjected to external forces. The rigid transmission structure is, for example, a guide rail slider module, a rack and pinion module, a screw nut module and other rigid transmission structures.

In the present invention, the number of the second linear motion mechanisms is generally two or an even number greater than two. Of course, in other cases, the number of the second linear motion mechanisms may also be an odd number greater than two. For example, when the number of the second linear motion mechanisms is two, one second linear motion mechanism is parallel to or partially overlapped with the first linear motion mechanism. For example, when the number of the second linear motion mechanisms is greater than two, especially an even number, at least two of the second linear motion mechanisms are parallel to or partially overlapped with the first linear motion mechanism. Wherein, when the number of the second linear motion mechanisms is greater than two, a part of the second linear motion mechanisms are connected to each other to form a series arrangement, and the other part of the second linear motion mechanisms are arranged parallel to each other and parallel to the first linear motion mechanism, preferably Ground, a portion of the second linear motion mechanism is partially coincident with the first linear motion mechanism. With this configuration, the entire fixed point mechanism has good structural rigidity, high motion control precision, and good surgical precision.

As a preferred embodiment, the first linear motion mechanism and the second linear motion mechanism can each include a guide rail and a slider that can slide on the guide rail; all the guide rails in the first linear motion device are arranged in parallel, so that the first linear motion mechanism forms a parallel relationship and reduces the number of series stages; the guide rails in at least one of the second linear motion mechanisms and the guide rails in the first linear motion mechanism are arranged in parallel or overlapped. Further, the end effector is slidably connected with all the sliders in the first linear motion device, and is fixedly connected with the corresponding sliders in the second linear motion device. After this configuration, linear motion can be output through the guide rail slider assembly, the structure rigidity is good, the transmission efficiency is high, and the motion control precision is also good. Especially when part of the guide rails in the second linear motion device overlap (ie share) the guide rails in the first linear motion device, the number of guide rails can be reduced, the structure can be simplified, and the weight and volume of the entire fixed point mechanism can be reduced. For example, when the number of the second linear motion mechanisms is two, the guide rail in one of the second linear motion mechanisms coincides with the guide rails in the first linear motion mechanism; for example, when the second linear motion mechanism When the number is an even number greater than two, the guide rails in at least two of the second linear motion mechanisms coincide with the guide rails in the first linear motion mechanism.

As a specific embodiment, a slider on a guide rail in the second linear motion device that is parallel or coincident with the first linear motion mechanism is hinged with another guide rail in the second linear motion device, so that the two The hinged guide rails can rotate relatively, and as long as the end effector is fixedly connected with the slider on the other guide rail in the second linear motion device, the end effector can be driven to expand and contract.

The fixed point mechanism in the embodiment of the present invention adopts a rigid transmission structure as a whole, avoiding the use of flexible transmission structures such as steel wires and steel belts, thereby improving the transmission rigidity, reducing the difficulty of motion control, and improving the precision of motion control. Moreover, the fixed point mechanism in the embodiment of the present invention adopts a linear motion device to output linear motion. Compared with the articulated connecting rod or flexible transmission in the prior art, the linear motion device has a simpler structure, a small reduction ratio and high transmission efficiency. The precision and reliability of motion control have been effectively improved.

Next, the preferred embodiment of the fixed point mechanism will be further described. However, it should be understood that the number of the first linear motion mechanisms in the present application is not limited to two, but can also be more, as long as all the first linear motion mechanisms are parallel to each other; The number of two linear motion mechanisms is not limited to two or four, but can also be more or an odd number. Usually, in order to simplify the structure, the number of the first linear motion mechanism is two, and the number of the second linear motion mechanism is two. A quantity of two or four drives the end effector to swing and retract, and constrains the end effector to swing around a fixed point.

<First Embodiment>

As shown in FIG. 3 and FIG. 4 , this embodiment provides a fixed point mechanism, which includes a first linear motion device 500 and a second linear motion device 600 , and preferably further includes an end effector 700 . The first linear motion device 500 includes two first linear motion mechanisms, and the two first linear motion mechanisms are parallel to each other, thereby forming parallel motion mechanisms. The second linear motion device 600 includes four second linear motion mechanisms, two of the four second linear motion mechanisms are arranged in parallel, and the other two are also arranged in parallel, but two adjacent second linear motion mechanisms are mutually The connection forms a series positional relationship, so that the two second linear motion mechanisms connected to each other can rotate relative to each other. In addition, two of the four second linear motion mechanisms, which are arranged in parallel, are arranged in parallel with the first linear motion mechanism.

The end effector 700 is used to install external instruments, such as surgical instruments, endoscopes, etc., or other medical or non-medical instruments. The end effector 700 has an installation channel for installing an external instrument, and the extension direction of the installation channel is used to define the extension direction of the instrument. The extension direction of the installation channel passes through the fixed point O, the extension direction of the installation channel is the axial direction of the end effector 700 , and the axis of the end effector 700 also passes through the fixed point O. The end effector 700 is slidably connected to the first linear motion device 500 and is fixedly connected to the second linear motion device 600 . Optionally, the end effector 700 is a hollow rod-shaped member, the interior of which can be used to insert instruments.

As shown in FIG. 4 , in this embodiment, the first linear motion device 500 includes a first guide rail 501 , a second guide rail 502 , a first sliding block and a second sliding block, so that one of the first linear motion mechanism It includes a first guide rail 501 and a first slider, and another first linear motion mechanism includes a second guide rail 502 and a second slider. The first guide rail 501 and the second guide rail 502 are arranged in parallel, and the first guide rail 501 is closer to the fixed point O. The first sliding block slides along the first guide rail 501 ; the second sliding block slides along the second guide rail 502 . The end effector 700 is slidably connected with the first slider and the second slider, respectively. In this configuration, the first linear motion device 500 can drive the end effector 700 to swing, limit the swing angle of the end effector 700, and also limit the position of the fixed point O, so that the fixed point O does not Axial movement is created along end effector 700 .

Optionally, the slider in each of the first linear motion mechanisms includes a slider body and a sliding part that are hinged to each other, the slider body slides on the guide rail, and the sliding part and the end are executed. The device 700 is slidably connected. For example, the first slider includes a first slider body 503 and a first sliding portion 505. The first slider body 503 moves along the first guide rail 501 and the moving direction intersects with the telescopic direction of the end effector 700. The first sliding portion 505 is hinged with the first slider body 503; the second slider includes a second slider body 504 and a second sliding part 506, the second slider body 504 moves along the second guide rail 502 and the moving direction is the same as that of the first slider The moving direction of the main body 503 is parallel, the second sliding part 506 is hinged with the second slider body 504 ; the end effector 700 is slidably connected with the first sliding part 505 and the second sliding part 506 respectively. The first sliding part 505 and the second sliding part 506 may be slider structures.

Continuing to refer to FIG. 4 , in this embodiment, the second linear motion device 600 includes a third guide rail 601 , a fourth guide rail 602 , a third slider 603 , a fourth slider 604 , a fifth guide rail 605 , and a sixth guide rail 606 , the fifth sliding block 607 and the sixth sliding block 608, so that the first second linear motion mechanism includes the third guide rail 601 and the third sliding block 603, and the second second linear motion mechanism includes the fourth guide rail 602 and the third sliding block 603. Four sliding blocks 604 , the third second linear motion mechanism includes a fifth guide rail 605 and a fifth sliding block 607 , and the fourth second linear motion mechanism includes a sixth guide rail 606 and a sixth sliding block 608 . The third guide rail 601 and the fifth guide rail 605 are both parallel to the first guide rail 501 and the second guide rail 502 to form a parallel motion mechanism, and the third guide rail 601 is closer to the fixed point O. The third slider 603 slides along the third guide rail 601; the fourth slider 604 slides along the fourth guide rail 602; the third slider 603 is hinged with the fourth guide rail 602; the fourth slider 604 is fixedly connected to the end effector 700; preferably Ground, the moving direction of the fourth slider 604 is always perpendicular to the axial direction of the end effector 700 . The fifth guide rail 605 is arranged parallel to the third guide rail 601; the sixth guide rail 606 is arranged parallel to the fourth guide rail 602; the fifth sliding block 607 slides along the fifth guide rail 605; the sixth sliding block 608 slides along the sixth guide rail 606; The sliding block 607 is hinged with the sixth guide rail 606 ; the sixth sliding block 608 is fixedly connected with the end effector 700 ; preferably, the moving direction of the sixth sliding block 608 is always perpendicular to the axis direction of the end effector 700 . The axial direction of the end effector 700 is its own telescopic direction. The movement stroke of the end effector 700 is ±90°. When the axis of the end effector 1000 is perpendicular to the moving direction of the first linear motion mechanism, it is at zero position, and is 0° to 90° on one side of the zero position. The other side of the bit is -90° to 0°.

It can be understood that, in actual use, the fourth guide rail 602 and the sixth guide rail 606 are kept parallel, and both can rotate relative to the third guide rail 601 and the fifth guide rail 605 in the second linear motion device 600, such as when the end When the actuator 700 swings to a position perpendicular to the first guide rail 501 and the second guide rail 502, the fourth guide rail 602 also rotates to be parallel or collinear with the third guide rail 601, and the sixth guide rail 606 also rotates to the fifth guide rail 605. In other positions, the fourth guide rail 602 and the third guide rail 601 are neither parallel nor collinear, and the sixth guide rail 606 and the fifth guide rail 605 are neither parallel nor collinear.

In use, the two first linear motion mechanisms are used to drive the end effector 700 to swing and limit the swing angle of the end effector 700, and the four second linear motion mechanisms are used to drive the end effector 700 to do telescopic motion, and The telescopic displacement of the end effector 700 is limited, and the two first linear motion mechanisms output linear motion at the same time, and the moving speeds of the two first linear motion mechanisms are not equal but the ratio of the moving speeds remains unchanged. The two second linear motion mechanisms simultaneously output linear motion, and the ratio of the moving speeds of the four second linear motion mechanisms remains unchanged. It should be understood that, in the embodiment shown in FIG. 3 , the moving speeds of the two parallel second linear motion mechanisms are not equal.

Specifically, one of the first linear motion mechanisms outputs a movement with a first velocity value V1, and the other first linear motion mechanism outputs a movement with a second velocity value V2; and the first velocity value V1 and all The ratio of the second speed value V2 is fixed and remains unchanged; such a configuration can constrain the fixed point O, so that the fixed point O remains fixed. Likewise, one of the second linear motion mechanisms outputs a movement with a third velocity value V3, and the other second linear motion mechanism outputs a movement with a fourth velocity value V4; the third velocity value V3 is the same as the The ratio of the fourth speed value V4 is fixed and remains unchanged; in this configuration, the fixed point O can be constrained to keep the fixed point O fixed. The first speed value is less than the second speed value, and the third speed value is less than or equal to the fourth speed value. In this embodiment, the first speed value is smaller than the second speed value, and the third speed value is smaller than the fourth speed value. In this case, the guide rail in the second linear motion mechanism and the guide rail in the first linear motion mechanism are independent of each other and do not share.

For a clearer understanding of the principle of the above fixed point mechanism, please refer to FIG. 4 . Geometrically, the first rail 501 coincides with CD, the second rail 502 coincides with AB, the third rail 601 coincides with EF, the fifth rail 605 coincides with HM, the fourth rail 602 coincides with FG, and the sixth rail 606 Coincides with MN. The first slider body 503 and the first sliding part 505 are hinged at point D; the second slider body 504 and the second sliding part 506 are hinged at point B; the third slider 603 and the fourth guide rail 602 are hinged at point F; The fifth slider 607 and the sixth guide rail 606 are hinged at point M, the fourth slider 604 and the end effector 700 are fixed at point G, and the sixth slider 608 and the end effector 700 are fixed at point N.

In this embodiment, the moving speed of the first slider body 503 along the first guide rail 501 is V1 (ie the first speed value), and the moving speed of the second slider body 504 along the second guide rail 502 is V2 (ie the second speed value) value), the moving speed of the third slider 603 along the third guide rail 601 is V3 (ie the third speed value), and the moving speed of the fifth slider 604 along the fifth guide rail 605 is V4 (ie the fourth speed value).

Continue to refer to Figure 4, according to the geometric relationship, O, C, A, E, H are set collinearly, O, D, B, G, N are set collinearly, O, F, M are set collinearly, and OM is ∠HON The bisector of , and satisfy the following relationship:

OE=OG; OH=ON; EF=GF; HM=MN; AB∥CD∥EF∥HM, and both are perpendicular to OA; MN∥FG, and are perpendicular to ON; △OCD∽△OAB; △OEF∽△OHM ,but:

It can be deduced from this that when V1, V2, V3 and V4 in Fig. 3 satisfy the following relationship, the fixed point mechanism has a fixed point O:

Among them: h1 is the vertical distance between the first guide rail and the fixed point; h2 is the vertical distance between the first guide rail and the second guide rail; h3 is the vertical distance between the third guide rail and the second guide rail; h4 is the first guide rail. The vertical distance between the third rail and the fourth rail.

Therefore, the movement of the first slider body 503 and the second slider body 504 drives the movement of the third slider 603 and the fourth slider 604, and realizes proportional driving. The proportional driving means that the ratio of V1 to V2 is Fixed value, the ratio of V3 and V4 is also a fixed value; when the speed ratio is fixed, the position of the fixed point O is fixed.

It can be seen from equations (1) and (2) that the ratio of the moving speed of the first linear motion device is limited by the relative position between the parallel guide rails. The position of the moving point O; similarly, the ratio of the moving speed of the second linear motion device is also limited by the relative position between the parallel guide rails. By adjusting the distance between the parallel guide rails, the speed ratio can be adjusted, and the fixed point O can be adjusted. s position.

5 and 6 show the state in which the fixed point mechanism moves. When the first slider body 503 and the second slider body 504 are driven to move along the respective guide rails, the third slider 603 and the fifth slider 607 are driven to move along the respective guide rails, and finally the end effector 700 can be moved around without moving. The swing of point O. For example, from the first position C1 shown by the dotted line on the left in FIG. 6 around the fixed point O to the second position C2 shown by the solid line on the right, on the contrary, it can swing from the second position C2 around the fixed point O To the first position C1, the reciprocating motion is realized.

Further, the present invention can adjust the position of the fixed point O without changing the size of the main body structure, and only need to adjust the proportional relationship between V1 and V2, and the proportional relationship between V3 and V4, and then the fixed point O position can be realized. The changes to meet various surgical needs make the adjustment of the fixed point position simpler and more convenient.

As shown in FIG. 7 , in a specific embodiment, before the position of the fixed point O is adjusted, the fixed point O is located at O ₁ , which satisfies:

As shown in FIG. 7 , in a specific embodiment, after the position of the fixed point O is adjusted, the fixed point O is located at O ₂ , which satisfies:

Therefore, the position of the guide rail can be changed to realize the adjustment of the fixed point O. As shown in Figure 8, after the position of the fixed point is adjusted, it satisfies:

<Second Embodiment>

The difference compared to the first embodiment is that the number of the second linear motion mechanisms is reduced to two. The following only describes the differences from the first embodiment, and the same parts are not described in detail, and the same parts can refer to the first embodiment.

As shown in FIG. 9 and FIG. 10 , the second linear motion device 600 cancels the fifth guide rail 605 , the sixth guide rail 606 , the fifth slider 607 and the sixth slider 608 , and retains the third guide rail 601 and the fourth guide rail 602 , a third slider 603 and a fourth slider 604 . At this time, the second linear motion device 600 includes two second linear motion mechanisms, one second linear motion mechanism includes a third guide rail 601 and a third slider 603, and the other second linear motion mechanism includes a fourth guide rail 602 and a third sliding block 603. Four sliders 604 . The third guide rail 601 is parallel to the first guide rail 501 and the second guide rail 502 . The third sliding block 603 slides along the third guide rail 601 ; the fourth sliding block 604 slides along the fourth guide rail 602 ; the third sliding block 603 is hinged with the fourth guide rail 602 . The end effector 700 is fixedly connected with the fourth slider 604 . The moving direction of the fourth slider 604 is perpendicular to the axis of the end effector 700 .

Similarly, the first guide rail 501 overlaps with CD, the second guide rail 502 overlaps with AB, the third guide rail 601 overlaps with EF, and the fourth guide rail 602 overlaps with FG. The first slider body 503 and the first sliding part 505 are hinged at point D; the second slider body 504 and the second sliding part 506 are hinged at point B; the third slider 603 and the fourth guide rail 602 are hinged at point F; The four sliders 604 and the end effector 700 are fixed at the G point.

Therefore, the moving speed of the first slider body 503 along the first guide rail 501 is V1, the moving speed of the second slider body 504 along the second guide rail 502 is V2, and the moving speed of the third slider 603 along the third guide rail 601 is V3, the moving speed of the fourth sliding block 603 along the fourth guide rail 602 is V4. In use, the movement of the first sliding block body 503 and the second sliding block body 504 drives the movement of the third sliding block 603 and the fourth sliding block 604, and realizes proportional driving.

Continue to refer to Figure 10, according to the geometric relationship, O, C, A, E are set collinearly, O, D, B, G are set collinearly, O, F are set collinearly, and OF is the bisector of ∠EOG, and The following relationships are satisfied: OE=OG; EF=GF; AB∥CD∥EF, and both are perpendicular to OE; FG is perpendicular to OG; △OCD∽△OAB.

It can be deduced from this that when V1, V2, V3 and V4 in Fig. 9 satisfy the following relationship, the fixed point mechanism has a fixed point O:

Wherein: h1 is the vertical distance between the first guide rail and the fixed point; h2 is the vertical distance between the first guide rail and the second guide rail; h3 is the vertical distance between the third guide rail and the second guide rail.

It can be seen from formula (4) that the ratio of the moving speed of the second linear motion device is always 1. Even if the distance between the parallel guide rails is adjusted, the ratio of V3 to V3 remains unchanged. At this time, the difference can be adjusted by adjusting h1 and h2. Move the position of point O.

Further, in this embodiment, the position of the fixed point O can be adjusted without changing the size of the main body structure, and the fixed point O can be realized only by adjusting the proportional relationship between V1 and V2, and the proportional relationship between V3 and V4. The change of position to meet various surgical needs makes the adjustment of the fixed point position simpler and more convenient.

As shown in FIG. 11 , in a specific embodiment, before the position of the fixed point O is adjusted, the fixed point O is located at O ₁ , which satisfies:

V3=V4

As shown in FIG. 11 , in a specific embodiment, after the position of the fixed point O is adjusted, the fixed point O is located at O ₂ , satisfying:

V3=V4

Therefore, the position of the guide rail can be changed to realize the adjustment of the fixed point O. As shown in Figure 12, after the position of the fixed point P is adjusted, it satisfies:

V3=V4

<Third Embodiment>

The difference compared with the first embodiment is that four second linear motion mechanisms are arranged between the two first linear motion mechanisms, so that the distribution of the center of gravity of the fixed point mechanism can be adjusted, and the structural rigidity of the fixed point mechanism can be improved. . The following only describes the differences from the first embodiment, and the same parts will not be described in detail, and the same parts can refer to the first embodiment.

As shown in FIG. 13 , the third guide rail 601 , the fourth guide rail 602 , the fifth guide rail 605 and the sixth guide rail 606 are all arranged between the first guide rail 501 and the second guide rail 502 , so that the weight of the first linear motion device 500 is reduced. It is evenly distributed above and below, thereby improving the structural rigidity of the entire fixed point mechanism and improving the precision of motion control.

<Fourth Embodiment>

The difference compared to the second embodiment is that the two second linear motion mechanisms are arranged between the two first linear motion mechanisms, so as to adjust the distribution of the center of gravity of the fixed point mechanism and improve the structural rigidity of the fixed point mechanism . The following only describes the differences from the second embodiment, and the same parts will not be described in detail, and the same parts can refer to the second embodiment.

As shown in FIG. 14 , the third guide rail 601 and the fourth guide rail 602 are both arranged between the first guide rail 501 and the second guide rail 502 , and the first linear motion device 500 is all arranged below the second linear motion device 500 Compared with this method, the distribution of the center of gravity is improved, the structural rigidity of the fixed point mechanism can be better improved, and the motion control accuracy can be improved.

<Fifth Embodiment>

The difference compared with the second embodiment is that the third guide rail and the second guide rail share one guide rail, that is, the second guide rail is retained, and the second guide rail simultaneously serves as the third guide rail. The following only describes the differences from the second embodiment, and the similarities will not be further described, and please refer to the second embodiment.

As shown in FIG. 15 , one second linear motion mechanism includes a second guide rail 502 and a third sliding block 603, and the other second linear motion mechanism includes a fourth guide rail 602 and a fourth sliding block 604; at this time, the third sliding block 603 moves along the second guide rail 502 ; the third slider 603 is hinged with the fourth guide rail 602 ; the fourth slider 604 moves along the fourth guide rail 602 ; the end effector 700 is fixedly connected with the fourth slider 604 . This configuration can save one guide rail, simplify the structure, and reduce the weight and volume of the entire fixed point mechanism.

<Sixth Embodiment>

Compared with the first embodiment, the difference is that the third guide rail and the first guide rail share one guide rail, the fifth guide rail and the second guide rail share one guide rail, and the fourth guide rail and the sixth guide rail are retained, and the first guide rail simultaneously Acting as the third rail, the second rail simultaneously acts as the fifth rail. The following only describes the differences with the first embodiment, and will not describe the same points and refer to the first embodiment.

As shown in FIG. 16, among the four second linear motion mechanisms, the first second linear motion mechanism includes a fourth guide rail 602 and a fourth slider 604, and the second linear motion mechanism includes a first guide rail 501 and a third slider In block 603 , the third linear motion mechanism includes a second guide rail 502 and a fifth sliding block 607 , and the fourth linear motion mechanism includes a sixth guide rail 606 and a sixth sliding block 608 . At this time, the third slider 603 moves along the first guide rail 501; the third slider 603 is hinged with the fourth guide rail 602; the fourth slider 604 moves along the fourth guide rail 602; the end effector 700 is fixed to the fourth slider 604 Connection; the fifth slider 607 moves along the second guide rail 502; the fifth slider 607 is hinged with the sixth guide rail 606; the sixth slider 608 moves along the sixth guide rail 606; the end effector 700 is fixedly connected with the sixth slider 608 . This configuration can save two guide rails, effectively simplify the structure, reduce the weight and volume of the entire fixed point mechanism, and improve the motion control accuracy.

<Seventh Embodiment>

The difference between the fifth embodiment and the second embodiment is that the third guide rail and the first guide rail share one guide rail, that is, the first guide rail is retained, and the first guide rail simultaneously serves as the third guide rail. The following only describes the differences from the fifth embodiment, and the similarities will not be further described, and please refer to the fifth and second embodiments.

As shown in FIG. 17 , a second linear motion mechanism includes a first guide rail 501 and a third sliding block 603, and the other linear motion mechanism includes a fourth guide rail 602 and a fourth sliding block 604; at this time, the third sliding block 603 runs along the The first guide rail 501 moves; the third sliding block 603 is hinged with the fourth guide rail 602 , such as hinged; the fourth sliding block 604 moves along the fourth guide rail 602 ; the end effector 700 is fixedly connected to the fourth sliding block 604 . This configuration can save one guide rail, simplify the structure, and reduce the weight and volume of the entire fixed point mechanism.

It should be understood that the fixed point mechanism disclosed in the present invention does not contain a driving device for driving the movement of the first linear motion device, nor a driven device for driving the movement of the second linear motion device, but the driving device and the driven device can be arranged in on the base that is articulated with the end of the mechanical arm, and the fixed point mechanism is also arranged on the base. The base has a working surface and a symmetrical surface, the working surface is perpendicular to the symmetrical surface, the intersection of the working surface and the symmetrical surface forms a central axis, and the extension direction of the installation channel is the same as the central axis intersect at a point and form a fixed point O.

To sum up, the fixed point mechanism provided by the present invention realizes the swing of the end effector through the first linear motion device, and realizes the telescopic motion of the end effector through the second linear motion device, so that the first linear motion The joint action of the motion device and the second linear motion device realizes the swing of the end effector relative to the fixed point. When configured in this way, the linear motion mechanism arranged in parallel in the fixed point mechanism is used to reduce the number of series series of the fixed point mechanism, improve the rigidity of the transmission structure of the fixed point mechanism, thereby improving the motion control accuracy and improving the operation efficiency. Accuracy. Further, the present invention also arranges the first linear motion mechanism and the second linear motion mechanism to share the guide rail, which can reduce the number of guide rails, simplify the structure, reduce the weight and volume of the entire fixed point mechanism, and further improve the motion control accuracy. In particular, when the linear motion device is used to output the linear motion, the structure of the linear motion device is simpler, the reduction ratio is small, the transmission efficiency is high, and the motion control accuracy and reliability can be significantly improved.

Further, in the present invention, the second linear motion device can also be arranged below the first linear motion device, or between the two first linear motion mechanisms of the first linear motion device, which can effectively improve the distribution of the center of gravity, Improve the structural rigidity of the entire fixed-point mechanism to further improve motion control accuracy. Moreover, the fixed point mechanism of the present invention can avoid the use of expensive components such as a harmonic reducer, effectively reducing costs, and the guide rail slider assembly is a rigid transmission structure with good transmission rigidity, which also simplifies the motion relationship and reduces the difficulty of motion control.

It should be understood that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form or substance, and although the innovation of the present invention comes from the technical field of surgical robots, those skilled in the art can understand that , the fixed point mechanism of the present invention can also be applied to non-surgical robotic technology.

It should be pointed out that for those of ordinary skill in the art, without departing from the method of the present invention, some improvements and supplements can be made, and these improvements and supplements should also be regarded as the protection scope of the present invention. All those skilled in the art, without departing from the spirit and scope of the present invention, can make some changes, modifications and equivalent changes made by the technical content disclosed above, which are the same as those of the present invention. At the same time, any modification, modification and evolution of any equivalent changes made to the above-mentioned embodiments according to the essential technology of the present invention still fall within the scope of the technical solution of the present invention.

Claims (11)

1. A fixed point mechanism is characterized by comprising a first linear motion device and a second linear motion device; the first linear motion device comprises at least two first linear motion mechanisms which are arranged in parallel, and the first linear motion mechanisms are used for outputting proportional linear motion; the second linear motion device comprises at least two second linear motion mechanisms which are connected in series, the second linear motion mechanisms are used for outputting proportional linear motion, and at least one second linear motion mechanism and the first linear motion mechanism are arranged in parallel or partially overlapped.

2. The fixed point mechanism of claim 1, further comprising an end effector; the first linear motion device is connected with the tail end executing device in a sliding mode so as to drive the tail end executing device to swing; the second linear motion device is fixedly connected with the tail end execution device so as to drive the tail end execution device to stretch and retract; the end executing device is used for generating swing around a fixed point under the combined action of the first linear motion device and the second linear motion device.

3. The fixed point mechanism according to claim 2, wherein each of the first linear motion mechanism and the second linear motion mechanism includes a guide rail and a slider to slide on the guide rail; all guide rails in the first linear motion device are arranged in parallel; at least one guide rail in the second linear motion mechanism and the guide rail in the first linear motion mechanism are arranged in parallel or overlapped; the end executing device is connected with all the sliding blocks in the first linear motion device in a sliding mode and is fixedly connected with the corresponding sliding blocks in the second linear motion device.

4. The fixed point mechanism of claim 3, wherein the slide block on the guide rail of the second linear motion device parallel to or coincident with the first linear motion mechanism is hinged to the other guide rail of the second linear motion device, and the end effector is fixedly connected to the slide block on the other guide rail of the second linear motion device.

5. The fixed point mechanism of claim 3, wherein the slider in each of the first linear motion mechanisms comprises a slider body and a sliding portion that are hinged to each other, the slider body sliding on the guide rail, and the sliding portion being slidably connected to the end effector.

6. The fixed point mechanism according to claim 3, wherein the number of the first linear motion mechanisms is two, and the number of the second linear motion mechanisms is two or an even number greater than two;

when the number of the second linear motion mechanisms is two, the guide rail in one second linear motion mechanism is parallel to or coincided with the guide rail in the first linear motion mechanism;

when the number of the second linear motion mechanisms is even more than two, the guide rails in at least two of the second linear motion mechanisms are parallel to or coincide with the guide rails in the first linear motion mechanism.

7. The fixed point mechanism of claim 3, wherein the direction of movement of the slide in at least one of the second linear motion mechanisms is perpendicular to the axis of the end effector, which passes through the fixed point.

8. The fixed point mechanism of any one of claims 1-7, wherein the first linear motion device is configured to output a move having a first speed value and a second speed value simultaneously, the ratio of the first speed value to the second speed value remaining constant;

the second linear motion device is configured to output a movement having a third speed value and a fourth speed value simultaneously, a ratio of the third speed value to the fourth speed value being kept constant;

wherein the first speed value is less than the second speed value and the third speed value is less than or equal to the fourth speed value.

9. The fixed point mechanism according to any one of claims 1 to 7, wherein the second linear motion device is disposed between the first linear motion devices in the first linear motion device, or the first linear motion device is disposed above the second linear motion device.

10. A robotic arm comprising an end joint and a fixed point mechanism as claimed in any of claims 1 to 9, the fixed point mechanism being connected to the end joint.

11. A surgical robot comprising a robotic arm and a fixed point mechanism as claimed in any one of claims 1 to 9, the fixed point mechanism being connected to the robotic arm.

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