Balance adjustment device, light guide arm system, balance adjustment method thereof and laser

Abstract

The present application relates to a balance adjustment device, a light guide arm system and a balance adjustment method thereof and a laser, wherein the balance adjustment device comprises a counterweight component, a guide component, a driving component, a posture sensor and a main controller; wherein the posture sensor is used to obtain the current posture angle information of the light guide arm system; the main controller is used to receive the current posture angle information and compare the current posture angle information with the pre-stored initial posture angle information, and generate a driving instruction when the difference between the current posture angle information and the initial posture angle information exceeds a preset threshold interval; and the driving component is used to drive the counterweight component to move on the guide component according to the driving instruction after receiving the driving instruction, and adjust the position of the center of gravity of the balance adjustment device by moving the counterweight component, so that the current posture angle of the light guide arm system is close to the initial posture angle. The use of the balance adjustment device can improve the balance adjustment efficiency of the light guide arm system.

Description

Technical Field

[0001] The present application relates to the field of laser technology, and in particular to a balance adjustment device, a light guide arm system and a balance adjustment method thereof, and a laser. Background Art

[0002] In the field of laser technology, the light guide arm, as a laser transmission system, reflects the laser beam reflected by the previous joint to the next joint through the reflector in each steering joint, and so on, until the laser beam passes through the light outlet, thereby achieving the purpose of efficiently and accurately transmitting the laser beam to the specified position in three-dimensional space.

[0003] Especially in the field of medical laser technology, the light guide arm can effectively transmit the laser beam to the part of the human body that needs treatment. It is an important component of medical laser treatment equipment. Its quality will directly affect the treatment effect of medical lasers. Operators prefer light guide arms that are smart and easy to operate, and do not need to be frequently adjusted during use.

[0004] In traditional technology, spring-balanced light guide arms and weight-balanced light guide arms are mainly used in medical lasers. However, both spring-balanced light guide arms and weight-balanced light guide arms are designed purely from the perspective of torque balance. However, the number of accessory handpieces required for treatment is increasing, and they are becoming more and more complex. The differences in the shapes and weights of the accessory handpieces are also increasing, making it increasingly difficult for many accessory handpieces to meet the single torque balance of the light guide arm. This brings many problems and troubles to users. Either non-specific handpieces cannot be replaced, or the operator needs to re-adjust the balance every time the handpiece is replaced, which affects the efficiency of the light guide arm and reduces the speed of treatment. Summary of the invention

[0005] Based on this, it is necessary to provide a balance adjustment device, a light guide arm system, a balance adjustment method and a laser, which can improve the balance adjustment efficiency and use efficiency of the light guide arm in order to address the above technical problems.

[0006] In a first aspect, a balance adjustment device is provided, which is applied to a light guide arm system, and includes a counterweight component, a guide component, a drive assembly, a posture sensor, and a main controller; wherein:

[0007] The counterweight component is movably arranged on the guide component, the guide component is connected to the drive component, and the main controller is communicatively connected to the posture sensor and the drive component;

[0008] The attitude sensor is used to obtain the current attitude angle information of the light guide arm system;

[0009] A main controller, configured to receive current posture angle information, compare the current posture angle information with pre-stored initial posture angle information, and generate a driving instruction when the difference between the current posture angle information and the initial posture angle information exceeds a preset threshold interval; and

[0010] The driving component is used to drive the counterweight component to move on the guide component according to the driving instruction after receiving the driving instruction, and adjust the position of the center of gravity of the balance adjustment device by moving the counterweight component, so that the current posture angle of the light guide arm system is close to the initial posture angle.

[0011] In some embodiments, the guide component includes an upper sliding rail and a lower sliding rail, the upper sliding rail is configured as the upper side of the counterweight component, the lower sliding rail is configured as the lower side of the counterweight component, and the upper sliding rail is arranged in parallel with the lower sliding rail.

[0012] In some embodiments, the drive assembly includes a stepper motor, a driver unit, and a threaded rod; wherein,

[0013] The driver unit is connected to the main controller and the stepper motor, the threaded rod extends along the axial direction of the rotating shaft of the stepper motor toward a direction away from the stepper motor, and the weight component is connected to the threaded rod through a matching thread; and

[0014] The driver unit is used to drive the stepper motor to rotate around the rotating shaft to drive the threaded rod to rotate around the rotating shaft after receiving the driving instruction sent by the main controller. The threaded rod controls the counterweight component to move along the axial direction of the rotating shaft on the guide component through the matching thread.

[0015] In some embodiments, the attitude sensor includes a micro-electromechanical system three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetic sensor.

[0016] In a second aspect, a light guide arm system is provided, comprising a light guide arm base, a light guide arm shaft connector, a light guide arm, at least one hand tool, and a balance adjustment device according to any embodiment of the first aspect; wherein:

[0017] The first end of the light guide arm is connected to the balance adjustment device, the second end of the light guide arm is detachably connected to the hand tool, the light guide arm shaft connection piece is configured to be located on a side of the light guide arm close to the first end, and the light guide arm is rotatably connected to the light guide arm base with the light guide arm shaft connection piece as a rotation fulcrum; and

[0018] The balance adjustment device is used to adjust the center of gravity of the balance adjustment device when the hand tool is replaced, so that the first end and the second end of the light guide arm are maintained in a balanced state with the light guide arm shaft connecting piece as a rotation fulcrum.

[0019] In a third aspect, a balance adjustment method for a light guide arm system is provided, the method being applied to a main controller of a balance adjustment device for the light guide arm system in the second aspect, the method comprising:

[0020] The current attitude angle information of the light guide arm system is obtained through the attitude sensor;

[0021] Compare the current attitude angle information with the pre-stored initial attitude angle information;

[0022] If the difference between the current attitude angle information and the initial attitude angle information exceeds a preset threshold interval, a driving instruction is generated; wherein the driving instruction is used to instruct the driving component to drive the counterweight component to move;

[0023] If the difference between the current attitude angle information and the initial attitude angle information is within the preset threshold range, the driving component is kept stationary.

[0024] In some embodiments, generating a driving instruction includes:

[0025] A preset balance control algorithm is called to calculate the target moving distance and target moving direction of the counterweight component, and a driving instruction is generated according to the target moving distance and target moving direction.

[0026] Calculate the target moving distance and target moving direction of the counterweight component, including:

[0027] Generate position information of the rotation fulcrum according to position information of the light guide arm shaft connecting piece;

[0028] generating position information of the power point according to the position information of the balance adjustment device;

[0029] Generate position information of the resistance point according to the position information of the light guide arm and the hand tool;

[0030] Calculate the first power arm according to the position information of the rotation fulcrum, the position information of the power point and the current posture angle information;

[0031] Calculate the second power arm according to the position information of the rotation fulcrum, the position information of the resistance point and the current posture angle information; and

[0032] The target moving distance and the target moving direction are calculated according to the first power arm, the second power arm, the power value of the power point, and the resistance value of the resistance point.

[0033] In some embodiments, the method further comprises:

[0034] In response to a balance initialization instruction, determining the position of the light guide arm system as a reference position;

[0035] Obtaining the angle information between the attitude sensor and the Z coordinate axis of the sensor coordinate system at the reference position, and using the angle information as the initial attitude angle information; and

[0036] The initial attitude angle information is stored.

[0037] In a fourth aspect, a medical laser is provided, comprising the light guide arm system of the second aspect.

[0038] The above-mentioned balance adjustment device obtains the current posture angle information of the light guide arm system through the posture sensor, and compares the current posture angle information with the initial posture angle information measured when the light guide arm system is in a balanced state. When the difference between the two exceeds a preset threshold interval, a driving instruction is generated to drive the movement of the counterweight component, and the center of gravity of the balance adjustment device is changed by the movement of the counterweight component. By controlling the change of the center of gravity position of the balance adjustment device, the current posture angle of the light guide arm system is made close to the initial posture angle, thereby realizing the balance adjustment of the light guide arm system; the above-mentioned light guide arm system automatically adjusts the center of gravity of the balance adjustment device to change the power arm from the first end of the light guide arm to the light guide arm shaft connecting member, so that after the handpiece is replaced, the first end and the second end of the light guide arm can be readjusted to a balanced state with the light guide arm shaft connecting member as the rotation fulcrum; the above-mentioned balance adjustment method of the light guide arm system can dynamically and quickly adjust the balance of the light guide arm system during use by dynamically comparing the current posture angle of the light guide arm system with the initial posture angle. Therefore, the above-mentioned balance adjustment device, light guide arm system and balance adjustment method thereof and laser can improve the balance adjustment efficiency of the light guide arm, thereby improving the handpiece adaptability and use efficiency of the light guide arm system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Schematic diagram of the structure of the light guide arm system in some embodiments;

[0040] Figure 2 is a schematic diagram of the structure of a balance adjustment device in some embodiments;

[0041] Figure 3 A schematic diagram of a flow chart of a balance adjustment method of a light guide arm system in some embodiments;

[0042] Figure 4 A schematic flow chart of a balance adjustment method for a light guide arm system in some other embodiments;

[0043] Figure 5 Schematic diagram of the balance adjustment principle of the lever system simulated by the light guide arm system in some embodiments. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] In some embodiments, the present application provides a light guide arm system, which can be a light guide arm system for a laser. Figure 1 As shown, Figure 1 A schematic structural diagram of a light guide arm system according to some embodiments of the present application is shown.

[0046] Specifically, the light guide arm system may include a light guide arm base 10, a light guide arm shaft connector 20, a light guide arm 30, at least one hand tool 40, and a balance adjustment device 50; wherein,

[0047] The first end 301 of the light guide arm 30 is connected to the balance adjustment device 50, the second end 302 of the light guide arm 30 is detachably connected to the hand tool 40, the light guide arm shaft connection member 20 is configured to be located at a side of the light guide arm 30 close to the first end 301, and the light guide arm 30 is rotatably connected to the light guide arm base 10 with the light guide arm shaft connection member 20 as a rotation fulcrum; and

[0048] The balance adjustment device 50 is used to adjust the center of gravity of the balance adjustment device 50 when the hand tool 40 is replaced, so that the first end 301 and the second end 302 of the light guide arm 30 are maintained in a balanced state with the light guide arm shaft connector 20 as a rotation fulcrum.

[0049] Since the light guide arm 30 may be equipped with non-specific hand tools of different sizes, weights, etc., when the hand tool 40 of the light guide arm 30 is replaced from one to another, the two ends of the light guide arm 30 with the light guide arm shaft connection member 20 as the rotation fulcrum may produce unbalanced shaking. The above-mentioned light guide arm system, by providing a balance adjustment device 50, can automatically adjust its own center of gravity after detecting that the hand tool 40 of the light guide arm system has been replaced. Since the balance adjustment device 50 is configured at the first end 301 of the light guide arm 30, the change in the center of gravity position of the balance adjustment device 50 can cause a change in the power arm between the first end 301 of the light guide arm 30 and the light guide arm shaft connection member 20 (rotation fulcrum).

[0050] During actual application, after the hand tool 40 is replaced, the resistance arm from the second end 302 of the light guide arm 30 to the light guide arm shaft connector 20 (rotational fulcrum) may change, and the two ends of the light guide arm 30 will rotate unbalancedly with the light guide arm shaft connector 20 as the rotational fulcrum. At this time, the power arm from the first end 301 of the light guide arm 30 to the light guide arm shaft connector 20 is adjusted by automatically adjusting the center of gravity of the balance adjustment device 50, so as to maintain the balance between the resistance arm and the power arm of the light guide arm system. Therefore, the first end 301 and the second end 302 of the light guide arm 30 can be readjusted to a balanced state with the light guide arm shaft connector 20 as the rotational fulcrum.

[0051] Therefore, the light guide arm system of the present application can save debugging time during surgery, make the treatment process simpler, and greatly improve the user experience of treatment instruments and equipment based on the light guide arm system. It also reduces the repair and maintenance cost of the light guide arm 30 and extends its service life. Moreover, more types of hand tools 40 can be flexibly configured for the light guide arm 30 to improve the utilization rate of the light guide arm 30 and improve its functional adaptability.

[0052] In some embodiments, Figure 1 As shown, the light guide arm 30 may include a first section and a second section that are relatively rotatably connected, wherein one end of the first section may serve as a first end 301 of the light guide arm 30 and is used to connect the balance adjustment device 50, the other end of the first section is rotatably connected to one end of the second section, and the other end of the second section may serve as a second end 302 of the light guide arm 30 and is used to be detachably connected to the hand tool 40. By configuring the light guide arm 30 as a structure composed of a plurality of sections that are relatively rotatably connected, the convenience of operation during use can be improved.

[0053] The first section and the second section mentioned above are only examples. In other embodiments, the light guide arm 30 may also include more or fewer sections according to different requirements such as flexibility and operability.

[0054] Next, the balance adjustment device 50 will be described in further detail. Figure 2 As shown, Figure 2 The schematic diagram of the structure of the balance adjustment device in some embodiments of the present application is shown. The balance adjustment device 50 of the present application can be applied to Figure 1 In the application environment of the light guide arm system.

[0055] Specifically, the balance adjustment device 50 may include a weight component 51, a guide component 52, a drive assembly 53, a posture sensor 54 and a main controller 55; wherein,

[0056] The weight component 51 is movably arranged on the guide component 52, the guide component 52 is connected to the driving component 53, and the main controller 55 communicates with the posture sensor 54 and the driving component 53;

[0057] The posture sensor 54 is used to obtain the current posture angle information of the light guide arm system;

[0058] A main controller 55, for receiving current posture angle information, and comparing the current posture angle information with pre-stored initial posture angle information, and generating a driving instruction when the difference between the current posture angle information and the initial posture angle information exceeds a preset threshold interval; and

[0059] The driving component 53 is used to drive the counterweight component 51 to move on the guide component 52 according to the driving instruction after receiving the driving instruction, and adjust the position of the center of gravity of the balance adjustment device 50 by moving the counterweight component 51, so that the current posture angle of the light guide arm system is close to the initial posture angle. Exemplarily, the closeness here can be understood as adjusting the position of the center of gravity of the balance adjustment device by moving the counterweight component so that the difference between the current posture angle of the light arm system and the initial posture angle information is close to or falls within a preset threshold range.

[0060] The above-mentioned balance adjustment device 50 obtains the current attitude angle information of the light guide arm system through the attitude sensor 54, and compares the current attitude angle information with the initial attitude angle information measured when the light guide arm system is in a balanced state. When the difference between the two exceeds a preset threshold range, a drive instruction is generated to drive the movement of the counterweight component 51, and the center of gravity of the balance adjustment device 50 is changed by the movement of the counterweight component 51. By controlling the change of the center of gravity position of the balance adjustment device 50, the current attitude angle of the light guide arm system is made close to the initial attitude angle, thereby prompting the light guide arm system to dynamically maintain a balanced state.

[0061] Exemplarily, if the current posture angle information is greater than the initial posture angle information, indicating that the resistance arm or resistance value from the second end 302 of the light guide arm 30 to the light guide arm shaft connector 20 is reduced, a drive instruction can be generated to instruct the counterweight component 51 to move toward the light guide arm shaft connector 20 (that is, away from the drive assembly 53), so that the center of gravity of the balance adjustment device 50 moves toward the direction close to the light guide arm shaft connector 20, thereby correspondingly reducing the power arm from the first end 301 of the light guide arm 30 to the light guide arm shaft connector 20, thereby making the current posture angle of the light guide arm system close to the initial posture angle.

[0062] Exemplarily, if the current posture angle information is less than the initial posture angle information, indicating that the resistance arm or resistance value from the second end 302 of the light guide arm 30 to the light guide arm shaft connector 20 has increased, a drive instruction can be generated to instruct the counterweight component 51 to move in a direction away from the light guide arm shaft connector 20 (that is, close to the drive assembly 53), thereby causing the center of gravity of the balance adjustment device 50 to move in a direction away from the light guide arm shaft connector 20 to correspondingly increase the power arm from the first end 301 of the light guide arm 30 to the light guide arm shaft connector 20, thereby causing the current posture angle of the light guide arm system to be close to the initial posture angle.

[0063] In some embodiments, the guide component 52 may adopt a sliding track. Furthermore, the sliding track may include an upper sliding track 521 and a lower sliding track 522. The counterweight component 51 may adopt a mass slider. By respectively configuring an upper sliding track 521 and a lower sliding track 522 parallel to each other above and below the mass slider, the movement trajectory of the mass slider can be more accurately and stably guided or restricted, thereby improving the accuracy of the center of gravity adjustment, and then improving the accuracy of the balance adjustment.

[0064] It is worth noting that the "above", "below", "upper side" and "lower side" here are relative concepts. Relative to the sliding direction of the counterweight component (for example, the mass slider), the direction perpendicular to the sliding direction can be called the up and down direction of the sliding component, wherein one side of the counterweight component along the up and down direction can be called the "upper side", and the other side of the counterweight component along the up and down direction corresponding to the "upper side" can be called the "lower side".

[0065] In some embodiments, continue to refer to Figure 2 As shown, the driving assembly 53 may include a stepping motor 531, a driver unit 532 and a threaded rod 533; wherein,

[0066] The driver unit 532 connects the main controller 55 and the stepper motor 531, the threaded rod 533 extends along the axial direction of the rotation axis A of the stepper motor 531 in a direction away from the stepper motor 531, and the weight component 51 is connected to the threaded rod 533 through a mating thread (not shown in the figure); and

[0067] The driver unit 532 is used to drive the stepper motor 531 to rotate around the rotation axis A to drive the threaded rod 533 to rotate around the rotation axis A after receiving the driving instruction sent by the main controller 55. The threaded rod 533 controls the counterweight component 51 to move along the axial direction of the rotation axis A on the guide component 52 through the matching thread. The movement can be a movement away from the stepper motor 531 or a movement close to the stepper motor 531, that is, according to the driving instruction, the center of gravity of the balance adjustment device is moved in the direction that can make the light guide arm system tend to balance (the current posture angle is close to the initial posture angle).

[0068] The above-mentioned embodiment shows an exemplary cooperation mode of the driving component 53 and the counterweight component 51 to realize the movement process of the counterweight component 51 along the guide component 52 driven by the driving component 53. However, the present application is not limited to the above-mentioned cooperation mode of the driving component 53 and the counterweight component 51.

[0069] For example, in some feasible embodiments, the threaded rod 533 of the driving assembly 53 can be replaced by a traction member, and the extension and contraction of the traction member is driven to control the weight component 51 connected to one end of the traction member to move along the guide member 52. In other feasible embodiments, the threaded rod 533 of the driving assembly 53 can be replaced by a magnetic control device, and the change of the magnetic force of the magnetic control device is driven to control the weight component 51 to move along the guide member 52, and so on.

[0070] In some embodiments, the attitude sensor may include a MEMS (Microelectromechanical System) three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetic sensor. By adopting the above attitude sensors, the pitch angle, roll angle, and yaw angle of the light guide arm system can be accurately calculated, thereby ensuring more accurate attitude angle information of the light guide arm system, and even in harsh environments, the attitude angle information can still be measured excellently.

[0071] In practical applications, the light guide arm system of the present application can be applied to different laser treatment instruments, such as erbium laser (2940nm), carbon dioxide laser (9.3μm, 10.3μm, 10.6μm), ND:YAG laser (1064nm). Those skilled in the art can understand that although the present application lists the types of lasers that the light guide arm system can be applied to, this is only exemplary and does not limit the scope of application of the light guide arm system of the present application.

[0072] In some embodiments, reference Figure 3 As shown, the present application also provides a balance adjustment method for a light guide arm system, which can be applied to Figure 2 The main controller 55 of the balance adjustment device 50 of the light guide arm system shown in the figure, the method may include the following steps:

[0073] Step S2: obtaining the current attitude angle information of the light guide arm system through the attitude sensor;

[0074] Step S4: comparing the current attitude angle information with the pre-stored initial attitude angle information;

[0075] Step S6: if the difference between the current posture angle information and the initial posture angle information exceeds a preset threshold interval, a driving instruction is generated; wherein the driving instruction is used to instruct the driving component to drive the counterweight component to move;

[0076] Step S8: If the difference between the current attitude angle information and the initial attitude angle information is within a preset threshold range, the driving component is kept stationary.

[0077] Among them, the preset threshold range can be customized according to different system accuracy requirements, user needs, etc., and is not limited here.

[0078] Exemplarily, the preset threshold interval can be configured as an interval with a certain ratio of the initial attitude angle information (initial attitude angle value) as the reference value, such as 10%. More specifically, if the initial attitude angle information is 50°, the preset threshold interval is , that is, the preset threshold area of ​​-5° to 5°, that is to say, when the difference between the two is within the preset threshold range of -5° to 5°, it can be considered to be a balanced state, and the drive component can be maintained stationary; conversely, if the difference between the two exceeds the preset threshold range of -5° to 5°, it can be considered to be an unbalanced state, and a drive instruction can be generated.

[0079] In the above-mentioned balance adjustment method for the light guide arm system, the main controller 55 of the balance adjustment device 50 of the light guide arm system obtains the current attitude angle information of the light guide arm system through the attitude sensor 54, and compares the current attitude angle information with the pre-stored initial attitude angle information. When the difference between the two exceeds a preset threshold range, a drive instruction is generated, and the start of the drive component 53 is controlled by the drive instruction, so that the drive component 53 adjusts the position of the center of gravity of the balance adjustment device 50, thereby making the light guide arm system tend to be balanced.

[0080] In some embodiments, reference Figure 4 As shown, the method may also include:

[0081] Step S0: System initialization.

[0082] In this step, at the initial stage of application, after the user manually adjusts the light guide arm system to a balanced state, an initialization instruction can be sent to the light guide arm system. The main controller 55 of the balance adjustment device 50 determines the current position of the light guide arm system as the reference position in response to the balance initialization instruction sent by the user; obtains the angle information between the attitude sensor 54 and the Z coordinate axis of the sensor coordinate system at the reference position, and uses the angle information as the initial attitude angle information of the light guide arm system; and further, stores the initial attitude angle information. The initial attitude angle information obtained after the system is initialized is the attitude angle information of the light guide arm in the balanced state under the current hand tool. Therefore, in the subsequent steps, it is compared with the current attitude angle information obtained in real time, so that it can accurately determine whether the light guide arm system deviates from the balanced state.

[0083] In some embodiments, continue to refer to Figure 4 As shown, the method may also include:

[0084] Step S1: Detect hand tool replacement.

[0085] In this step, the main controller 55 of the balance adjustment device 50 can instruct the posture sensor 54 to send the current posture angle information of the light guide arm system in real time or periodically, so as to determine whether the hand tool 40 has been replaced. Alternatively, it can also confirm in real time or periodically through other means whether the hand tool 40 has been replaced. After determining that the hand tool has been replaced, it enters step S2 to perform the subsequent dynamic adjustment process of the balance.

[0086] In some embodiments, continue to refer to Figure 4 As shown, after step S8, the method may further include:

[0087] Step S9: Continue to compare the current posture angle information with the pre-stored initial posture angle information. Specifically, after each drive, the current posture angle information can be repeatedly compared with the pre-stored initial posture angle information. When the difference between the two is within the preset threshold range, enter S6, and when the difference between the two exceeds the preset threshold range, continue to enter S8, so that further dynamic adjustment can be continuously performed according to the feedback of the adjustment result to improve the accuracy of the balance adjustment.

[0088] In some embodiments, continue to refer to Figure 4 As shown, after step S6, the method may further include: after step S6 is completed, returning to step S2.

[0089] Specifically, if the difference between the current attitude angle information and the initial attitude angle information is within the preset threshold range, the drive component 53 is maintained stationary, and then the process can return to step S2 to obtain the attitude angle information of the light guide arm system at this time again, thereby forming a balance adjustment process of the automated light guide arm system with cyclic detection and dynamic adjustment.

[0090] In some embodiments, generating the driving instruction includes: calculating a target moving distance and a target moving direction of the weight component, and generating the driving instruction according to the target moving distance and the target moving direction.

[0091] In this embodiment, the main controller 55 calculates the target moving distance and target moving direction of the counterweight component 51 by calling a preconfigured balance control algorithm, and generates a drive instruction based on the target moving distance and target moving direction, so that the drive component 53 can accurately move the configuration component according to the corresponding parameter information in the drive instruction.

[0092] In some embodiments, reference Figures 1 to 5 As shown, calculating the target moving distance and target moving direction of the counterweight component by the balance control algorithm may include:

[0093] Generate position information of the rotation fulcrum B according to the position information of the light guide arm shaft connecting member 20;

[0094] Generate position information of the power point C according to the position information of the balance adjustment device 50;

[0095] Generate position information of the resistance point S+D according to the position information of the light guide arm 30 and the hand tool 40;

[0096] According to the position information of the rotation fulcrum B, the position information of the power point C and the current attitude angle information Calculate the first power arm M1;

[0097] According to the position information of the rotation fulcrum B, the position information of the resistance point S+D and the current posture angle Information calculation second power arm M2; and

[0098] The target moving distance and the target moving direction are calculated according to the first power arm M1, the second power arm M2, the power value F1 of the power point C, and the resistance value F2 of the resistance point S+D.

[0099] In this embodiment, the balance control algorithm involved in the present application can simulate the entire light guide arm system into a lever system with the light guide arm shaft connector 20 as the rotation fulcrum B, wherein the position information of the power point C in the lever system is determined according to the position information of the center of gravity of the balance adjustment device 50, and the position information of the resistance point S+D is determined according to the position information of the center of gravity of the combination of the light guide arm and the hand tool, and the power value F1 of the power point 501 can be determined according to the mass of the balance adjustment device 50, and the resistance value F2 of the resistance point S+D can be determined according to the mass of the combination of the light guide arm and the hand tool.

[0100] The power arm M1 and the resistance arm M2 of the lever system simulated by the light guide arm system after the hand tool 40 is replaced can be calculated according to the following formula:

[0101] ;

[0102] ;

[0103] in, is the lever distance between the simulated power point C and the rotation fulcrum B, is the lever distance between the simulated resistance point S+D and the rotation fulcrum B, is the current attitude angle,

[0104] In meeting:

[0105]

[0106] The light guide arm system is in a balanced state again. Therefore, the target moving direction and target moving distance of the weight component 51 are calculated when the above conditions are satisfied in the simulated lever system.

[0107] The balance adjustment method of this embodiment simulates the light guide arm system into a lever system, and determines the relationship between the rotation fulcrum, power point and resistance point in the lever system and the various components in the light guide arm system. After the hand tool 40 is replaced, the resistance value F2 and the change value of the resistance arm M2 are determined according to the size and weight change of the hand tool 40. Then, in order to achieve rebalancing of the lever system, the required change value of the power arm M1 is calculated, and the moving direction and moving distance of the center of gravity of the balance adjustment device 50 are determined according to the change value of the power arm M1, thereby determining the target moving direction and target moving distance of the counterweight component 51. This embodiment can improve the moving accuracy of the counterweight component 51 of the balance adjustment device 50, can quickly move to the position, and further improve the efficiency of balance adjustment.

[0108] In some embodiments, the present application further provides a laser, which may be a medical laser, and the laser may include a light guide arm system of any of the above embodiments. The light guide arm system and the balance adjustment method in the laser are not described in detail here.

[0109] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] In addition, the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the characters in this article generally indicate that the associated objects before and after are in an "or" relationship.

[0111] It should be noted that, in the present invention, the words "first", "second", etc. are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order or quantity; the terms "S1", "S2", "S4", etc. are used to distinguish steps, and do not have to be understood as performing method steps in a specific order or sequential order; when the above description involves drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The "multiple" in the present invention includes two and more than two, unless otherwise indicated.

[0112] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A light guide arm system, comprising a light guide arm base, a light guide arm shaft connector, a light guide arm, at least one hand tool and a balance adjustment device, wherein the balance adjustment device comprises a counterweight component, a guide component, a drive assembly, a posture sensor and a main controller; in; The first end of the light guide arm is connected to the balance adjustment device, the second end of the light guide arm is detachably connected to the hand tool, the light guide arm shaft connection piece is configured to be located on a side of the light guide arm close to the first end, and the light guide arm is rotatably connected to the light guide arm base with the light guide arm shaft connection piece as a rotation fulcrum; The counterweight component is movably arranged on the guide component, the guide component is connected to the drive component, and the main controller is communicatively connected to the posture sensor and the drive component; The posture sensor is used to obtain the current posture angle information of the light guide arm system; The main controller is used to receive the current posture angle information when the hand tool is replaced, and compare the current posture angle information with the pre-stored initial posture angle information, and when the difference between the current posture angle information and the initial posture angle information exceeds a preset threshold interval, call a preset balance control algorithm to generate the position information of the rotation fulcrum according to the position information of the light guide arm shaft connecting member; generate the position information of the power point according to the position information of the balance adjustment device; generate the position information of the resistance point according to the position information of the light guide arm and the hand tool; Calculate a first power arm according to the position information of the rotation fulcrum, the position information of the power point and the current posture angle information; Calculate the second power arm according to the position information of the rotation fulcrum, the position information of the resistance point and the current posture angle information; and calculating a target moving distance and a target moving direction according to the first power arm, the second power arm, the power value of the power point, and the resistance value of the resistance point, and generating a driving instruction; as well as The driving component is used to drive the counterweight component to move on the guide component according to the target moving distance and target moving direction after receiving the driving instruction, and adjust the position of the center of gravity of the balance adjustment device by moving the counterweight component, so that the first end and the second end of the light guide arm are maintained in a balanced state with the light guide arm shaft connecting member as a rotation fulcrum.

2. The system according to claim 1, characterized in that The guide component includes an upper sliding rail and a lower sliding rail, the upper sliding rail is configured as the upper side of the counterweight component, the lower sliding rail is configured as the lower side of the counterweight component, and the upper sliding rail is arranged in parallel with the lower sliding rail.

3. The system according to claim 1, characterized in that The driving assembly includes a stepper motor, a driver unit and a threaded rod; wherein, The driver unit connects the main controller and the stepper motor, the threaded rod extends along the axial direction of the rotating shaft of the stepper motor toward a direction away from the stepper motor, and the weight component is connected to the threaded rod through a matching thread; and The driver unit is used to drive the stepper motor to rotate around the rotating shaft to drive the threaded rod to rotate around the rotating shaft after receiving the driving instruction sent by the main controller. The threaded rod controls the counterweight component to move along the axial direction of the rotating shaft on the guide component through the mating thread.

4. The system according to claim 1, characterized in that The attitude sensor includes a micro-electromechanical system three-axis gyroscope, a three-axis accelerometer and a three-axis magnetic sensor.

5. A balance adjustment method for a light guide arm system, the method being applied to a main controller of the balance adjustment device for the light guide arm system according to claim 1, the method comprising: The current attitude angle information of the light guide arm system is obtained through the attitude sensor; Comparing the current attitude angle information with the pre-stored initial attitude angle information; If the difference between the current posture angle information and the initial posture angle information exceeds a preset threshold interval, a preset balance control algorithm is called to generate the position information of the rotation fulcrum according to the position information of the light guide arm shaft connection member; generate the position information of the power point according to the position information of the balance adjustment device; and generate the position information of the resistance point according to the position information of the light guide arm and the hand tool; Calculate a first power arm according to the position information of the rotation fulcrum, the position information of the power point and the current posture angle information; Calculate the second power arm according to the position information of the rotation fulcrum, the position information of the resistance point and the current posture angle information; and calculating the target moving distance and the target moving direction according to the first power arm, the second power arm, the power value of the power point, and the resistance value of the resistance point, and generating a driving instruction; wherein the driving instruction is used to instruct the driving assembly to drive the counterweight component to move according to the target moving distance and the target moving direction; If the difference between the current attitude angle information and the initial attitude angle information is within the preset threshold range, the driving component is maintained stationary.

6. The method according to claim 5, characterized in that The method further comprises: In response to a balance initialization instruction, determining the position of the light guide arm system as a reference position; Acquire the angle information between the attitude sensor and the Z coordinate axis of the sensor coordinate system at the reference position, and use the angle information as the initial attitude angle information; and The initial attitude angle information is stored.

7. A laser, characterized in that: Comprising the light guide arm system described in claim 1.

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