Main operator of a surgical robot

Abstract

The present invention provides a main operator of a surgical robot, the main operator comprising: a top base assembly; a horizontal rotation assembly, the horizontal rotation assembly being provided with a first reduction member and a first connecting shaft that cooperate with each other, the first connecting shaft being connected to the top base assembly; a vertical rotation assembly, the vertical rotation assembly being connected to the first reduction member and the first operating member, the vertical rotation assembly being capable of driving the first operating member to achieve lifting and lowering movement; a gravity balance assembly, the gravity balance assembly being provided on the first operating member and the gravity balance assembly being further connected to the horizontal rotation assembly; and a posture assembly, the posture assembly being provided on one end of the first operating member away from the gravity balance assembly; wherein the first reduction member drives the vertical rotation assembly to achieve movement around the first connecting shaft, and the horizontal rotation assembly and the gravity balance assembly cooperate to drive the first operating member to perform telescopic movement. The present invention makes the overall structure of the device compact, the precision high, and the wiring convenient.

Description

Technical Field

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

[0002] The application of laparoscopic surgical robots, exemplified by the American da Vinci surgical robot, has seen rapid growth in China in recent years. Many top-tier hospitals in China have already or are in the process of introducing these systems. Meanwhile, numerous domestic companies have developed or are in the process of developing similar systems. A complete laparoscopic surgical robot system essentially consists of three main components: a master manipulator, a patient operating platform, and an imaging system. The master manipulator is directly operated by the surgeon and remotely controls the patient operating platform system to perform complex surgical procedures such as cutting, hemostasis, and suturing. Existing master manipulators (hereinafter referred to as "master manipulators") employ a typical serial mechanism. The principle of vertical and forward / backward movement of the operating rod is as follows: Forward / backward movement pushes the boom pendulum, and the range of forward / backward movement depends on the boom length. This structure presents the problem of increasing the range of forward / backward movement by inevitably increasing the boom length. Failure to increase the length would result in an excessively large pendulum angle, necessitating a higher power output for the force compensation motor. Vertical / backward movement is achieved through a parallel linkage mechanism consisting of balancing rods. This balance force F balances the weight of the operating rod and the load torque. However, when the operating lever moves forward and backward, the boom also undergoes a pendulum motion. Although force F can constantly balance the weight of the operating lever, the boom's deviation from the direction of gravity necessitates constant additional motor torque to balance the boom, the balancing rod, and the operating lever to maintain equilibrium. The vertical movement range is related to the length of the operating lever. To ensure comfortable operation within a certain height range, the lever must be designed to be longer. However, a longer lever requires a sufficiently large balancing force F.

[0003] It can be seen that although this configuration has few components and a simple structure, it also has the following weaknesses: Due to the series structure, the overall height is relatively high and the volume is relatively large based on the travel requirements. The intermediate parts are too dense, and multiple motors are concentrated in the middle of the body. For the sake of aesthetics, the cables are usually routed internally, resulting in crowded internal cable routing space and inconvenient installation. When the main hand is in operation, it always relies on the power provided by the motor assembly to maintain the balance of the system. The load of the motor used for balancing is relatively high. When the motor is damaged, it is difficult to flexibly operate the main hand. Excessive rod length will also bring about excessively high requirements for processing accuracy, resulting in the series structure having slightly lower accuracy than the parallel structure and the hybrid structure. Summary of the Invention

[0004] Therefore, an embodiment of the present invention provides a main operator of a surgical robot, which makes the overall structure of the device compact, high-precision, and convenient for wiring.

[0005] In order to solve the above problems, the present invention provides a main operator of a surgical robot, which includes: a top base assembly; a horizontal rotation assembly, the horizontal rotation assembly is provided with a first reduction gear and a first connecting shaft that are mutually matched and connected, and the first connecting shaft is connected to the top base assembly; a vertical rotation assembly, the vertical rotation assembly is connected to the first reduction gear and the first operating member, and the vertical rotation assembly can drive the first operating member to achieve lifting and lowering movement; a gravity balance assembly, the gravity balance assembly is arranged on the first operating member, and the gravity balance assembly is also connected to the horizontal rotation assembly; a posture assembly, the posture assembly is arranged at one end of the first operating member away from the gravity balance assembly; wherein, the first reduction gear drives the vertical rotation assembly to achieve movement around the first connecting shaft, and the horizontal rotation assembly and the gravity balance assembly cooperate to drive the first operating member to perform telescopic movement.

[0006] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting the first connecting shaft of the horizontal rotation component to connect the top base component, and setting the vertical rotation component to cooperate with the first deceleration component and the first operating component, the first operating component can be lifted and lowered, and the horizontal rotation component and the gravity balance component cooperate to realize the telescopic movement of the operating component, and the first deceleration component and the vertical rotation component cooperate to realize the movement around the first connecting shaft, thereby realizing the horizontal movement of the operating component. In this way, a hybrid configuration of the preparation operation is realized, which greatly reduces the overall equipment size of the main operator, makes the structure more compact and small, and can be operated and moved more conveniently. At the same time, compared with the existing pure series structure, the hybrid structure has higher equipment accuracy of the main operator, thereby enabling better surgical treatment for patients, and the hybrid configuration has a reasonable layout and a simple configuration, which makes operation and operation smoother, thereby making the operator's experience better.

[0007] In one embodiment of the present invention, the top base assembly includes: a second reduction member, the second reduction member and the first connecting shaft are rotatably matched; and the second reduction member and the first power member provided on the first reduction member are matched, so that the first power member drives the second reduction member to rotate, and then drives the first connecting shaft to rotate.

[0008] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting the second reduction member and the first connecting shaft to rotate together, and the second reduction member is driven by the first power member, the power of the first power member is amplified by the second reduction member, thereby making the driving of the first rotating shaft more convenient and quick, and at the same time, the efficiency in driving subsequent components to operate is higher, thereby improving the operation smoothness of the overall equipment.

[0009] In one example of the present invention, the horizontal rotation assembly also includes: a first connecting rod portion, one end of the first connecting rod portion is connected to the first connecting shaft, and the other end of the first connecting rod portion is cooperatively connected to the gravity balance assembly; a second power member, the second power member is arranged on the first connecting rod portion, and the second power member is used to drive the first connecting rod portion.

[0010] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting the first connecting rod part, the first connecting shaft and the gravity balancing assembly for balanced connection, and by setting the second power part to drive the first connecting rod part, in this way, the power transmission between the first connecting shaft and the gravity balancing assembly is more convenient, and at the same time, the connecting rod structure is simple and easy to operate.

[0011] In one example of the present invention, the first connecting rod portion also includes: a first connecting rod member, the first connecting rod member and the first connecting shaft are concentrically matched, and the second power member is arranged on the first connecting rod member; a second connecting rod member, the second connecting rod member and the gravity balance component are rotatably connected; wherein, the first connecting rod member is driven to rotate by the second power member, and then the second connecting rod member is driven to rotate, so that the first operating member connected to the gravity balance component is telescopically moved.

[0012] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting the first connecting rod and the first connecting shaft to cooperate concentrically, the first connecting rod is driven more smoothly, and the force balance of the equipment is better. At the same time, the second connecting rod and the gravity balance component are rotatably connected, and the two connecting rods are driven to move by the second power member, and then the telescopic movement of the first operating member is realized in conjunction with the gravity balance component. In this way, the operability of the equipment is improved, and the linkage effect of the equipment is better, the precision of the equipment is higher, and the structure of the equipment will be more compact, reducing the overall structural size of the equipment.

[0013] In one example of the present invention, the vertical rotation assembly also includes: a first support member, the first support member is connected to the first reduction member, and a third power member is provided on the first support member; a second connecting rod portion, one end of the second connecting rod portion is connected to the first support member, and the other end is provided with a first fixing member, and the first fixing member is connected to the first operating member; wherein, the lifting and lowering movement of the first operating member is realized by driving the second connecting rod portion by the third power member.

[0014] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting the first support member and the first reduction member to be connected, the first reduction member can drive the first support member to rotate when it rotates to achieve linkage, and at the same time, a third power member is set to drive the second connecting rod part, and then drive the first fixing member set on the first operating member to realize the lifting and moving of the first operating member. In this way, the lifting and moving method is simpler, the linkage structure is also simpler, the overall configuration is smaller, the total height dimension is reduced, and the equipment is lighter.

[0015] In one embodiment of the present invention, the first support member is provided with a first cavity, and the first cavity is used to provide cable routing.

[0016] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting the first cavity in the first support member to provide cable routing, it is more convenient and quicker to lay the equipment in the future, so that the line will not be exposed to the outside, and the subsequent installation and maintenance will also be more convenient and quicker.

[0017] In one example of the present invention, the second connecting rod portion also includes: a third connecting rod member, the third connecting rod member and the first supporting member are coaxially and concentrically connected, and the third connecting rod member is provided with a third speed reduction member; a fourth connecting rod member, the fourth connecting rod member connects the third connecting rod member and the first fixing member, and the fourth connecting rod member and the first fixing member are coaxially connected.

[0018] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting the third connecting rod and the first support member to be coaxial and concentrically connected, the coordinated rotation between the third connecting rod and the first support member is more stable, and the layout of the equipment is more reasonable. At the same time, a third speed reducer is set, and through the coordination of the connecting rod and the third speed reducer, the center of the component is located at the center of the coaxial connection with the first support member, so that the mechanical gravity balance of the overall operator during use is better, thereby ensuring the stability during operation and the safety of the equipment.

[0019] In one embodiment of the present invention, the gravity balancing assembly further includes: a first connecting member connected to the horizontal rotation assembly; and a second connecting member connecting the first connecting member and the vertical rotation assembly.

[0020] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting the first connecting member and the second connecting member to connect the horizontal rotation component and the vertical rotation component respectively, and then realizing hybrid connection through the two connecting members, the configuration of the overall equipment is smaller than the series configuration, and the equipment precision is higher and the operation is smoother.

[0021] In one embodiment of the present invention, the gravity balancing assembly further comprises: a second cavity, the second cavity being used to provide a means for connecting a cable in the horizontal rotation assembly to the first operating member.

[0022] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting up the second cavity to provide wiring space for the horizontal rotation component, the circuit will not be exposed to the outside, and the installation of the circuit is more convenient, thereby improving the installation efficiency.

[0023] In one embodiment of the present invention, the first connecting shaft is hollow and is used to provide a cable for routing connection.

[0024] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting the first connecting shaft to be hollow, the circuits of various components can be built in, making the circuit layout of the overall equipment more reasonable, improving the neatness of the equipment, and facilitating subsequent repair and maintenance.

[0025] After adopting the technical solution of the present invention, the following technical effects can be achieved:

[0026] (1) The first connecting shaft of the horizontal rotation component is connected to the top base component, and the vertical rotation component is provided to cooperate with the first deceleration component and the first operating component, so that the first operating component can realize lifting and lowering movement. At the same time, the horizontal rotation component and the gravity balance component cooperate to realize the telescopic movement of the operating component, and the first deceleration component and the vertical rotation component cooperate to realize the movement around the first connecting shaft, thereby realizing the horizontal movement of the operating component. In this way, a hybrid configuration of the preparation operation is realized, so that the overall equipment size of the main operator is greatly reduced, the structure is more compact and small, and it can be operated and moved more conveniently. At the same time, compared with the existing pure series structure, the hybrid structure has higher equipment accuracy of the main operator, thereby enabling better surgical treatment for patients. In addition, the hybrid configuration has a reasonable layout and a simple configuration, which makes it smoother in operation and operation, thereby making the operator's use experience better. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings to be used in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is one of the structural schematic diagrams of the main manipulator of a surgical robot provided by an embodiment of the present invention.

[0029] Figure 2 This is a second structural schematic diagram of a main manipulator of a surgical robot provided by an embodiment of the present invention.

[0030] Figure 3 This is a third structural schematic diagram of a main manipulator of a surgical robot provided by an embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 100. Main operator of the surgical robot; 110. Top base assembly; 111. Second speed reducer; 120. Horizontal rotation assembly; 121. First connecting shaft; 122. First speed reducer; 123. First power member; 124. Second power member; 125. First connecting rod; 126. Second connecting rod; 130. Vertical rotation assembly; 131. First support member; 132. Third power member; 133. First fixing member; 134. Third connecting rod; 135. Fourth connecting rod; 140. First operating member; 150. Gravity balance assembly; 151. First connecting member; 152. Second connecting member; 160. Posture assembly. DETAILED DESCRIPTION

[0033] To make the above-mentioned objectives, features, and advantages of the present invention more clearly understood, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0034] [First embodiment]

[0035] See also Figure 1-Figure 3 The present invention provides a main manipulator 100 of a surgical robot, which includes: a top base assembly 110; a horizontal rotation assembly 120, the horizontal rotation assembly 120 is provided with a first speed reducer 122 and a first connecting shaft 121 that are mutually matched and connected, and the first connecting shaft 121 is connected to the top base assembly 110; a vertical rotation assembly 130, the vertical rotation assembly 130 is connected to the first speed reducer 122 and the first operating member 140, and the vertical rotation assembly 130 can drive the first operating member 140 to achieve lifting and lowering movement; a gravity balance assembly 150, the gravity balance assembly 150 is provided on the first operating member 140, and the gravity balance assembly 150 is also connected to the horizontal rotation assembly 120; a posture assembly, the posture assembly is provided at one end of the first operating member 140 away from the gravity balance assembly 150; wherein the first speed reducer 122 drives the vertical rotation assembly 130 to achieve movement around the first connecting shaft 121, and the horizontal rotation assembly 120 and the gravity balance assembly 150 cooperate to drive the first operating member 140 to perform telescopic movement.

[0036] Specifically, the horizontal rotation component 120 mainly completes the forward and backward functions of the main hand operating rod, the vertical rotation component 130 completes the up and down movement function of the operating rod, namely the first operating member 140, and the top base component 110 is coaxially connected to the horizontal rotation component 120. The reduction wheel in the horizontal rotation component 120, namely the first reduction member 122, and the vertical support plate in the vertical rotation component 130, namely the first support member 131, are fixed. The upper end of the gravity balance component 150 is coaxially fixed to the horizontal rotation component 120, and the lower end is coaxially connected to the operating rod in the vertical rotation component 130, thereby forming a complete three-dimensional hybrid configuration of the robot. This configuration can flexibly realize the three-dimensional spatial movement of the operating rod in the vertical rotation component 130. The posture component is installed at the end of the operating rod to provide dynamic output of the posture data on the operating rod.

[0037] In a specific embodiment, the top base assembly 110 may include a base encoder component, a base reduction wheel, i.e., a second reduction member 111, and a bearing fixing member, all of which are concentrically fixed. The base encoder component is used to measure the rotation angle of the base reduction wheel relative to the first connecting shaft 121, and the base reduction wheel is provided with a transmission wire, which is connected to the external motor through a secondary reduction device. The base reduction wheel is stationary when the device is operating, and the rotation of the external motor can cause the first rotating shaft in the horizontal rotating assembly 120 to rotate. The rotation of the rotating shaft drives the vertical rotating assembly 130, which is fixed to the rotating shaft, to rotate around the shaft as a whole.

[0038] In one specific embodiment, an encoder mounted on the end of the operating rod of the vertical rotation assembly 130 can measure the rotation angle of the posture assembly relative to the operating rod. An encoder on the reduction wheel can measure the rotation angle of the first connecting rod 125 relative to the rotating shaft. The connecting shaft is coaxially connected to the gravity balance assembly 150. The upper end of the first support member 131 is fixed to the horizontal rotation assembly 120.

[0039] Furthermore, the central axis of the reduction wheel must intersect with the central axis of the second reduction member 111 of the top base assembly 110, and the middle reference plane of the operating rod (passing through the central axis of the first operating member 140 and parallel to the side of the first operating member 140) must coincide with the central axis of the top base assembly 110.

[0040] Furthermore, when the motor is in the position mode: the third power member 132 rotates to drive the third reduction member to rotate, and the third reduction member rotates, and through the transmission of the fourth connecting rod 135, acts on the first fixing member 133 fixed on the operating rod, driving the first operating member 140 to rotate around the connecting shaft, thereby completing the up and down movement of the end of the operating rod. Conversely, the up and down movement of the end of the operating rod can be transmitted along the opposite direction. At this time, the motor works in the torque mode, and dynamically balances the load changes at the end of the operating rod according to the spatial position of the operating rod. Horizontal direction: the third power member 132 drives the reducer of the first operating member 140 to rotate, and the reducer of the first operating member 140 drives the posture assembly at the end of the operating rod through the steel wire, completing the horizontal rotation of the entire posture assembly around the axis.

[0041] In one specific embodiment, the horizontal rotation assembly 120 achieves horizontal movement of the operating rod through rotation between the connecting rods. The entire first reduction member 122 is fixed to the first support member 131 of the vertical rotation assembly 130, and its rotation drives the entire vertical rotation assembly 130 to rotate about the first connecting axis 121. The shaft fixing assembly is coaxially connected to the upper shaft of the gravity balance assembly 150 via a bearing, while the lower end of the gravity balance assembly 150 is connected to the horizontal shaft fixed to the operating rod, forming a perfect hybrid robot configuration. Thus, this component provides the following core functions: horizontal movement of the connecting rod (achieved through relative rotation between the connected rods); suspending the operating rod through the gravity balance assembly 150, thereby driving the operating rod's horizontal forward and backward movement. Through its fixed connection to the vertical rotation assembly 130, it drives the operating rod's horizontal left and right movement. The encoder measures the angle of the first connecting member relative to the central axis, thereby determining the distance the operating rod has moved relative to the central axis.

[0042] Furthermore, in Direction 1, the motor acts on one end of the secondary reducer assembly in the first reduction member 122 via a steel wire. The other end of the secondary reducer assembly acts on the stationary reduction wheel on the top base, namely the first reduction member 122, via a steel wire, thereby driving the first reduction member in this component to rotate. A vertical rotation assembly 130 is fixed to the first reduction member 122, driving the entire vertical rotation assembly 130 to rotate left and right around the central axis. In Direction 2, the second power member 124 acts on one end of the reduction device mounted on the first connecting rod portion via a steel wire. The other end of the reduction device acts on the first reduction member 122 in this component via a steel wire, thereby driving the first connecting rod 125 in this component to rotate relative to the first connecting rod. The rotation of the first connecting rod 125 drives the movement of the second connecting rod 126. The second connecting rod 126, through the shaft fixing assembly and the connection of the gravity balance assembly 150, drives the operating rod to move forward and backward.

[0043] Specifically, by measuring the angle of rotation of the encoder relative to the central axis, the change in the front-rear displacement radius of the end of the operating rod relative to the central axis can be calculated. It should also be noted that the first connecting rod 125 and the second connecting rod 126 are generally designed to have the same length.

[0044] In one specific embodiment, the gravity balancing assembly 150 is coaxially connected to the connecting rod of the horizontal rotation assembly 120 via a first connecting member 151, which can be a rotating shaft. It is also connected to the operating rod of the vertical rotation assembly 130 via a second connecting member 152, which serves as a bearing. The axes of the two components should remain orthogonal. Furthermore, a threaded connection is provided on the balancing connector within the gravity balancing assembly 150, allowing a magnetic spring to be threadedly secured thereto. The magnetic rod and magnetic spring form a concentric, hollow, frictionless connection. The interaction between the magnetic spring and magnetic rod exerts a constant upward force on the magnetic rod. The lower end of the magnetic rod is secured to a magnetic rod connection adapter. The adapter is secured to the movable member of the slide rail, thereby constraining the magnetic rod adapter to only vertical movement. The upward pulling force of the magnetic rod (which maintains a constant direction) is applied through the magnetic rod adapter to move the balancing adjuster, which is connected to a component fixed to the operating rod. This pulling force provides a compensating moment to the operating rod that is opposite to the moment of gravity acting on the operating rod itself. By designing a suitable compensation radius, the magnetic rod can dynamically balance the gravity moment of the operating rod itself and the fixed load torque (when the initial state of the posture component remains unchanged).

[0045] Preferably, the first connecting shaft 121 provided by the horizontal rotation component 120 is connected to the top base component 110, and the vertical rotation component 130 is provided to cooperate with the first deceleration member 122 and the first operating member 140, so that the first operating member 140 can realize lifting and lowering movement. At the same time, the horizontal rotation component 120 and the gravity balance component 150 cooperate to realize the telescopic movement of the operating member, and the first deceleration member 122 and the vertical rotation component 130 cooperate to realize the movement around the first connecting shaft 121, thereby realizing the horizontal movement of the operating member. In this way, a hybrid configuration of the preparation operation is realized, so that the overall equipment size of the main operator is greatly reduced, the structure is more compact and small, and it can be operated and moved more conveniently. At the same time, compared with the existing pure series structure, the hybrid structure has higher equipment accuracy of the main operator, thereby enabling better surgical treatment for patients, and the hybrid configuration has a reasonable layout and a simple configuration, which makes operation and operation smoother, thereby making the operator's experience better.

[0046] Specifically, the top base assembly 110 includes: a second speed reducer 111, the second speed reducer 111 and the first connecting shaft 121 rotate in cooperation; and the second speed reducer 111 and the first power member 123 provided on the first speed reducer 122 cooperate, so that the first power member 123 drives the second speed reducer 111 to rotate, and then drives the first connecting shaft 121 to rotate.

[0047] Preferably, by setting the second speed reduction member 111 and the first connecting shaft 121 to rotate together, and the second speed reduction member 111 is driven by the first power member 123, the power of the first power member 123 is amplified by the second speed reduction member 111, thereby making the driving of the first rotating shaft more convenient and quick, and at the same time, the efficiency in driving subsequent components to operate is higher, thereby improving the operation smoothness of the overall equipment.

[0048] Specifically, the horizontal rotation assembly 120 also includes: a first connecting rod portion, one end of the first connecting rod portion is connected to the first connecting shaft 121, and the other end of the first connecting rod portion is cooperatively connected to the gravity balance assembly 150; a second power member 124, the second power member 124 is arranged on the first connecting rod portion, and the second power member 124 is used to drive the first connecting rod portion.

[0049] Preferably, a first connecting rod portion, a first connecting shaft 121 and a gravity balancing assembly 150 are balanced and connected, and a second power member 124 is provided to drive the first connecting rod portion. In this way, power transmission between the first connecting shaft 121 and the gravity balancing assembly 150 is more convenient, and the connecting rod structure is simple and easy to operate.

[0050] Specifically, the first connecting rod portion also includes: a first connecting rod member 125, the first connecting rod member 125 and the first connecting shaft 121 are concentrically matched, and the second power member 124 is arranged on the first connecting rod member 125; the second connecting rod member 126, the second connecting rod member 126 and the gravity balance component 150 are rotatably connected; wherein, the first connecting rod member 125 is driven to rotate by the second power member 124, and then the second connecting rod member 126 is driven to rotate, so that the first operating member 140 connected to the gravity balance component 150 is telescopically moved.

[0051] Preferably, by setting the first connecting rod 125 and the first connecting shaft 121 to cooperate concentrically, the first connecting rod 125 can be driven more smoothly, and the force balance of the equipment is better. At the same time, the second connecting rod 126 and the gravity balance component 150 are rotatably connected, and the two connecting rods are driven to move by the second power member 124, and then the telescopic movement of the first operating member 140 is realized in conjunction with the gravity balance component 150. In this way, the operability of the equipment is improved, and the linkage effect of the equipment is better, the accuracy of the equipment is higher, and the structure of the equipment will be more compact, reducing the overall structural size of the equipment.

[0052] Specifically, the vertical rotation assembly 130 also includes: a first support member 131, the first support member 131 is connected to the first speed reducer 122, and a third power member 132 is provided on the first support member 131; a second connecting rod portion, one end of the second connecting rod portion is connected to the first support member 131, and the other end is provided with a first fixing member 133, and the first fixing member 133 is connected to the first operating member 140; wherein, the second connecting rod portion is driven by the third power member 132 to realize the lifting and lowering movement of the first operating member 140.

[0053] Preferably, by setting the first support member 131 and the first speed reduction member 122 to be connected, the first speed reduction member 122 can drive the first support member 131 to rotate when it rotates to achieve linkage, and at the same time, a third power member 132 is set to drive the second connecting rod part, and then drive the first fixing member 133 set on the first operating member 140 to achieve the lifting and lowering movement of the first operating member 140. In this way, the lifting and lowering method is simpler, the linkage structure is also simpler, the overall configuration is more compact, the total height dimension is reduced, and the equipment is lighter.

[0054] Specifically, the first support member 131 is provided with a first cavity, and the first cavity is used to provide cable routing.

[0055] Preferably, a cable routing is provided by setting up a first cavity in the first support member 131, so that the subsequent wiring of the equipment is more convenient and quick, so that the line will not be exposed to the outside, and the subsequent installation and maintenance are also more convenient and quick.

[0056] Specifically, the second connecting rod portion also includes: a third connecting rod member 134, the third connecting rod member 134 and the first support member 131 are coaxially and concentrically connected, and the third connecting rod member 134 is provided with a third speed reduction member; a fourth connecting rod member 135, the fourth connecting rod member 135 connects the third connecting rod member 134 and the first fixing member 133, and the fourth connecting rod member 135 and the first fixing member 133 are coaxially connected.

[0057] Preferably, by setting the third connecting rod 134 and the first support member 131 to be coaxial and concentrically connected, the coordinated rotation between the third connecting rod 134 and the first support member 131 is made more stable, and the layout of the equipment is made more reasonable. At the same time, a third speed reducer is set, and through the coordination of the connecting rod and the third speed reducer, the center of the component is located at the center of the coaxial connection with the first support member 131, so that the mechanical gravity balance of the overall operator during use is better, thereby ensuring the stability during operation and the safety of the equipment.

[0058] Specifically, the gravity balancing assembly 150 further includes: a first connecting member 151 , the first connecting member 151 being connected to the horizontal rotation assembly 120 ; and a second connecting member 152 , the second connecting member 152 being connected to the first connecting member 151 and the vertical rotation assembly 130 .

[0059] Preferably, by setting a first connecting member 151 and a second connecting member 152 to connect the horizontal rotation component 120 and the vertical rotation component 130 respectively, the two connecting members are used to achieve hybrid connection, so that the configuration of the overall equipment is more compact than the series configuration, and the equipment precision is higher and the operation is smoother.

[0060] Specifically, the gravity balancing assembly 150 further includes a second cavity, which is used to connect the cable in the horizontal rotation assembly 120 to the first operating member 140 .

[0061] Preferably, a second cavity is provided to provide wiring space for the horizontal rotation assembly 120 so that the wiring will not be exposed to the outside, and the installation of the wiring is more convenient, thereby improving the efficiency of the installation.

[0062] Specifically, the first connecting shaft 121 is hollow and is used to provide a cable for wiring connection.

[0063] Preferably, by setting the first connecting shaft 121 to be hollow, the circuits of various components can be built in, making the circuit layout of the entire device more reasonable, improving the neatness of the equipment, and facilitating subsequent repair and maintenance.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A main operator of a surgical robot, characterized in that: The main operator includes: a top base assembly (110); A horizontal rotation assembly (120), wherein the horizontal rotation assembly (120) is provided with a first speed reduction member (122) and a first connecting shaft (121) that are mutually connected, and the first connecting shaft (121) is connected to the top base assembly (110); a vertical rotation assembly (130), wherein the vertical rotation assembly (130) is connected to the first speed reducing member (122) and the first operating member (140), and the vertical rotation assembly (130) can drive the first operating member (140) to achieve lifting movement; a gravity balancing component (150), the gravity balancing component (150) being disposed on the first operating member (140), and the gravity balancing component (150) being further connected to the horizontal rotation component (120); a posture component, the posture component being arranged at an end of the first operating member (140) away from the gravity balancing component (150); The top base assembly (110) further comprises: A second speed reducing member (111), wherein the second speed reducing member (111) and the first connecting shaft (121) are rotatably matched; The second speed reducer (111) cooperates with a first power member (123) provided on the first speed reducer (122), so that the first power member (123) drives the second speed reducer (111) to rotate, thereby driving the first connecting shaft (121) to rotate; The horizontal rotation assembly (120) further includes: a first connecting rod portion, one end of the first connecting rod portion being connected to the first connecting shaft (121), and the other end of the first connecting rod portion being cooperatively connected to the gravity balancing assembly (150); a second power member (124), the second power member (124) being provided on the first connecting rod portion, and the second power member (124) being used to drive the first connecting rod portion; The vertical rotation assembly (130) further includes: A first support member (131), the first support member (131) is connected to the first speed reducing member (122), and a third power member (132) is provided on the first support member (131); a second connecting rod portion, one end of the second connecting rod portion being connected to the first supporting member (131), and the other end being provided with a first fixing member (133), and the first fixing member (133) being connected to the first operating member (140); The lifting and lowering movement of the first operating member (140) is achieved by driving the second connecting rod portion through the third power member (132); The first speed reducer (122) drives the vertical rotation component (130) to move around the first connecting shaft (121), and the horizontal rotation component (120) cooperates with the gravity balance component (150) to drive the first operating component (140) to move telescopically.

2. The main manipulator of the surgical robot according to claim 1, characterized in that: The first connecting rod portion further includes: a first connecting rod (125), wherein the first connecting rod (125) and the first connecting shaft (121) are coaxially matched, and the second power member (124) is provided on the first connecting rod (125); a second connecting rod (126), the second connecting rod (126) being rotatably connected to the gravity balancing assembly (150); The second power member (124) drives the first connecting rod member (125) to rotate, thereby driving the second connecting rod member (126) to rotate, thereby causing the first operating member (140) connected to the gravity balancing assembly (150) to move telescopically.

3. The main manipulator of the surgical robot according to claim 1, characterized in that: The first support member (131) is provided with a first cavity, and the first cavity is used to provide cable routing.

4. The main manipulator of the surgical robot according to claim 1, characterized in that: The second connecting rod portion further includes: a third connecting rod (134), wherein the third connecting rod (134) and the first supporting member (131) are coaxially and cocentrically connected, and a third speed reducing member is provided on the third connecting rod (134); A fourth connecting rod (135), wherein the fourth connecting rod (135) connects the third connecting rod (134) and the first fixing member (133), and the fourth connecting rod (135) and the first fixing member (133) are coaxially connected.

5. The main manipulator of the surgical robot according to claim 1, characterized in that: The gravity balancing assembly (150) further includes: a first connecting member (151), the first connecting member (151) being connected to the horizontal rotation assembly (120); A second connecting member (152), wherein the second connecting member (152) connects the first connecting member (151) and the vertical rotation assembly (130).

6. The main manipulator of the surgical robot according to claim 5, characterized in that: The gravity balancing assembly (150) further includes: A second cavity is provided, wherein the second cavity is used to connect the cable in the horizontal rotation assembly (120) to the first operating member (140).

7. The main manipulator of the surgical robot according to claim 1, characterized in that: The first connecting shaft (121) is hollow and is used to provide a cable for wiring connection.

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