Mechanical arm lifting device and minimally invasive surgery robot

Abstract

A mechanical arm lifting device and minimally invasive surgery robot, it relates to a lifting device and surgical robot.The present application is to solve the problems of high cost, difficult control and short service life in the prior art.The mechanical arm lifting device comprises a lifting assembly (P), a balancing assembly and a sliding assembly (Q), the lifting assembly (P) is used for lifting the rotating assembly and the components connected with the rotating assembly, the balancing assembly is used for compensating the gravity of the rotating assembly, and the sliding assembly (Q) is used for providing sliding limit and brake for the rotating assembly, wherein the brake rail (Q-1) and the brake plate (Q-2) are provided with tooth parts on the brake rail (Q-1) and the brake plate (Q-2), the tooth parts are meshed with each other to play the role of brake, the gap between the brake rail (Q-1) and the brake plate (Q-2) can move in the opposite direction in the process of power on and off, and the functions of brake and unlocking are realized; the minimally invasive surgery robot comprises a slave operation surgery platform, and the slave operation surgery platform is provided with the mechanical arm lifting device.The present application is used in the surgical robot.

Description

TECHNICAL FIELD

[0001] The present application relates to a lifting device and a surgical robot, in particular to a mechanical arm lifting device and a minimally invasive surgical robot. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the body cavity using modern medical instruments such as laparoscopes and thoracoscopes and related equipment. Compared with the traditional surgical method, minimally invasive surgery has the advantages of small trauma, light pain, and fast recovery. However, in minimally invasive surgery, the operation difficulty is greatly increased due to the size limitation of the incision, and the fatigue, tremor and other actions of the doctor during the long operation process are amplified, which becomes a key factor restricting the development of minimally invasive surgery technology. With the development of robot technology, a new technology in the field of minimally invasive medical treatment that can overcome the shortcomings and inherit the advantages of minimally invasive surgery technology has emerged.

[0003] A common minimally invasive surgical robot is composed of a doctor console, a patient-side cart and a display device. The surgeon operates an input device at the doctor console and transmits the input to a patient-side cart connected to a remotely operated surgical instrument. Based on the input of the surgeon at the doctor console, the remotely operated surgical instrument is actuated at the patient-side cart to operate on the patient, thereby generating a master-slave control relationship between the doctor console and the surgical instrument at the patient-side cart. The patient-side cart (slave hand) generally includes a base, a column, a hoisting platform movably connected to the column, a plurality of main arms connected to the hoisting platform, and a plurality of instrument movement platforms located at the ends of the plurality of main arms. A rotating lifting device is provided on each main arm so that the height and angle of each instrument movement platform can be adjusted individually.

[0004] Chinese patent CN106132343B discloses a compensated constant force spring device including a bracket, a spool rotatably supported by the bracket, and a constant force spring wound on the spool. A motor is fixed to the bracket and provides a compensation force to the spool. The motor can be located in an interior volume of the spool. A control module can be coupled to the motor to control the compensation force. A position sensor can be coupled to the control module. The compensation force can be responsive to a signal from the position sensor. The constant force spring can support a load and balance a gravitational force on the load. The compensation force can be adjusted when the load approaches an end of a range of travel. Wherein, a brake can be provided to hold the vertical column in a fixed position so that no power is needed when the position of the vertical column is not changed. The brake can be in the form of a brake that clamps an extended portion of the constant force spring in a fixed position, a brake that prevents rotation of the spool, or a brake that prevents movement of the vertical column, such as the magnetic brake shown that magnetically grips the armature 904 with a magnetic brake shoe 906.

[0005] 1. The above solution uses an electromagnetic brake to brake the lifting device. However, general electromagnetic brakes are magnetic when energized, which can cause the robotic arm to unlock in the event of an accidental power outage, potentially leading to surgical accidents. Furthermore, the problems of temperature rise and short lifespan of the electromagnetic brake caused by prolonged energization during surgery cannot be solved. On the other hand, special de-energized electromagnet structures are limited and difficult to apply in this scenario, and they are also costly.

[0006] 2. In the above scheme, the two smooth surfaces of the electromagnetic brake are in contact (in order to ensure the suction force), and the bonding strength between the two is not high. In order to ensure the bonding strength, the suction force needs to be increased, which increases the cost.

[0007] 3. The above scheme integrates gravity compensation and lifting. The lifting device is expensive and difficult to control. In reality, the weight difference between different surgical instruments is only a few tens of grams at most, which basically does not affect the compensation effect of the gravity compensation device.

[0008] 4. In the above scheme, the lifting steel belt and the sliding guide rail are located on both sides of the load. There is a large distance between the sliding contact surface and the lifting force, which will generate a large overturning moment, which will have an adverse effect on the life of the motor and the overall structure.

[0009] In summary, existing technologies suffer from high costs, difficulty in control, and short lifespan. Summary of the Invention

[0010] The purpose of this invention is to address the problems of high cost, difficulty in control, and short service life in existing technologies. Therefore, it provides a robotic arm lifting device and a minimally invasive surgical robot.

[0011] The technical solution of this invention is: a robotic arm lifting device, comprising a lifting assembly, a balancing assembly, and a sliding assembly. The lifting assembly is used to lift a rotating assembly and components connected to the rotating assembly. The balancing assembly is used to compensate for the gravity of the rotating assembly and components connected to the rotating assembly. The sliding assembly is used to provide sliding limit and braking for the rotating assembly. The lifting assembly includes a lifting motor and a lifting steel belt. The lifting motor is fixed to the housing. One end of the lifting steel belt is wound around the lifting motor, and the other end of the lifting steel belt is fixed to the sliding assembly. The balancing assembly includes a balancing steel drum and a balancing steel coil wound around it. The balancing steel drum is fixed to the housing. The balancing steel coil has a constant contraction force. One end of the balancing steel coil is fixed to the balancing steel drum, and the other end of the balancing steel coil is connected to the sliding assembly. The sliding assembly includes a brake rail disposed on the housing, a brake plate cooperating with the brake rail, a slide rail disposed on the housing, a slider cooperating with the slide rail, a connecting plate for connecting the rotating assembly, the brake plate, and the slider, and a fixing plate for fixing the lifting steel belt and the balancing steel coil to the connecting plate.

[0012] Furthermore, both the brake rail and the brake plate have teeth that mesh with each other to provide braking. There is a gap between them, and they can move in opposite directions during power-on and power-off processes to achieve braking and unlocking functions.

[0013] Furthermore, the brake rail includes teeth and a magnet fixed to the teeth on the other side of the teeth. The teeth are made of a magnetically conductive or unshielded magnetic field material. With the housing as a reference, the brake rail moves while the brake plate does not move.

[0014] Furthermore, the brake plate includes an electrically controlled magnet fixedly mounted to the connecting plate. When the electrically controlled magnet is energized, magnetic poles identical to those of the magnet are formed on the opposite surface of the magnet. Under the action of mutually repulsive magnetic forces, the brake rail is pushed into the rear housing, causing the teeth to disengage at a certain gap to complete the unlocking. When the electrically controlled magnet is de-energized, its magnetic field disappears, and under the action of the magnet's attraction, the brake rail moves out of the rear housing, causing the teeth to mesh and complete the brake locking.

[0015] Furthermore, the toothed housing is a housing or teeth fixed on the housing, and at least one of the teeth and the housing is made of ferromagnetic material or a magnet with the opposite magnetic pole to the magnet. With the housing as the reference, the brake rail does not move, but the brake plate moves.

[0016] Furthermore, the brake plate includes an electrically controlled magnet and a magnet located on the side of the electrically controlled magnet that can move left and right but is limited up and down. The magnet has teeth. When the electrically controlled magnet is energized, it forms a magnetic field opposite to that of the magnet. The attraction force causes the magnet to move to the right, causing the teeth to disengage a certain gap to complete the unlocking. When the electrically controlled magnet is de-energized, its magnetic field disappears. Under the action of the magnet's attraction force, the magnet moves to the left, causing the teeth to engage with the brake rail, thereby completing the braking.

[0017] Furthermore, the brake rail is fixed to the housing by a housing or teeth, and the teeth and housing are made of materials other than the magnet. With the housing as a reference, the brake rail does not move, but the brake plate moves.

[0018] Furthermore, the brake plate includes an electrically controlled magnet and a ferromagnetic material plate located on the side of the electrically controlled magnet, which can move left and right but is limited up and down. The ferromagnetic material plate has teeth, and a compression spring is also provided between the ferromagnetic material plate and the electrically controlled magnet. When the electrically controlled magnet is energized, a magnetic field is formed, and the attraction force causes the ferromagnetic material plate to move to one side, causing the teeth to disengage a certain gap to complete the unlocking. When the electrically controlled magnet is de-energized, the magnetic field disappears, and the ferromagnetic material plate moves to the other side under the action of the compression spring, causing the teeth to engage with the brake rail, thereby completing the braking.

[0019] Furthermore, when the balance steel drum 1 is unwound to its limit position, the outer surface of the balance steel drum is tangent or intersecting with the outer surface of the drum formed by the portion of the lifting steel strip wound on the lifting motor in the vertical direction, so that the balance steel drum always fits against the lifting steel strip.

[0020] The present invention also provides a minimally invasive surgical robot, which includes a surgical platform for operation, the surgical platform having the above-described robotic arm lifting device.

[0021] Compared with the prior art, the present invention has the following technical advantages:

[0022] 1. This invention uses a toothed brake rail and a brake plate to achieve purely mechanical braking when power is off (unlocked when powered on, and can slide relative to each other). It is safer and more reliable than electromagnetic brakes, and has a lower manufacturing cost.

[0023] 2. In this invention, the lifting steel belt and the sliding guide rail are located on the same side of the load, which reduces the distance between the sliding contact surface and the lifting force, resulting in a small overturning moment and good motion performance, thereby effectively improving the service life of the lifting device.

[0024] 3. This invention separates the gravity compensation (also known as gravity balance) and lifting device into separate designs, which simplifies the structural complexity of each and reduces manufacturing costs. Attached Figure Description

[0025] Figure 1 This is an overall structural diagram of the minimally invasive surgical robot; Figure 2 This is a schematic diagram of the rotary lifting device; Figure 3 This is a schematic diagram after removing the front and rear housings; Figure 4 This is a schematic diagram of the structure after removing the rotating components; Figure 5 yes Figure 4 The front view; Figure 6 yes Figure 4 Sectional view along AA; Figure 7 yes Figure 6 A magnified view of a portion at point A; Figure 8 yes Figure 6 A magnified view of the area at point B; Figure 9 yes Figure 6 The left view; Figure 10 yes Figure 9 A magnified view of the area at point C; Figure 11 This is a structural diagram when magnets are used; Figure 12 This is a schematic diagram of the structure when a compression spring is used. Detailed Implementation

[0026] Specific implementation method one: Combining Figures 1 to 12This embodiment describes a robotic arm lifting device comprising a lifting assembly P, a balancing assembly, and a sliding assembly Q. The lifting assembly P lifts the rotating assembly and components connected to it. The balancing assembly compensates for the weight of the rotating assembly and its connected components. The sliding assembly Q provides sliding limits and braking for the rotating assembly. The lifting assembly P includes a lifting motor P-1 and a lifting steel belt P-2. The lifting motor P-1 is fixed to the housing. One end of the lifting steel belt P-2 is wound around the lifting motor P-1, and the other end of the lifting steel belt P-2 is fixed to the sliding assembly Q. The balancing assembly includes a balancing assembly P-1 and a sliding assembly Q. The system comprises a balance steel drum 1 and a balance steel coil 2 wound on it. The balance steel drum 1 is fixed to the housing, and the balance steel coil 2 has a constant contraction force. One end of the balance steel coil 2 is fixed to the balance steel drum 1, and the other end of the balance steel coil 2 is connected to a sliding assembly Q. The sliding assembly Q includes a brake rail Q-1 set on the housing, a brake plate Q-2 that cooperates with the brake rail Q-1, a slide rail Q-3 set on the housing, a slider that cooperates with the slide rail Q-3, a connecting plate Q-5 for connecting the rotating assembly, the brake plate Q-2, and the slider, and a fixing plate Q-6 for fixing the lifting steel belt P-2 and the balance steel coil 2 to the connecting plate Q-5.

[0027] In this embodiment, a mounting plate 100 is provided on the upper side of the robotic arm lifting device for mounting the device onto the surgical robot hoisting platform. Inside the device is a rotating assembly 200 capable of vertical and rotational movement, which connects to the end effector joint of the robotic arm. In surgical robot applications, to provide more degrees of freedom for the surgical instrument motion platform and facilitate better preoperative positioning, typical robotic arm lifting devices offer both vertical and rotational degrees of freedom.

[0028] In this embodiment, the lifting assembly P contains a lifting steel strip P-2 that can be wound up under the drive of the lifting motor P-1 and unwound under the gravity of the sliding assembly Q and the rotating assembly. Since only a constant lifting force is required, the lifting motor P-1 can be a standard DC motor, without the complexity of existing technologies. It should be noted that the lifting steel strip P-2 and the balancing steel coil 2 are unwound and wound up along the side closest to the sliding assembly Q. This reduces the distance between the sliding contact surface of the slide rail Q-3 and the lifting and balancing forces, resulting in a smaller overturning moment and better motion performance of the sliding assembly Q. Specifically, the connection points of the lifting steel strip P-2, the lifting steel coil 2, and the fixed plate Q-6, as well as the slide rail Q-3, are all located on the same side of the rotating assembly. Because the distance between the lifting and balancing forces and the slide rail Q-3 is small, the overturning moment is reduced. Specifically, the ideal form is that the lifting force, the balancing force, and the slide rail Q-3 are on the same straight line, but this is obviously impossible in actual structures. Therefore, it is necessary to minimize the lateral distance between them (lateral refers to the direction perpendicular to the direction of the force).

[0029] In this embodiment, the balancing component can balance the overall weight of the sliding component, the rotating component, and the components connected to the lower end, so that the lifting motor only needs a small force. The overall weight of the components connected to the lower end of the balancing steel coil does not change much (the weight difference between different instruments is at most tens of grams), so the balancing component can basically balance the weight of the lower part.

[0030] In this embodiment, the sliding component Q is used to limit and brake the up-and-down movement of the rotating component. When energized, there is a gap between the two components, allowing the brake plate (which is equivalent to the slider and connecting plate) to slide freely up and down. When de-energized, the two components move relative to each other until they engage, completing the braking. The brake plate, slider, and connecting plate can be three separate parts, or some of them can be integrated into one unit, depending on the processing and installation requirements and ease of use.

[0031] Specific Implementation Method Two: Combining Figures 5 to 12 In this embodiment, both the brake rail Q-1 and the brake plate Q-2 have teeth that mesh with each other to provide braking. There is a gap between them, and they can move in opposite directions during power-on and power-off cycles, thus achieving braking and unlocking functions. This design facilitates braking and unlocking. Other components and connections are the same as in specific embodiment one.

[0032] Specific implementation method three: Combining Figure 10 This embodiment describes the following: with the housing as a reference, when the brake rail Q-1 moves and the brake plate Q-2 does not move: the brake rail Q-1 includes a toothed part Q-1-1 and a magnet Q-1-2 fixed to the toothed part Q-1-1 on the other side of the toothed part Q-1-1. The toothed part Q-1-1 is made of a magnetically conductive or unshielded magnetic field material.

[0033] Specific implementation method four: Combination Figure 10 This embodiment describes a braking plate Q-2, which includes an electrically controlled magnet Q-2-1 fixedly disposed with a connecting plate Q-5.

[0034] Specific implementation methods three and four together form Example 1: In this example, the brake rail moves while the brake plate remains stationary. Because the brake rail is relatively long, to prevent jamming or deflection during movement, a smooth surface, lubricant, or even rollers can be used at the bottom of the brake rail where it contacts the housing to reduce friction.

[0035] The brake rail consists of teeth and a magnet fixed to the teeth on the other side (opposite to the brake plate). The teeth are made of a magnetically conductive or unshielded magnetic field material, and must also have good hardness and wear resistance, such as a magnetically conductive metal, polymer, or ceramic material. The brake rail is located inside the rear housing and can slide left and right relative to the rear housing under traction, but it always remains within the groove of the rear housing and therefore will not move up and down.

[0036] The brake plate includes an electrically controlled magnet fixedly mounted to the connecting plate. When the electrically controlled magnet is energized, it forms magnetic poles identical to those of the magnet on its opposite surface. Under the influence of repulsive magnetic forces, this pushes the brake rail into the rear housing (moving to the left in the diagram; the rear housing cannot be made of ferromagnetic material at this time, otherwise it will attract the magnet), causing the teeth to disengage and unlock. When the electrically controlled magnet is de-energized, its magnetic field disappears, and it becomes a ferromagnetic metal. Under the attraction of the magnet, the brake rail moves outward from the rear housing (moving to the right in the diagram; due to the limit of the slider rail, the connecting plate will not move left or right), causing the teeth to mesh and completing the braking lock.

[0037] In this embodiment, a set of balance steel drums and balance steel coils are symmetrically arranged on the left and right, and a brake rail is set in the middle. Alternatively, a set of brake rails can be symmetrically arranged on the left and right, and a balance steel drum and balance steel coil can be set in the middle (in this case, the constant contraction force provided must be twice that of the former).

[0038] In this embodiment, the lifting steel strip is divided into two strands (to match the balancing steel coil), which are fixed together with the balancing steel coil on the fixing plate. In fact, both can be one, two, or even more strands, and can be fixed separately or together on the fixing plate (or connecting plate or slider).

[0039] In this embodiment, both the balancing steel coil and the lifting steel belt are located on one side of the slide rail, which can reduce the overturning force. Of course, it is also possible for only the lifting steel belt to be located on one side of the slide rail and the balancing steel coil to be located on the other side of the slide rail (that is, the lifting steel belt and the balancing steel coil are located on both sides of the center of gravity of the rotating component).

[0040] In this embodiment, when the balancing steel coil and the lifting steel strip are on the same side, they are fixed to the fixed plate in close contact (the spacing in the figure is for distinction). In order to ensure that they are always in close contact, when the slider slides to the lowest position, the circumference of the circle formed by the cross-section of the balancing steel coil and the circle formed by the cross-section of the lifting steel strip are at least tangent in the vertical direction (or intersect). That is to say, when the slider is in other positions, the circumferences of the two circles intersect in the vertical direction.

[0041] Specific Implementation Method Five: Combining Figure 11This embodiment describes a method where the housing is used as a reference. When the brake rail Q-1 is stationary and the brake plate Q-2 is moving, the toothed housing Q-3 is either a housing or a tooth fixed to the housing. At least one of the tooth or the housing is made of a ferromagnetic material or a magnet with the opposite magnetic pole to the magnet.

[0042] Specific Implementation Method Six: Combination Figure 11 This embodiment describes a brake plate Q-2 comprising an electrically controlled magnet Q-2-1 and a magnet Q-1-2 located on the side of the electrically controlled magnet Q-2-1, which can move left and right but is limited up and down. The magnet Q-1-2 has teeth.

[0043] Specific implementation methods five and six together form Example 2: In this example, the brake rail remains stationary, while the brake plate moves. It is foreseeable that, since the brake plate is much shorter than the brake rail, the form of movement of the brake plate will be more conducive to movement, enhancing the flexibility and reliability of the movement.

[0044] The brake rail can be formed directly from the housing, or the teeth can be fixed to the housing, and at least one of the teeth and the housing is made of ferromagnetic material or a magnet with the opposite magnetic pole to the magnet.

[0045] The brake plate includes an electrically controlled magnet and a side magnet that can move left and right but is limited vertically. The side magnet has teeth. When the electrically controlled magnet is energized, it generates a magnetic field opposite to the main magnet, and the attraction causes the main magnet to move to the right, causing the teeth to disengage and unlock. When the electrically controlled magnet is de-energized, its magnetic field disappears, and it becomes a ferromagnetic metal. Under the attraction of the main magnet (at this time, the attraction between the main magnet and the housing or teeth must be greater than the attraction between the main magnet and the electrically controlled magnet), the main magnet moves to the left, causing the teeth to engage with the brake rail, thus completing the braking.

[0046] Of course, as mentioned earlier, at least one of the shell and teeth must be made of a ferromagnetic material or a magnet with the opposite magnetic pole to the main magnet. It's important to understand that the type of material affects the performance requirements of the electrically controlled magnet. For example, if the shell and its teeth are made of a ferromagnetic material, the required attractive force of the electrically controlled magnet is not high; it only needs to overcome the attraction between the magnet and the ferromagnetic material. However, if the shell and its teeth are made of a magnet (with the opposite magnetic pole to the main magnet), then the required attractive force of the electrically controlled magnet is greater, and therefore it needs to overcome the attraction between the magnet and the magnet.

[0047] Specific implementation method seven: Combination Figure 12 This embodiment describes a scenario where the housing serves as the reference point. When the brake rail Q-1 is stationary and the brake plate Q-2 is moving, the brake rail Q-1 is fixed to the housing by the housing or its teeth, and the teeth and housing are made of materials other than the magnet.

[0048] Specific implementation method eight: Combination Figure 12 This embodiment describes a brake plate Q-2 comprising an electrically controlled magnet Q-2-1 and a ferromagnetic material plate Q-5 located on the side of the electrically controlled magnet Q-2-1, which can move left and right but is limited up and down. The ferromagnetic material plate Q-5 has teeth, and a compression spring B-6 is also provided between the ferromagnetic material plate Q-5 and the electrically controlled magnet Q-2-1.

[0049] Specific Implementation Method Nine: Combining Figure 12 To illustrate this embodiment, the compression spring B-6 provides a force that causes the ferromagnetic material plate Q-5 to move to the left.

[0050] Specific implementation methods seven through nine together form Example 3:

[0051] In this embodiment, the brake rail remains stationary, while the brake plate moves.

[0052] The brake rail can be formed directly from the housing, or the teeth can be fixed to the housing, and the teeth and housing can be made of materials other than the magnet.

[0053] The brake plate includes an electrically controlled magnet and a ferromagnetic material plate located beside the magnet, which can move left and right but is limited vertically. The ferromagnetic material plate has teeth, and a compression spring is placed between the ferromagnetic material plate and the electrically controlled magnet. The compression spring provides a force that causes the ferromagnetic material plate to move to the left. When the electrically controlled magnet is energized, it generates a magnetic field, and the attraction force causes the ferromagnetic material plate to move to the right, causing the teeth to disengage and unlock. When the electrically controlled magnet is de-energized, the magnetic field disappears, and the ferromagnetic material plate moves to the left under the action of the compression spring, causing the teeth to engage with the brake rail, thus completing the braking.

[0054] Specific Implementation Method Ten: Combining Figure 6 and Figure 9 In this embodiment, when the balance steel coil 1 is unwound to its limit position, the outer surface of the balance steel coil 1 is tangent or intersects with the outer surface of the coil formed by the portion of the lifting steel strip P-2 wound on the lifting motor P-1 in the vertical direction, so that the balance steel coil 2 always fits against the lifting steel strip P-2.

[0055] It should be noted that, in Figure 6 and Figure 9The positions of the lifting steel strip P-2 and the balancing steel coil 2 are only illustrative; the distance between them is drawn large to clearly distinguish them. In reality, the lifting steel strip P-2 and the balancing steel coil 2 are always in contact. This facilitates fixing them to the sliding assembly Q and prevents friction between them during the sliding of the sliding assembly Q. Because the balancing steel coil 1 and the lifting motor P-1 synchronously wind and unwind the material on the sliding assembly Q during its up-and-down movement, their diameters change. To ensure they remain in contact, the installation positions of the balancing steel coil 1 and the lifting motor P-1 need to be specially designed. They should be installed in a position that ensures that when the balancing steel coil 1 is unwound to its limit position (i.e., when the sliding assembly Q slides to its lowest limit position), the outer surface of the balancing steel coil 1 is still tangent or intersecting with the outer surface of the coil formed by the portion of the lifting steel strip P-2 wound on the lifting motor P-1 in the vertical direction. Tangency is the critical value for contact; intersection is preferable. Of course, it's understandable that the intersecting portion shouldn't be too large; otherwise, firstly, the vertical installation space occupied by the balancing steel drum 1 and the lifting motor P-1 would be too large, and secondly, the lateral pressure exerted by the balancing steel coil 2 on the lifting motor P-1 would be too great. Specifically, in the vertical direction, it's best if the intersecting portion is less than 1 / 4 of the diameter of the balancing steel drum 1.

[0056] Detailed Implementation Method Eleven: Combining Figures 1 to 12 This embodiment describes a minimally invasive surgical robot that includes a surgical platform with the aforementioned robotic arm lifting device. Other components and connections are the same as in any of embodiments one through ten.

[0057] The minimally invasive surgical robot of this embodiment specifically includes a base L, a column M, multiple main arms C, multiple robotic arm lifting devices D, multiple instrument movement platforms E, and a hoisting platform F. The column M is vertically mounted on the base L, the hoisting platform F is mounted on the top of the column M, the multiple main arms C are mounted on the circumference of the hoisting platform F, each main arm C is connected to a robotic arm lifting device D, and each robotic arm lifting device D is equipped with an instrument movement platform E.

[0058] The above description only illustrates preferred embodiments of the present invention. However, the present invention is not limited to the specific embodiments described above. Under the guidance of the present invention, those skilled in the art can make various modifications or equivalent substitutions to the features and embodiments of the present invention to adapt to specific circumstances without departing from the spirit of the invention and the protection scope of the claims.

Claims

1. A robotic arm lifting device, characterized in that: It includes a lifting assembly (P), a balancing assembly, and a sliding assembly (Q). The lifting assembly (P) is used to lift the rotating assembly and the parts connected to the rotating assembly. The balancing assembly is used to compensate for the gravity of the rotating assembly and the parts connected to the rotating assembly. The sliding assembly (Q) is used to provide sliding limit and braking for the rotating assembly. The lifting assembly (P) includes a lifting motor (P-1) and a lifting steel belt (P-2). The lifting motor (P-1) is fixed on the housing, one end of the lifting steel belt (P-2) is wound around the lifting motor (P-1), and the other end of the lifting steel belt (P-2) is fixed on the sliding assembly (Q). The balancing assembly includes a balancing steel drum (1) and a balancing steel coil (2) wound thereon. The balancing steel drum (1) is fixed to the housing. The balancing steel coil (2) has a constant contraction force. One end of the balancing steel coil (2) is fixed to the balancing steel drum (1), and the other end of the balancing steel coil (2) is connected to the sliding assembly (Q). The sliding assembly (Q) includes a brake rail (Q-1) mounted on the housing, a brake plate (Q-2) that cooperates with the brake rail (Q-1), a slide rail (Q-3) mounted on the housing, a slider that cooperates with the slide rail (Q-3), a connecting plate (Q-5) for connecting the rotating assembly, the brake plate (Q-2), and the slider, and a fixing plate (Q-6) for fixing the lifting steel belt (P-2) and the balancing steel coil (2) on the connecting plate (Q-5); Both the brake rail (Q-1) and the brake plate (Q-2) have teeth that mesh with each other to provide braking. There is a gap between them, and they can move in opposite directions during power-on and power-off cycles, achieving braking and unlocking functions. The brake rail (Q-1) includes teeth (Q-1-1) and a magnet (Q-1-2) fixed to the teeth (Q-1-1) on the other side. The teeth (Q-1-1) are made of a magnetically conductive or unshielded magnetic field material. With the housing as a reference, when the brake rail (Q-1) moves, the brake plate (Q-2) remains stationary. 2) Includes an electrically controlled magnet (Q-2-1) fixedly mounted to the connecting plate (Q-5). When the electrically controlled magnet (Q-2-1) is energized, the same magnetic poles as the magnet (Q-1-2) are formed on the opposite side of the magnet (Q-1-2). Under the action of mutually repulsive magnetic force, the brake rail (Q-1) is pushed into the rear housing, causing the teeth (Q-1-1) to disengage a certain gap to complete the unlocking. When the electrically controlled magnet (Q-2-1) is de-energized, its magnetic field disappears. Under the action of the attraction force of the magnet (Q-1-2), the brake rail moves out of the rear housing, causing the teeth (Q-1-1) to engage and complete the braking lock. When the balance steel drum (1) is unwound to the limit position, the outer surface of the balance steel drum (1) is tangent or intersecting with the outer surface of the drum formed by the part of the lifting steel strip (P-2) wound on the lifting motor (P-1) in the vertical direction, so that the balance steel drum (2) always fits against the lifting steel strip (P-2).

2. The robotic arm lifting device according to claim 1, characterized in that: The toothed housing (Q-3) is a housing or teeth fixed on the housing, and at least one of the teeth and the housing is made of ferromagnetic material or a magnet with the opposite magnetic pole to the magnet. With the housing as the reference, the brake rail (Q-1) does not move, and the brake plate (Q-2) moves.

3. The robotic arm lifting device according to claim 2, characterized in that: The brake plate (Q-2) includes an electrically controlled magnet (Q-2-1) and a magnet (Q-1-2) located on the side of the electrically controlled magnet (Q-2-1), which can move left and right but is limited up and down. The magnet (Q-1-2) has teeth. When the electrically controlled magnet (Q-2-1) is energized, it forms a magnetic field opposite to that of the magnet (Q-1-2). The attraction causes the magnet (Q-1-2) to move to the right, causing the teeth to disengage at a certain gap to complete the unlocking. When the electrically controlled magnet (Q-2-1) is de-energized, its magnetic field disappears. Under the attraction of the magnet (Q-1-2), the magnet (Q-1-2) moves to the left, causing the teeth (Q-1-1) to engage with the brake rail (Q-1), thereby completing the braking.

4. The robotic arm lifting device according to claim 3, characterized in that: The brake rail (Q-1) is fixed to the housing or teeth, and the teeth and housing are made of materials other than the magnet. With the housing as the reference, the brake rail (Q-1) does not move, while the brake plate (Q-2) moves.

5. The robotic arm lifting device according to claim 4, characterized in that: The brake plate (Q-2) includes an electrically controlled magnet (Q-2-1) and a ferromagnetic material plate (Q-5) located on the side of the electrically controlled magnet (Q-2-1), which can move left and right but is limited up and down. The ferromagnetic material plate (Q-5) has teeth. A compression spring (B-6) is also provided between the ferromagnetic material plate (Q-5) and the electrically controlled magnet (Q-2-1). When the electrically controlled magnet (Q-2-1) is energized, a magnetic field is formed, and the attraction force causes the ferromagnetic material plate (Q-5) to move to one side, so that the teeth (Q-1-1) disengage a certain gap to complete the unlocking. When the electrically controlled magnet (Q-2-1) is de-energized, the magnetic field disappears, and the ferromagnetic material plate (Q-5) moves to the other side under the action of the compression spring, so that the teeth engage the brake rail, thereby completing the braking.

6. A minimally invasive surgical robot, characterized in that: It includes an operating surgical platform having a robotic arm lifting device as described in any one of claims 1 to 5.

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