Torque balancing driving device for rotating shaft and executing arm mechanism of surgical robot

A surgical robot and driving device technology, applied in surgical manipulators, surgical robots, surgery, etc., can solve the problems of reducing the service life of the main driving device, limiting the length of the swing arm, and occupying a large space, so as to facilitate small integration, The effects of improved execution stability and high degree of integration

Pending Publication Date: 2022-05-24
苏州威森特医疗机器人有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The existing rotating mechanical arm does not add a balance device or the balance device mechanism is complex and takes up a lot of space, affecting the overall size of the equipment, occupying space and reducing the stability of the equipment
In the state where no balance device is added, the moment generated at the end of the swing arm is all borne by the shaft drive device, and the length of the swing arm is greatly limited (the longer the swing arm, the greater the torque generated at the shaft), and the main The driving device has been subjected to high torque for a long time, which seriously reduces the service life of the main driving device, is not conducive to improving the smoothness of movement, and affects the stability of the equipment

Method used

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  • Torque balancing driving device for rotating shaft and executing arm mechanism of surgical robot
  • Torque balancing driving device for rotating shaft and executing arm mechanism of surgical robot
  • Torque balancing driving device for rotating shaft and executing arm mechanism of surgical robot

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Experimental program
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Effect test

Embodiment 1

[0041] This embodiment discloses a torque balance driving device for a rotating shaft, which is mainly used to offset or partially offset the torque of the shaft structure in the process of relative rotation between adjacent arms. The torque load of the driver mounted thereon is reduced.

[0042] like figure 1 As shown, it includes two adjacent arm rods 1, two adjacent arm rods 1 are rotatably connected, a balance device is fixed on the arm rod 1, and the balance device and the two adjacent arm rods 1 are connected The shaft structure 4 is fixedly connected, and when the two arm rods 1 rotate relative to the connecting shaft structure 4 between the two arm rods 1, the balancing device stretches or contracts accordingly to offset or partially offset due to the arm rod 1 itself The torque on the axle structure 4 due to the weight and / or the weight of the load thereon.

[0043] like figure 1 and 2 As shown, preferably, the tensile end of the constant force spring is fixedly c...

Embodiment 2

[0056] like Figure 4 As shown, referring to other drawings, the present invention also discloses an actuator arm mechanism of a surgical robot, which applies the torque balance driving device for a rotating shaft in Embodiment 1.

[0057] In use, the first arm rod 8 is a fixed arm section, the second arm rod 9 and the third arm rod 10 are movable arm sections, the first arm rod 8 is fixedly connected to the body of the equipment, and the third arm rod 10 is far away from the equipment. The end is fixedly provided with a surgical operation implement. A plurality of constant force springs 2 are fixedly arranged inside the second arm rod 9 .

[0058] In use, the actuator arm mechanism is assembled in the surgical robot system, and the intelligent control module in the surgical robot system issues motion instructions to the drive device in the actuator arm mechanism.

Embodiment 3

[0060] As shown in Figures 5 to 8, with reference to other accompanying drawings, this embodiment makes further optimizations on the basis of Embodiment 1:

[0061] Refer to the attached Figure 5 and 6 , In this embodiment, the balancing device e includes an elastic assembly and an assembly box capable of accommodating the elastic assembly, the elastic assembly includes a center body, and a constant force spring is fixedly arranged on the center body.

[0062] like Figure 7 As shown, further, the elasticity generally includes a center body and a force distribution plate sleeved on the center body, the force distribution plate is fixedly connected with the center body, and a plurality of constant force springs are integrated on the force distribution plate. The side wall of the assembling box is provided with a guide hole for the rope body to pass through. The rope body penetrates the assembly box from the guide hole and is fixedly connected with the tension end of the con...

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PUM

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Abstract

A torque balance driving device for a rotating shaft comprises two adjacent arm rods, the two adjacent arm rods are rotatably connected, and when the two arm rods rotate relative to each other along a connecting shaft structure between the two arm rods, the two arm rods rotate relative to each other. And the balancing device is stretched or contracted so as to offset or partially offset the torque of the countershaft structure generated by the self weight of the arm lever and / or the load weight on the arm lever. The invention further discloses an actuating arm mechanism comprising the actuating arm mechanism. On one hand, the invention discloses the torque balance driving device for the rotating shaft, and the phenomenon that the service life is shortened due to the fact that an existing arm lever rotating mechanism directly bears large torque is effectively improved through torque counteracting. The occupied space is small, and small integration is facilitated. And on the other hand, the torque balance driving device for the rotating shaft is ingeniously applied to the executing arm mechanism, so that the whole executing arm mechanism of the surgical robot is higher in integration degree and long in service life, and the executing stability is improved.

Description

technical field [0001] The invention belongs to the field of surgical robot systems, and in particular relates to a torque balance driving device for a rotating shaft and an executive arm mechanism of a surgical robot. Background technique [0002] With the continuous improvement of surgical robotic system technology, the use of surgical robotic systems to replace physicians in direct surgical operations has become the main trend. A large number of high-precision kinematics mechanisms are integrated into the surgical robot system, which combines artificial intelligence control with kinematics mechanisms. In the process of continuous technological updating, the human-machine integration is constantly improved, eliminating the need for individual physicians during surgery. Interfering items caused by insufficiency of physiology enable physicians to devote themselves wholeheartedly to the promotion of related surgical techniques and improve the effect of surgical healing. [0...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/00A61B34/30
CPCA61B34/70A61B34/30
Inventor 庞建王立宁
Owner 苏州威森特医疗机器人有限公司
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