Balancing device and surgical robot

Abstract

The present disclosure relates to the field of medical devices, and discloses a balancing device and a surgical robot. The balancing device includes a rotating assembly, a support rod, a guide block, a sliding rod and an elastic member. At least a portion of the rotating assembly is rotatably connected to the support rod, the guide block is hinged to the support rod and one of the rotating assembly, the sliding rod is hinged to the support rod and the other of the rotating assembly, the sliding rod is slidably connected to the guide block, the sliding rod, the support rod and the rotating assembly form a triangle, one end of the elastic member is connected to the guide block, and the other end is connected to the hinged end or the free end of the sliding rod. The surgical robot includes the balancing device. The balancing device can reduce the inertial effect caused by gravity, improve the stability and accuracy of the surgical robot, occupy little additional space, and realize the miniaturization and lightness of the surgical robot.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a balancing device and a surgical robot. Background Art

[0002] The main manipulator is the input device of the surgical robot system, which directly affects the surgeon, such as the doctor's operating experience and action effect. The surgeon remotely controls the surgical instruments at the end of the surgical platform through the handle of the main manipulator to perform the operation. Since the operation process often lasts for several hours and requires a high degree of concentration, the feeling of human-computer interaction and the ease of operation during the operation are particularly important. During the operation, on the one hand, the weight of the main manipulator must be reduced, and at the same time, the inertia of the main manipulator's own gravity must be overcome. The greater the weight, the greater the movement inertia. In addition, the damping must be reduced during the movement of the main manipulator, especially the damping in the opposite direction of the movement.

[0003] In the prior art, the methods for achieving the above functions mainly include counterweight method, motor compensation method, etc. However, the counterweight method will increase the weight of the overall structure and affect the experience of human-computer interaction; the motor compensation method greatly increases the complexity of the control system. On the one hand, finding a motor with sufficient torque will make it difficult to reduce the overall volume, and at the same time, the real-time requirements of the system are high, and the failure rate will also increase accordingly. Summary of the invention

[0004] Some embodiments of the present disclosure provide a balancing device, including: a support rod; a rotating assembly, at least a portion of which is rotatably connected to the support rod; a guide block, which is hinged to the support rod and one of the rotating assemblies; a sliding rod, one end of which is hinged to the support rod and the other of the rotating assemblies to form a hinged end, and the other end forms a free end, the sliding rod is slidably connected to the guide block, and the sliding rod, the support rod and the rotating assembly form a triangle; an elastic member, one end of which is connected to the guide block, and the other end is connected to the hinged end or the free end of the sliding rod.

[0005] Some embodiments of the present disclosure provide a surgical robot, comprising: a surgical platform, the surgical platform comprising a positioning arm and a surgical instrument arranged at the end of the positioning arm; a main manipulator, the main manipulator comprising a main manipulator motion arm and a handle arranged at the end of the main manipulator motion arm, the main manipulator being used to receive manipulation actions to control the synchronous movement of the surgical instrument; the main manipulator motion arm and / or the positioning arm comprise a balancing device as in the above-mentioned embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present disclosure and these drawings without paying any creative work.

[0007] Figure 1 A schematic structural diagram of a balancing device according to some embodiments of the present disclosure is shown;

[0008] Figure 2 According to some embodiments of the present disclosure Figure 1 Structural schematic diagram of other connection modes of the balancing device shown;

[0009] Figure 3 A schematic diagram showing a principle of a balancing device according to some embodiments of the present disclosure is shown;

[0010] Figure 4 A schematic structural diagram of another balancing device according to some embodiments of the present disclosure is shown;

[0011] Figure 5 A schematic structural diagram of another balancing device according to some embodiments of the present disclosure is shown;

[0012] Figure 6 A schematic structural diagram of another balancing device according to some embodiments of the present disclosure is shown;

[0013] Figure 7 A schematic structural diagram of another balancing device according to some embodiments of the present disclosure is shown;

[0014] Figure 8 A schematic diagram showing a three-dimensional structure of another balancing device according to some embodiments of the present disclosure is shown;

[0015] Fig. 9 A schematic structural diagram of another balancing device according to some embodiments of the present disclosure is shown;

[0016] Fig.10 A schematic structural diagram of another balancing device according to some embodiments of the present disclosure is shown;

[0017] Fig.11 A schematic structural diagram of another balancing device according to some embodiments of the present disclosure is shown;

[0018] Fig.12 A schematic diagram of the structure of a surgical robot according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0019] In order to make the technical problems solved by the present disclosure, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0020] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first", "second", and "first position" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0021] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0022] Those skilled in the art will appreciate that the embodiments of the present disclosure may be used in the field of medical devices, as well as in other fields, such as mechanical control, robotics, and the like.

[0023] Some embodiments of the present disclosure provide a balancing device. Figure 1 and Figure 2 Schematic diagrams of the structures of the balancing device 100 in different connection situations according to some embodiments of the present disclosure are shown respectively. Figure 1 and Figure 2As shown, the balancing device 100 may include a rotating assembly 110, a support rod 120, a guide block 130, a sliding rod 140 and an elastic member 150. In some embodiments, the support rod 120 extends in the longitudinal direction. For example, the support rod 120 may extend in the longitudinal direction and be fixed to a base (not shown) or the support rod 120 may be directly integrally formed with the base. In some embodiments, the support rod 120 may be connected by a plurality of rods to keep the support rod 120 extending in the longitudinal direction, for example, connected in a parallelogram manner so that the support rod 120 is arranged parallel to the base. It should be understood that the longitudinal direction may be a direction perpendicular to the horizontal direction, or may be a height direction of the equipment (e.g., a surgical robot) on which the balancing device 100 is installed. At least a portion of the rotating assembly 110 may be rotatably connected to the support rod 120. In some embodiments, the rotating assembly 110 may include one rod or a plurality of rods. In some embodiments, the support rod 120 is fixed to the base, and the rotating assembly 110 may be connected to a load (not shown, such as a component to be balanced by gravity or balanced by torque). In some embodiments, the support rod 120 extends in the longitudinal direction and is parallel to the longitudinal axis of the base. The rotating assembly 110 or the support rod 120 may be connected to a load (not shown).

[0024] In some embodiments, Figure 1 and Figure 2 As shown, the guide block 130 can be hinged to the support rod 120, one end of the sliding rod 140 can be hinged to the rotating assembly 110 to form a hinged end M, and the other end of the sliding rod 140 forms a free end N. The sliding rod 140 is slidably connected to the guide block 130. For example, the guide block 130 can be provided with a through hole, and the sliding rod 140 passes through the through hole and can slide along the through hole. It should be understood that the guide block 130 can also be provided with a guide rail, and the sliding rod 140 can include a slider, and the slider cooperates with the guide rail to achieve a sliding connection between the sliding rod 140 and the guide block 130. In some embodiments, the guide block 130 can also be hinged to the rotating assembly 110, and the sliding rod 140 can be hinged to the support rod 120, and the sliding rod 140 is slidably connected to the guide block 130. The sliding rod 140, the support rod 120 and the rotating assembly 110 form a triangle. In some embodiments, one end of the elastic member 150 can be connected to the guide block 130, and the other end can be connected to the free end N of the sliding rod 140 (such as Figure 1 As shown) or hinged end M (as Figure 2 As shown). It is understood that the connection between the elastic member 150 and the free end N or the hinged end M of the guide block 130 or the sliding rod 140 may include various forms, including but not limited to fixed connection (such as welding, screw fixing, clamping, etc.), detachable connection or abutment. Figure 1 As shown, the free end N of the sliding rod 140 includes a stopper, and the elastic member 150 can abut against the stopper. The rotating assembly 110 or the support rod 120 can be connected to the load. In some embodiments, as Figure 1 and Figure 2 As shown, the support rod 120 is fixedly arranged, and the rotating assembly 110 can be connected to a load (not shown in the figure). For example, the load can be arranged at one end of the rotating assembly 110 away from the support rod 120.

[0025] Figure 3 FIG. 1 is a schematic diagram showing a balancing device 100 according to some embodiments. Figure 3 As shown, the support rod 120 can be fixedly arranged in the longitudinal direction (for example, it can be fixedly arranged on the base). The rotating assembly 110 can be hinged to the support rod 120 at point O, the guide block 130 can be hinged to the support rod 120 at point B, and the sliding rod 140 can be hinged to the rotating assembly 110 at point A. The sliding rod 140 is slidably connected to the guide block 130, and the sliding rod 140, the support rod 120 and the rotating assembly 110 form a triangle. An angle is formed between the support rod 120 and the rotating assembly 110. Angle Opposite to the sliding rod 140. In some embodiments, Figure 3 As shown, the position of the hinge point O between the rotating assembly 110 and the support rod 120 in the longitudinal direction is lower than the hinge point B between the guide block 130 and the support rod 120. For example, the rotating assembly 110 is hinged to the bottom end portion of the support rod 120 and is connected to the load, and the guide block 130 is hinged to the middle portion of the support rod 120. It should be understood that the guide block 130 can also be hinged to the rotating assembly 110, and the sliding rod 140 can be hinged to the support rod 120. One end of the elastic member 150 can be connected to the guide block 130, and the other end of the elastic member 150 can be connected to the free end N of the sliding rod 140. The distance between the elastic members 150 can change with the movement of the sliding rod 140. During operation, the load drives the rotating assembly 110 to rotate clockwise due to the action of gravity, and the angle formed between the support rod 120 and the rotating assembly 110 and relative to the sliding rod 140 Under the action of the gravity moment of the load, the load tends to increase, and the sliding rod 140 is tilted to the lower right (such as Figure 3 Since one end of the elastic member 150 is connected to the guide block 130 and the other end is connected to the free end N of the sliding rod 140, the sliding rod 140 slides relative to the guide block 130, causing the elastic member 150 to be compressed and deformed, and the elastic member 150 generates an oblique upper left restoring force F to balance the gravity of the rotating assembly 110 and the load.

[0026] In some embodiments, Figure 2As shown, the position of the hinge point O between the rotating assembly 110 and the support rod 120 in the longitudinal direction is higher than the hinge point B between the guide block 130 and the support rod 120. For example, the rotating assembly 110 is hinged to the top portion of the support rod 120, and the guide block 130 is hinged to the middle portion of the support rod 120. In some embodiments, the guide block 130 can also be hinged to the rotating assembly 110, and the sliding rod 140 can be hinged to the support rod 120. The rotating assembly 110 is connected to the load. One end of the elastic member 150 can be connected to the guide block 130, and the other end of the elastic member 150 can be connected to the hinge end M of the sliding rod 140. In this way, during operation, the load drives the rotating assembly 110 to rotate clockwise due to the action of gravity, and the angle formed between the support rod 120 and the rotating assembly 110 and relative to the sliding rod. Under the action of the gravity moment of the load, the sliding rod 140 tends to decrease and tilts downward to the left (such as Figure 2 Since the elastic member 150 is located between the guide block 130 and the hinge end M of the sliding rod 140, the sliding rod 140 slides relative to the guide block 130, and the elastic member 150 is compressed and deformed, thereby generating a restoring force F obliquely directed upward to the right to balance the gravity of the rotating assembly 110 and the load.

[0027] The balancing device provided in some embodiments of the present disclosure can be used in high-end instruments and equipment or surgical robots. The balancing device can achieve gravity balancing within the range of motion through elastic parts, can reduce the inertial effect caused by gravity, has stable performance, simple structure, small occupied volume, and good operating experience. The balancing device can also adjust parameters such as the elastic coefficient of the elastic part according to actual needs to adapt to the gravity of the load, and has good adaptability.

[0028] In some embodiments, the elastic member 150 may include a pressure-bearing elastic member. For example, the pressure-bearing elastic member may be a compression spring, which is sleeved on the sliding rod 140, one end of which is connected to the guide block 130, and the other end is connected to the hinged end M or the free end N of the sliding rod 140. The compression spring is easy to obtain and has low cost, which can save the manufacturing cost of the balancing device or the surgical robot. In some embodiments, the pressure-bearing elastic member may also be a gas spring in a compressed state, which may be arranged in parallel to the sliding rod 140, one end of which is connected to the guide block 130, and the other end is connected to the hinged end M or the free end N of the sliding rod 140. The elastic performance of the gas spring is stable, which can extend the service life of the balancing device or the surgical robot, and can be better applied to high-end surgical robots.

[0029] In some embodiments, the elastic member 150 may also be a tension spring. In the triangular mechanism formed by the support rod 120, the rotating assembly 110, and the sliding rod 140, the tension spring is arranged at a different position from the pressure-bearing elastic member. For example, the position of the hinge point O of the support rod 120 and the rotating assembly 110 along the longitudinal direction is higher than the hinge point B of the support rod 120 and the guide block 130, and the angle formed between the support rod 120 and the rotating assembly 110 and relative to the sliding rod 140 is When the load's gravity moment tends to decrease, the tension spring is located between the guide block 130 and the free end N of the sliding rod 140. The sliding rod 140 slides relative to the guide block 130, stretching the tension spring and deforming it, thereby generating a restoring force F to balance the gravity of the rotating assembly 110 or the load.

[0030] Alternatively, the hinge point O of the support rod 120 and the rotating assembly 110 is located lower than the hinge point B of the support rod 120 and the guide block 130 in the longitudinal direction, and the angle formed between the support rod 120 and the rotating assembly 110 and relative to the sliding rod 140 is When the gravity moment of the load tends to increase, the tension spring is located between the guide block 130 and the hinge end M of the sliding rod 140. The sliding rod 140 slides relative to the guide block 130, stretching the tension spring and deforming it, thereby generating a restoring force F to balance the gravity of the rotating assembly 110 or the load.

[0031] In some embodiments, the balancing device 100 may be disposed on a base. For example, the support rod 120 may be replaced by a base, and the rotating assembly 110 may be rotatably disposed on the base, or the support rod 120 may be fixedly disposed on the base, and the rotating assembly 110 may rotate relative to the support rod 120. Figure 4 and Figure 5 Schematic diagrams of the structures of the balancing device 100 including the base in different connection modes according to some embodiments of the present disclosure are shown respectively. Figure 4As shown, the support rod 120 extends longitudinally, and the support rod 120 is fixedly arranged on a base (not shown in the figure). The rotating assembly 110 may include a rod 111, a rod 112 and a rod 113. The two ends of the rod 112 are respectively hinged to one end of the rod 111 and the rod 113, and the support rod 120 is respectively hinged to the other end of the rod 111 and the rod 113. The support rod 120, the rod 111, the rod 112 and the rod 113 are hinged in sequence to form a parallelogram mechanism. The rod 111, the rod 112 or the rod 113 of the rotating assembly 110 can be connected to a load. The rod 113 or the rod 111 can be hinged to the sliding rod 140, and the support rod 120 can be hinged to the guide block 130. In some embodiments, the rod 113 or the rod 111 can be hinged to the guide block 130, and the support rod 120 can be hinged to the sliding rod 140. In some embodiments, the rotating assembly 110 may further include a rod, and the rod 111 and the rod 113 extend outward from the parallelogram mechanism and are respectively hinged to the rod. The support rod 120, the rod 111, the rod 113 and the rod form a new parallelogram mechanism. It should be understood that the support rod 120 may be located in the new parallelogram mechanism or become one side of the new parallelogram mechanism.

[0032] like Figure 4 As shown, the sliding rod 140 can be hinged to the rod 111, and the sliding rod 140 is slidably connected to the guide block 130, and the sliding rod 140, the support rod 120 and the rod 111 form a triangle. The hinge point of the support rod 120 and the rod 113 is higher than the hinge point of the support rod 120 and the guide block 130 in the longitudinal direction. One end of the elastic member 150 (such as a pressure-bearing elastic member) can be connected to the guide block 130, and the other end can be connected to the hinge end M of the sliding rod 140. During operation, the load drives the rotating assembly 110 to rotate clockwise relative to the support rod 120 and the base, and the angle formed between the support rod 120 and the rod 111 of the rotating assembly 110 and relative to the sliding rod 140 is Under the action of the gravity moment of the load, the sliding rod 140 tends to decrease and tilts downward to the left (such as Figure 4 The elastic member 150 is located between the guide block 130 and the hinge end M of the sliding rod 140, so that the elastic member 150 is compressed and deformed, thereby generating a restoring force F obliquely directed upward to the right to balance the gravity of the rotating assembly 110 and the load.

[0033] In some embodiments, the elastic member 150 is changed from a pressure-bearing elastic member to a tension spring. In the triangular mechanism formed by the support rod 120, the rotating assembly 110, and the sliding rod 140, the tension spring is arranged at a different position from the pressure-bearing elastic member. For example, the hinge point of the support rod 120 and the rod 111 is located at a higher position in the longitudinal direction than the hinge point of the support rod 120 and the guide block 130. The angle formed between the support rod 120 and the rod 111 and relative to the sliding rod 140 is The tension spring tends to decrease under the action of the gravity moment of the load, and is located between the guide block 130 and the free end N of the sliding rod 140 .

[0034] like Figure 5 As shown, one end of the elastic member 150 can be connected to the guide block 130, and the other end can be connected to the free end N of the sliding rod 140. The sliding rod 140 is slidably connected to the guide block 130, and the sliding rod 140, the support rod 120 and the rod 113 form a triangle. The hinge point of the support rod 120 and the rod 113 is lower than the hinge point of the support rod 120 and the guide block 130 in the longitudinal direction. In this way, during operation, the load drives the rotating assembly 110 to rotate clockwise relative to the support rod 120 and the base due to gravity, and the angle formed between the support rod 120 and the rod 113 and relative to the sliding rod is Under the action of the gravity moment of the load, the load tends to increase, and the sliding rod 140 is tilted to the lower right (such as Figure 5 Since the elastic member 150 is located between the guide block 130 and the free end N of the sliding rod 140, the sliding rod 140 slides relative to the guide block 130, causing the elastic member 150 to deform, thereby generating a restoring force F obliquely directed to the upper left to balance the gravity of the rotating assembly 110 and the load.

[0035] In some embodiments, the elastic member 150 is changed from a pressure-bearing elastic member to a tension spring. In the triangular mechanism formed by the support rod 120, the rotating assembly 110, and the sliding rod 140, the tension spring is arranged at a different position from the pressure-bearing elastic member. For example, the hinge point of the support rod 120 and the rod 113 is located at a lower position in the longitudinal direction than the hinge point of the support rod 120 and the guide block 130. The angle formed between the support rod 120 and the rod 113 and relative to the sliding rod 140 is The tension spring tends to increase under the action of the gravity moment of the load, and is located between the guide block 130 and the hinge end M of the sliding rod 140.

[0036] In some embodiments, the rotating assembly 110 and the support rod 120 form a parallelogram mechanism, which can control the moving end. For example, the movement mode of the load in the longitudinal plane where the parallelogram mechanism is located is translational, and is not affected by the failure and change of the gravity balance model caused by the movement of the center of gravity of the load due to its own posture change, thereby increasing the stability of the balancing device.

[0037] Figure 6 and Figure 7 Schematic diagrams of the structure of the balancing device 200 in different connection modes according to some embodiments of the present disclosure are respectively shown. The principle of the balancing device 200 is substantially the same as that of the balancing device 100. In some embodiments, Figure 6As shown, the balancing device 200 may include a rod or a base 260 (in the following description, the base 260 is taken as an example), a support rod 220, a rotating assembly 210, a guide block 230, a sliding rod 240 and an elastic member 250. In some embodiments, the rotating assembly 210 may include a rod 211 and a rod 213. One end of the rod 211 and the rod 213 are respectively hinged to the base 260, and the hinge point between the rod 211 and the base 260 and the hinge point between the rod 213 and the base 260 are located on the same longitudinal axis. The support rod 220 is parallel to the longitudinal axis, and the two ends of the support rod 220 are respectively hinged to the other ends of the rod 211 and the rod 213, and the rod 211, the support rod 220 and the rod 213 are hinged in sequence and form a parallelogram mechanism with the base 260. The rod 213 or the rod 211 can be hinged to the sliding rod 240, and the support rod 220 can be hinged to the guide block 230. In some embodiments, the rod 213 or the rod 211 may be hinged to the guide block 230 , and the support rod 220 may be hinged to the sliding rod 240 .

[0038] like Figure 6 As shown, the guide block 130 can be hinged to the support rod 220. The sliding rod 240 is hinged to the rod 211, and the sliding rod 240 is slidably connected to the guide block 230, and the sliding rod 240, the support rod 220 and the rod 211 form a triangle. One end of the elastic member 150 (such as a pressure-bearing elastic member) is connected to the guide block 230, and the other end is connected to the free end N of the sliding rod 240. The rod 211, the rod 213 or the support rod 220 of the rotating assembly 210 can be connected to the load. For example, the load can be connected to the rotating assembly 210 through the support rod 220. During operation, under the action of the gravity torque of the load, the rotating assembly 210 rotates clockwise, and the hinge point of the support rod 210 and the rod 211 is higher in the longitudinal direction than the hinge point of the support rod 220 and the guide block 230. The angle formed between the support rod 220 and the rod 211 and relative to the sliding rod 240 Under the action of the gravity moment of the load, the sliding rod 240 tends to increase and tilts downward to the right (such as Figure 6 As the guide block 230 and the sliding rod 240 slide in the plane shown in the figure, since the elastic member 250 (such as a pressure-bearing elastic member) is arranged between the guide block 230 and the free end N of the sliding rod 240, the elastic member 250 is compressed to generate a restoring force F obliquely directed to the upper left to balance the gravity of the support rod 220, the rotating assembly 210 and the load.

[0039] In some embodiments, when the elastic member 250 is changed from a pressure-bearing elastic member to a tension spring, the tension spring is arranged at a different position from the pressure-bearing elastic member in the triangular mechanism formed by the support rod 220, the rotating assembly 210, and the sliding rod 240. For example, the hinge point of the support rod 220 and the rod 211 is located at a higher position in the longitudinal direction than the hinge point of the support rod 220 and the guide block 230, and the angle formed between the support rod 220 and the rod 211 and relative to the sliding rod 240 is Under the action of the gravity moment of the load, the tension spring tends to increase, and is located between the guide block 230 and the hinge end M of the sliding rod 240.

[0040] like Figure 7 As shown, the rod 213 in the rotating assembly 210 forms a triangle with the support rod 220 and the sliding rod 240. The elastic member 250 is disposed between the guide block and the hinge end M of the sliding rod. In this way, when the load drives the rotating assembly 210 to rotate clockwise relative to the base, the angle between the support rod 220 and the rod 213 and the sliding rod 240 is Under the action of the gravity moment of the load, it tends to decrease and causes the sliding rod 240 to slide obliquely to the lower left. The elastic member 250 is compressed and deformed, generating a restoring force F obliquely to the upper right to balance the gravity of the rotating assembly 210, the support rod 220 and the load.

[0041] In some embodiments, the elastic member 250 is changed from a pressure-bearing elastic member to a tension spring. In the triangular mechanism formed by the support rod 220, the rotating assembly 210, and the sliding rod 240, the tension spring is arranged at a different position from the pressure-bearing elastic member. For example, the angle formed between the support rod 220 and the rod 213 and opposite to the sliding rod 240 is Under the action of the gravity moment of the load, the elastic member 250 tends to decrease, and is located between the guide block 230 and the free end N of the sliding rod 240 .

[0042] Figure 8 FIG. 2 shows a schematic diagram of a three-dimensional structure of a balancing device 200 including a rod according to some embodiments of the present disclosure. Figure 9-11 Schematic diagrams of the structure of a balancing device 200 including a rod according to some embodiments of the present disclosure are shown respectively. In some embodiments, Figure 8 and Fig. 9 As shown, the rotating assembly 210 may further include a rod 214. The rod 211 and the rod 213 extend in a direction away from the base 260 respectively, and are respectively hinged to both ends of the rod 214 on the side of the support rod 220 away from the base 260. The rod 211, the rod 214 and the rod 213 are hinged in sequence, and together with the base 260 form a parallelogram mechanism. The rod 211, the rod 213, the rod 214 or the support rod 220 can be connected to a load. Figure 8 As shown, rod 214 can be connected to load 270. Figure 8 As shown, the balancing device 200 may include a magnetic member 250. It is understood that although Figure 8 The specific structure and connection relationship of the magnetic member 250 are shown, but the balancing device 200 may include a magnetic member according to any embodiment of the present application (for example, Figure 1-7 , magnetic parts shown in 9-11) and connection relationships (for example, as Figure 9-11 connection relationship shown).

[0043] like Fig. 9 As shown, the rod 211 in the rotating assembly 210 forms a triangle with the support rod 220 and the sliding rod 240. The elastic member 250 (e.g., a pressure-bearing elastic member) is disposed between the guide block 230 and the free end N of the sliding rod 240. During operation, the load 270 drives the rotating assembly 210 to rotate clockwise relative to the base 260. The angle between the support rod 220 and the rod 211 and the sliding rod 240 is Under the action of the gravity moment of the load 270, the sliding rod 240 tends to increase and tilts downward to the right (such as Fig. 9 The elastic member 250 is deformed, thereby generating a restoring force F obliquely directed to the upper left to balance the gravity of the rotating assembly 210, the support rod 220 and the load 270. By forming a parallelogram mechanism with the rotating assembly 210 and the base 260, the support rod 220 and the elastic member 250 and other structures can be hidden in the parallelogram mechanism, which takes up little extra space and avoids affecting the assembly and movement of other components, thereby realizing the miniaturization and lightness of the surgical robot and improving the safety and stability of the structure.

[0044] In some embodiments, the elastic member 250 is changed from a pressure-bearing elastic member to a tension spring. In the triangular mechanism formed by the support rod 220, the rotating assembly 210, and the sliding rod 240, the tension spring is arranged at a different position from the pressure-bearing elastic member. For example, the angle formed between the support rod 220 and the rod 211 and opposite to the sliding rod 240 is Under the action of the gravity moment of the load 270 , the elastic member 250 tends to increase, and is located between the guide block 230 and the hinge end M of the sliding rod 240 .

[0045] like Fig.10 As shown, the rod 211 in the rotating assembly 210 forms a triangle with the support rod 220 and the sliding rod 240. The elastic member 250 (e.g., a pressure-bearing elastic member) is disposed between the guide block 230 and the hinge end M of the sliding rod 240. In this way, during operation, the load 270 drives the rotating assembly 210 to rotate clockwise relative to the base 260, and the angle between the support rod 220 and the rod 211 and relative to the sliding rod 240 is Under the action of the gravity moment of the load 270 , the force tends to decrease, and the sliding rod 240 slides obliquely to the lower left. The elastic member 250 is compressed and deformed, generating a restoring force F obliquely to the upper right to balance the gravity of the rotating assembly 210 , the support rod 240 and the load 270 .

[0046] In some embodiments, the elastic member 250 is changed from a pressure-bearing elastic member to a tension spring. In the triangular mechanism formed by the support rod 220, the rotating assembly 210, and the sliding rod 240, the tension spring is arranged at a different position from the pressure-bearing elastic member. For example, the angle formed between the support rod 220 and the rod 211 and opposite to the sliding rod 240 is Under the action of the gravity moment of the load 270 , the elastic member 250 tends to decrease, and is located between the guide block 230 and the free end N of the sliding rod 240 .

[0047] like Fig.11 As shown, the rod 213, the support rod 220 and the sliding rod 240 in the rotating assembly 210 form a triangle. The elastic member 250 is disposed between the guide block 230 and the hinge end M of the sliding rod 240. In this way, during operation, the load 270 drives the rotating assembly 210 to rotate clockwise relative to the base 260, and the angle formed between the support rod 220 and the rod 213 and relative to the sliding rod 240 is Under the action of the gravity moment of the load 270 , the force tends to decrease, and the sliding rod 240 slides obliquely to the lower left. The elastic member 250 is compressed and deformed, generating a restoring force F obliquely to the upper right to balance the gravity of the rotating assembly 210 , the support rod 220 and the load 270 .

[0048] In some embodiments, the elastic member 250 is changed from a pressure-bearing elastic member to a tension spring. In the triangular mechanism formed by the support rod 220, the rotating assembly 210, and the sliding rod 240, the tension spring is arranged at a different position from the pressure-bearing elastic member. For example, the angle formed between the support rod 220 and the rod 213 and opposite to the sliding rod 240 is Under the action of the gravity moment of the load 270 , the elastic member 250 tends to decrease, and is located between the guide block 230 and the free end N of the sliding rod 240 .

[0049] Some embodiments of the present disclosure also provide a surgical robot. Fig.12 FIG. 1 is a schematic diagram showing the structure of a surgical robot 1000 according to some embodiments of the present disclosure. Fig.12As shown, the surgical robot 1000 may include a main manipulator 10, a surgical platform 20 and a control device 30. The main manipulator 10 may include a main manipulator motion arm 101 and a handle 102 disposed at the end of the main manipulator motion arm 101. For example, the main manipulator motion arm 101 may include a multi-section arm body and a plurality of joints connecting the multi-section arm body. The main manipulator motion arm 101 has multiple degrees of freedom. The handle 102 may be a hand operation placement area for the operator, such as a clamping end. The surgical platform 20 may include a positioning arm 201 and a surgical instrument 202 disposed at the end of the positioning arm 201. For example, the positioning arm 201 may include a multi-section arm body and a plurality of joints, and has a plurality of degrees of freedom. The surgical instrument 202 may include a surgical tool or an endoscope. The end of the surgical instrument 202 is connected to an end instrument 2021, for example, the end instrument 2021 may include a surgical actuator disposed at the end of the surgical tool and / or an illumination device or an image acquisition device disposed at the end of the endoscope. The control device 30 is configured to control the synchronous movement of the surgical instrument 202 based on the manipulation of the main manipulator 10, so as to realize the remote operation of the surgical instrument 202 by the user through the operation of the main manipulator 10. The main manipulator 10 (e.g., the main manipulator motion arm 101) and / or the surgical platform 20 (e.g., the positioning arm 201) may include the above-mentioned balancing device 100 (or 200), and the balancing device 100 (or 200) may be a part of a multi-degree-of-freedom motion arm or a positioning arm. In some embodiments, the handle 102 may be a load in the balancing device 100 (or 200).

[0050] The balancing device 100 (or 200) provided in some embodiments of the present disclosure can reduce the inertial effect brought by gravity, improve the stability and accuracy of the surgical robot, occupy little additional space, avoid affecting the assembly and movement of other components, achieve the miniaturization and lightness of the surgical robot, have low requirements and restrictions on processing accuracy and structural design, have a small size, and have a better gravity balancing effect, and do not require the cooperation of an electric motor.

[0051] Note that the above are only preferred embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A balancing device, comprising: Support rods; A rotating assembly, at least a portion of which is rotatably connected to the support rod; A guide block, hinged to the support rod and one of the rotating components; A sliding rod, one end of which is hinged to the other of the support rod and the rotating assembly to form a hinged end, and the other end of which forms a free end, the sliding rod is slidably connected to the guide block, and the sliding rod, the support rod and the rotating assembly form a triangle; An elastic member, one end of which is connected to the guide block, and the other end of which is connected to the hinged end or the free end of the sliding rod; The rotating assembly includes a first rod, a second rod and a third rod; The first rod is hinged to the support rod, and the sliding rod, the support rod and the first rod form a triangle; The first rod and the second rod are respectively hinged on the base, the support rod is respectively hinged to the first rod and the second rod, and the first rod, the support rod, the second rod, and the connecting line of the hinge point between the first rod and the base and the hinge point between the second rod and the base form a first parallelogram mechanism; The first rod and the second rod extend outward from the first parallelogram mechanism in a direction away from the base and are respectively hinged to the third rod. The first rod, the second rod, the third rod, and a line connecting a hinge point between the first rod and the base and a hinge point between the second rod and the base form a second parallelogram mechanism. The support rod and the elastic member are located in the second parallelogram mechanism.

2. The balancing device according to claim 1, characterized in that: The elastic member comprises a pressure-bearing elastic member; The angle formed between the support rod and the rotating assembly and relative to the sliding rod tends to decrease under the action of torque, and one end of the elastic member is connected to the guide block, and the other end is connected to the hinged end of the sliding rod; or The angle formed between the support rod and the rotating assembly and relative to the sliding rod tends to increase under the action of torque. One end of the elastic member is connected to the guide block, and the other end is connected to the free end of the sliding rod.

3. The balancing device according to claim 2, characterized in that: The pressure-bearing elastic member is a compression spring, which is sleeved on the sliding rod, one end of which is connected to the guide block, and the other end of which is connected to the hinged end or the free end of the sliding rod; or The pressure-bearing elastic member is a gas spring in a compressed state, which is arranged parallel to the sliding rod. One end of the gas spring is connected to the guide block, and the other end is connected to the hinged end or the free end of the sliding rod.

4. The balancing device according to claim 1, characterized in that: The elastic member comprises a tension spring; The angle formed between the support rod and the rotating assembly and relative to the sliding rod tends to decrease under the action of torque, and one end of the elastic member is connected to the guide block, and the other end is connected to the free end of the sliding rod; or The angle formed between the support rod and the rotating assembly and relative to the sliding rod tends to increase under the action of torque. One end of the elastic member is connected to the guide block, and the other end is connected to the hinged end of the sliding rod.

5. The balancing device according to claim 1, characterized in that: The support rod is arranged in the longitudinal direction, and the balancing device is a gravity balancing device.

6. A surgical robot, comprising: A surgical platform, the surgical platform comprising a positioning arm and a surgical instrument disposed at a distal end of the positioning arm; A main manipulator, the main manipulator comprising a main manipulator motion arm and a handle arranged at the end of the main manipulator motion arm, the main manipulator is used to receive a manipulation action to control the synchronous movement of the surgical instrument; The main manipulator moving arm and / or the positioning arm comprises a balancing device as claimed in any one of claims 1-5.

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