A gravity compensation mechanism for a surgical robot arm

Abstract

The present invention relates to a gravity compensation mechanism for a mechanical arm of a surgical robot, comprising a mechanical arm base, a lifting arm, a wire rope, an adapter seat and a gas spring, wherein a guide rail is installed on the inner side of the mechanical arm base, a slider is slidably connected to the guide rail, one side of the adapter seat is fixedly connected to the slider, and the other side of the adapter seat is fixedly connected to the lifting arm, and the lifting arm moves linearly along the guide rail; an end is fixed at each end of the wire rope, one end of the end is hung on a hook, the hook is fixed on the top of the inner side of the mechanical arm base, and the end of the other end is fixed on the lifting arm, the wire rope passes around a first pulley and a second pulley in sequence, the upper end of the gas spring is fixed on the top of the inner side of the mechanical arm base, and a movable pulley seat is fixed at the lower end, the first pulley is installed on the movable pulley seat, and the second pulley is fixed on the top of the inner side of the mechanical arm base; the present invention can compensate for the gravity that needs to be overcome when a doctor manually drags the lifting arm, so that the doctor can easily drag it to move in the height direction and manually adjust it.

Description

[Technical field]

[0001] The present invention relates to the technical field of medical instruments, and in particular to a gravity compensation mechanism for a mechanical arm of a surgical robot. [Background Technology]

[0002] With the advancement of science and technology, various surgical robots have become increasingly widely used in clinical procedures in hospitals. Different surgical robots are often equipped with differently constructed robotic arms to meet specific surgical needs. For example, before the laparoscopic surgical robot begins, the surgeon manually holds the robotic arm close to the incision in the patient's abdomen and aligns the probing tab at the incision with the adapter on the robotic arm. During this procedure, the surgeon typically holds the probing tab with one hand while using the other to drag the robotic arm. This allows for relatively easy movement in various directions, including up, down, left, and right. However, the robotic arm itself is typically heavy, significantly impacting the dragging force.

[0003] At this time, if the robotic arm can compensate for most of its own gravity through some mechanism and achieve force balance, the doctor can easily drag the robotic arm to move in the height direction, thereby manually adjusting its height. [Summary of the invention]

[0004] The purpose of the present invention is to solve the above-mentioned deficiencies and provide a gravity compensation mechanism for the robotic arm of a surgical robot, which can compensate for the gravity that the doctor needs to overcome when manually dragging the lifting arm, achieve force balance, and enable the doctor to easily drag the robotic arm to move in the height direction and manually adjust its height, greatly improving the reliability and safety of surgical robot surgery.

[0005] In order to achieve the above purpose, a gravity compensation mechanism for a surgical robot arm is designed, which includes a robot arm base 1, a lifting arm 2, a wire rope 3, an adapter 7 and a gas spring 9. A guide rail 5 is installed on the inner side of the robot arm base 1. The guide rail 5 is arranged vertically. A slider 6 is slidably connected to the guide rail 5. One side of the adapter 7 is fixedly connected to the slider 6, and the other side of the adapter 7 is fixedly connected to the lifting arm 2. The lifting arm 2 moves linearly along the guide rail 5 with the slider 6; each end of the wire rope 3 is fixed with an end 15, and the end 15 of one end of the wire rope 3 is fixed with an end 15. 5 is hung on a hook 16, and the hook 16 is fixed to the top of the inner side of the robot arm base 1. The end 15 of the other end of the steel wire rope 3 is fixed to the lifting arm 2, and the steel wire rope 3 is passed around the line wheel 12 and the line wheel 2 13 in sequence; the gas spring 9 is arranged vertically, and the piston rod is set vertically downward. The upper end of the gas spring 9 is fixed to the top of the inner side of the robot arm base 1, and the lower end of the gas spring 9 is fixed to the movable pulley seat 11. The line wheel 12 is installed on the movable pulley seat 11, and the line wheel 2 13 is arranged above the line wheel 12 and fixed to the top of the inner side of the robot arm base 1.

[0006] Furthermore, it also includes an electromagnet 21, one side of which is fixed on a sliding seat 23, two shafts extending from the sliding seat 23 and passing through the linear bearings 14 respectively, and screws 25 are installed at the ends of the shafts, and the linear bearings 14 are fixed on the adapter seat 7. A spring 24 is installed between the adapter seat 7 and the screws 25, and the other side of the electromagnet 21 is adsorbed on the armature 22 or is out of contact with the armature 22, and the armature 22 is fixed on the inner side of the robot arm base 1, thereby realizing the position maintenance of the lifting arm 2.

[0007] Furthermore, when the electromagnet 21 is in the power-off state, the electromagnet 21 is adsorbed on the armature 22, and the adsorption force is greater than the pulling force of the spring 24 to maintain the position of the lifting arm 2; when the electromagnet 21 is in the power-on state, the electromagnet 21 is demagnetized, and the electromagnet 21 is out of contact with the armature 22 under the action of the spring 24.

[0008] Furthermore, the upper end of the gas spring 9 is fixed on the rotating shaft 17, and the rotating shaft 17 is fixed on the spring seat 18 through the retaining spring 19. The spring seat 18 is fixed to the top of the inner side of the robot arm base 1, so that the gas spring 9 can be compactly arranged inside the lifting arm 2, greatly saving the space required for the mechanism.

[0009] Furthermore, a pulley 12 is installed on each of the left and right sides of the movable pulley seat 11, and the pulley 2 13 is fixed on the fixed pulley seat 10. The pulley 2 13 is installed on both the left and right sides of the fixed pulley seat 10, and the fixed pulley seat 10 is fixed to the top of the inner side of the robotic arm base 1, so that even if one wire rope breaks accidentally, the remaining other wire rope can support the mechanism to achieve normal lifting function, greatly improving the reliability and safety of surgical robot surgery.

[0010] Furthermore, the other side of the adapter 7 is fixedly connected to the lifting arm 2 via a second screw 8, and the end 15 of the other end of the wire rope 3 is fixed to the lifting arm 2 via a first screw 4 and a nut 20.

[0011] Compared with the prior art, the present invention has the following advantages:

[0012] (1) The present invention can balance the thrust of the gas spring with the gravity of the lifting arm through the arrangement of the wire rope and the pulley assembly, thereby compensating for the gravity that the doctor needs to overcome when manually dragging the lifting arm;

[0013] (2) The mechanism of the present invention can compensate for most of its own gravity and achieve force balance, so that the doctor can easily drag the robotic arm to move in the height direction, thereby manually adjusting its height;

[0014] (3) The travel of the lifting arm of the present invention is twice the travel of the gas spring, so that the gas spring can be compactly arranged inside the lifting arm, greatly saving the space required for the mechanism;

[0015] (4) The purpose of providing a steel wire rope on each side of the present invention is that even if one steel wire rope breaks accidentally, the remaining other wire rope can still support the mechanism to achieve normal lifting function, greatly improving the reliability and safety of surgical robot surgery. [Brief Description of the Drawings]

[0016] Figure 1 It is a schematic structural diagram of the present invention when it is in the lowest position;

[0017] Figure 2 It is a schematic structural diagram of the present invention when it is in the highest position;

[0018] Figure 3 It is a schematic diagram of the internal structure of the present invention when it is in the lowest position;

[0019] Figure 4 It is a schematic diagram of the internal structure of the present invention when it is in the highest position;

[0020] Figure 5 is a cross-sectional view of the present invention in its lowest position;

[0021] In the figure: 1, robot arm base 2, lifting arm 3, wire rope 4, screw 1, guide rail 6, slider 7, adapter seat 8, screw 2, gas spring 10, fixed pulley seat 11, movable pulley seat 12, reel 1 13, reel 2 14, linear bearing 15, end 16, hook 17, rotating shaft 18, spring seat 19, retaining ring 20, nut 21, electromagnet 22, armature 23, sliding seat 24, spring 25, screw 3. [Specific implementation method]

[0022] As attached Figure 1 To the attached Figure 5As shown, the present invention provides a gravity compensation mechanism for a surgical robot arm, which mainly includes a robot arm base 1, a lifting arm 2, a wire rope 3, an adapter 7 and a gas spring 9. A guide rail 5 is installed on the inner side of the robot arm base 1. The guide rail 5 is arranged vertically. A slider 6 is slidably connected to the guide rail 5. One side of the adapter 7 is fixedly connected to the slider 6, and the other side of the adapter 7 is fixedly connected to the lifting arm 2. The lifting arm 2 moves linearly along the guide rail 5 with the slider 6; an end 15 is fixed at each end of the wire rope 3, and the end of one end of the wire rope 3 is fixed to the end of the guide rail 5. 15 is hung on the hook 16, the hook 16 is fixed to the top of the inner side of the robot arm base 1, the end 15 of the other end of the wire rope 3 is fixed to the lifting arm 2, and the wire rope 3 is passed around the pulley 12 and the pulley 2 13 in turn; the gas spring 9 is arranged vertically, and the piston rod is set vertically downward, the upper end of the gas spring 9 is fixed to the top of the inner side of the robot arm base 1, and the lower end of the gas spring 9 is fixed with a movable pulley seat 11, the pulley 12 is installed on the movable pulley seat 11, and the pulley 2 13 is arranged above the pulley 12 and fixed to the top of the inner side of the robot arm base 1.

[0023] It also includes an electromagnet 21, one side of the electromagnet 21 is fixed on a sliding seat 23, two shafts extend from the sliding seat 23 and pass through the linear bearing 14 respectively, the ends of the shafts are installed with screws 25, the linear bearing 14 is fixed on the adapter seat 7, and a spring 24 is installed between the adapter seat 7 and the screw 25. The other side of the electromagnet 21 is adsorbed on the armature 22 or disengaged from the armature 22, and the armature 22 is fixed to the inner side of the robot arm base 1, so as to maintain the position of the lifting arm 2; when the electromagnet 21 is powered on, it is adsorbed on the armature 22, and the adsorption force is greater than the tension of the spring 24, so as to maintain the position of the lifting arm 2; when the power is on, the electromagnet 21 is demagnetized, and the electromagnet 21 is disengaged from the armature 22 under the action of the spring 24.

[0024] The other side of the adapter 7 is fixedly connected to the lifting arm 2 via screw 2 8, and the other end of the wire rope 3, a terminal 15, is fixed to the lifting arm 2 via screw 1 4 and nut 20. The upper end of the gas spring 9 is fixed to the rotating shaft 17, which is fixed to the spring seat 18 via a retaining spring 19. The spring seat 18 is fixed to the top of the inner side of the robot arm base 1, so that the gas spring 9 can be compactly arranged inside the lifting arm 2, greatly saving the space required for the mechanism. A wire pulley 12 is installed on each side of the movable pulley seat 11, and a wire pulley 2 13 is fixed to the fixed pulley seat 10. The fixed pulley seat 10 is also installed on both sides of the fixed pulley seat 10. The fixed pulley seat 10 is fixed to the top of the inner side of the robot arm base 1. Therefore, even if one wire rope breaks accidentally, the remaining wire rope can support the mechanism to achieve normal lifting function, greatly improving the reliability and safety of surgical robot surgery.

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0026] The present invention provides a new mechanical arm gravity compensation mechanism, comprising a mechanical arm base 1, a lifting arm 2, a wire rope 3, a first screw 4, a guide rail 5, a slider 6, an adapter 7, a second screw 8, a gas spring 9, a fixed pulley seat 10, a movable pulley seat 11, a first reel 12, a second reel 13, a linear bearing 14, an end 15, a hook 16, a rotating shaft 17, a spring seat 18, a retaining spring 19, a nut 20, an electromagnet 21, an armature 22, a sliding seat 23, a spring 24, and a third screw 25. A guide rail 5 is mounted on the inner side of the mechanical arm base 1, along which a slider 6 slides. One side of the adapter 7 is fixedly connected to the slider 6, and the other side is fixed to the lifting arm 2 via a second screw 8, thereby enabling the lifting arm 2 to move linearly along the guide rail 5.

[0027] The two ends of the steel wire rope 3 are each fixed with an end 15, the end 15 of one end is hung on a hook 16, the hook 16 is fixed to the top of the inner side of the robot arm base 1, and the end 15 of the other end of the steel wire rope 3 is fixed to the lifting arm 2 through a screw 4 and a nut 20; the upper end of the gas spring 9 is fixed to the rotating shaft 17, the rotating shaft 17 is fixed to the spring seat 18 through a retaining ring 19, and the spring seat 18 is fixed to the top of the inner side of the robot arm base 1, and the lower end of the gas spring 9 is fixed with a movable pulley seat 11. A pulley 12 is installed on each side of 11, and a pulley 2 13 is fixed on both sides of the fixed pulley seat 10 and fixed to the top of the inner side of the robot arm base 1; the wire rope 3 passes around the pulley 12 and the pulley 2 13 in turn. At this time, through the action of the pulley mechanism, the thrust of the gas spring 9 can compensate for the gravity of the lifting arm 2 and related mechanisms, and due to the stroke amplification effect of the pulley group, the lifting stroke of the lifting arm 2 is twice the stroke of the gas spring 9, further increasing the height adjustment range of the lifting arm 2.

[0028] One side of the electromagnet 21 is fixed to a sliding seat 23. Two shafts extend from the sliding seat 23 and pass through the linear bearing 14. Screws 25 are installed at the ends of these shafts. The linear bearing 14 is fixed to the adapter 7. A spring 24 is installed between the adapter 7 and screws 25. When the electromagnet 21 is powered off, it is attracted to the armature 22 with a force far greater than the tension of the spring 24. When powered on, the electromagnet 21 is demagnetized and, under the action of the spring 24, it is separated from the armature 22, which is then fixed to the inner surface of the robot arm base 1. When the lifting arm 2 needs to be manually dragged and moved, the electromagnet 21 is powered on and released. When it needs to be locked in place after being dragged into place, the electromagnet 21 is powered off and attracted to the armature 22, thereby maintaining the position of the lifting arm 2.

[0029] In summary, the present invention, through the arrangement of the wire rope and the pulley assembly, can balance the thrust of the gas spring with the gravity of the lifting arm, thereby compensating for the gravity that the doctor needs to overcome when manually dragging the lifting arm. In addition, the movement stroke of the lifting arm is twice the stroke of the gas spring, so that the gas spring can be compactly arranged inside the lifting arm, greatly saving the space required for the mechanism. At the same time, the purpose of having a wire rope on each side is that even if one wire rope breaks accidentally, the remaining wire rope can still support the mechanism to achieve normal lifting function, greatly improving the reliability and safety of surgical robot surgery.

[0030] The contents not described in detail in this specification belong to the existing technology known to professional and technical personnel in this field. The standard parts used can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt mature conventional means such as bolts, rivets, welding, etc. in the existing technology. The machinery, parts and equipment all adopt conventional models in the existing technology, and the circuit connections adopt conventional connection methods in the existing technology, which will not be described in detail here.

[0031] The present invention is not limited to the above-mentioned embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A gravity compensation mechanism for a surgical robot arm, characterized by: The invention comprises a robot arm base (1), a lifting arm (2), a steel wire rope (3), a transfer seat (7) and a gas spring (9), wherein a guide rail (5) is installed on the inner side of the robot arm base (1), the guide rail (5) is arranged vertically, a slider (6) is slidably connected to the guide rail (5), one side of the transfer seat (7) is fixedly connected to the slider (6), and the other side of the transfer seat (7) is fixedly connected to the lifting arm (2), and the lifting arm (2) moves linearly along the guide rail (5) along with the slider (6); the steel wire rope (3) is fixedly connected to the lifting arm (2); the lifting arm (2) moves linearly along the guide rail (5); the lifting arm (2) moves linearly along the guide rail (5) along the guide rail (5); the lifting arm (2) moves linearly along the guide rail (5) along the guide rail (5); the lifting arm (2) moves linearly along the guide rail (5) along the guide rail (5); the lifting arm (2) moves linearly along the guide rail (5) along the guide rail (5); the lifting arm (2) moves linearly along the guide rail (5) along the guide rail (5) along the guide rail (5); the lifting arm (2) moves linearly along the guide rail (5) along the guide rail (5) along the guide rail (5); the lifting arm (2) moves linearly along the guide rail (5) along the guide rail (5) and the lifting arm (2) moves linearly ... An end (15) is fixed at each end, the end (15) of one end of the steel wire rope (3) is hung on a hook (16), the hook (16) is fixed to the top of the inner side of the robot arm base (1), the end (15) of the other end of the steel wire rope (3) is fixed to the lifting arm (2), and the steel wire rope (3) is passed around the first wheel (12) and the second wheel (13) in sequence; the gas spring (9) is arranged vertically, and the piston rod is arranged vertically downward, and the upper end of the gas spring (9) is fixed to the inner side of the robot arm base (1). The top of the mechanical arm base (1) is fixed with a movable pulley seat (11) at the lower end of the gas spring (9), the wire pulley 1 (12) is installed on the movable pulley seat (11), the wire pulley 2 (13) is arranged above the wire pulley 1 (12), and is fixed to the top of the inner side of the mechanical arm base (1); it also includes an electromagnet (21), one side of the electromagnet (21) is fixed on the sliding seat (23), two shafts extend from the sliding seat (23) and pass through the linear bearings (14) respectively, and the ends of the shafts are installed with screws 3 (25), and the linear bearings (14) It is fixed on the adapter (7), and a spring (24) is installed between the adapter (7) and the screw three (25). The other side of the electromagnet (21) is adsorbed on the armature (22) or is out of contact with the armature (22). The armature (22) is fixed on the inner side of the robot arm base (1); the other side of the adapter (7) is fixedly connected to the lifting arm (2) through the screw two (8), and the end (15) of the other end of the wire rope (3) is fixed to the lifting arm (2) through the screw one (4) and the nut (20).

2. The gravity compensation mechanism for a surgical robot arm according to claim 1, wherein: When the electromagnet (21) is in a power-off state, the electromagnet (21) is adsorbed on the armature (22), and the adsorption force is greater than the pulling force of the spring (24) to maintain the position of the lifting arm (2); when the electromagnet (21) is in a power-on state, the electromagnet (21) is demagnetized, and the electromagnet (21) is disengaged from the armature (22) under the action of the spring (24).

3. The gravity compensation mechanism for a surgical robot arm according to claim 1 or 2, characterized in that: The upper end of the gas spring (9) is fixed on the rotating shaft (17), the rotating shaft (17) is fixed on the spring seat (18) through the retaining ring (19), and the spring seat (18) is fixed on the top of the inner side of the robot arm base (1).

4. The gravity compensation mechanism for a surgical robot arm according to claim 1 or 2, characterized in that: A wire pulley 1 (12) is installed on each of the left and right sides of the movable pulley seat (11), and the wire pulley 2 (13) is fixed on the fixed pulley seat (10). A wire pulley 2 (13) is installed on each of the left and right sides of the fixed pulley seat (10), and the fixed pulley seat (10) is fixed to the top of the inner side of the robot arm base (1).

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