Gravity balance mechanism, trolley base and surgical robot

Abstract

The invention discloses a gravity balance mechanism, a trolley base and a surgical robot, and relates to the technical field of medical equipment.The balance mechanism comprises a crank mechanism and an elastic piece, and one end of the crank mechanism and one end of the elastic piece are both fixed to a static component; the other end of the elastic piece is in butt joint with the input end of the crank mechanism to apply linearly-changing force to the crank mechanism, the output end of the crank mechanism is connected with the moving part, and the crank mechanism transmits the linearly-changing force to enable the output end to apply force opposite to the gravity direction of the moving part to the moving part. The elastic force of a common compression spring is converted into the output pulling force of the sliding block through the crank mechanism, through the arranged crank mechanism, almost constant balance force is achieved through the common spring, the sliding block can output balance force of different magnitudes by determining different rod lengths, and different gravity balance requirements are better met; and the universality is high, and the whole life cycle of equipment can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a gravity balancing mechanism, a trolley base and a surgical robot. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been more and more widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. Minimally invasive surgical robots can avoid operational limitations, such as hand tremors during filtering operations, with their high dexterity, high control accuracy and intuitive surgical images, and are widely used in surgical areas such as the abdomen, pelvis and chest.

[0003] At present, the minimally invasive surgical robot includes a main control console and a slave manipulator arm. The main control console collects the doctor's operation signal and generates the control signal of the slave manipulator arm after processing by the control system, and the slave manipulator arm performs the surgical operation. The main control console can be deployed by manual pushing. When pushing the main control console, in order to ensure that the main control console has the passability of a certain terrain, there needs to be a certain height difference between the universal casters of the console and the lowest point of its chassis. After the main control console is deployed in place, the universal casters need to be locked to provide a more stable operating platform. At the same time, the pedal base equipped with various control foot switches needs to fall to the ground, so that the surgeon can use his feet more comfortably. Since the pedal base has a certain weight, a gravity balance mechanism needs to be arranged to make it easier to control its rise. However, the space of the base is limited, so the volume requirements for the gravity balance mechanism are relatively high.

[0004] Chinese patent CN217793334U discloses a doctor control platform, including a doctor trolley frame, a main operating arm installed on the doctor trolley frame and a display unit with adjustable height; the main operating arm is used for the doctor to operate to control the instrument to complete the operation; a trolley base is installed at the bottom of the doctor trolley frame; the doctor trolley frame includes an armrest, a column, a side push handle assembly and a fixed frame; two side push handle assemblies are arranged on the same side of the armrest; one end of the two side push handle assemblies are respectively connected to the end of the corresponding armrest, and the other end of the two side push handle assemblies are connected to the fixed frame; the display unit and / or the fixed frame are slidably connected to the side of the column. Among them, a solution for achieving gravity balance by setting up multiple balancing components is also disclosed, but the elastic component in this solution uses a constant force spring. The standard constant force spring on the market provides a constant tension that is a standard value and is relatively small. In the gravity balancing mechanism, the gravity that needs to be balanced is relatively large, so the structure uses two groups on each side, for a total of eight constant force springs; and the constant tension of the standard constant force spring has a certain gradient, and it is also difficult to better match the gravity that needs to be balanced, and it is difficult to make the two exactly equal, unless the constant force spring is customized according to the gravity that needs to be balanced, but the cost of customized constant force springs is relatively high; and, since the balanced gravity is relatively large, the constant force spring that provides a large constant tension generally has a short lifespan, which cannot cover the entire life cycle of the equipment, and therefore the structure needs to be replaced regularly, causing inconvenience. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a gravity balancing mechanism, a trolley base and a surgical robot.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] A gravity balancing mechanism is assembled between a stationary component and a moving component and is used to balance the gravity of the moving component. The mechanism comprises a crank mechanism and an elastic member. One end of the crank mechanism and one end of the elastic member are both fixed to the stationary component. The other end of the elastic member is connected to the input end of the crank mechanism to apply a linearly changing force to the crank mechanism. The output end of the crank mechanism is connected to the moving component. The crank mechanism transmits a linearly changing force so that the output end applies a force to the moving component in the opposite direction to the gravity of the moving component.

[0008] Based on the above technical solution, further, the stationary component includes a base, the crank mechanism includes a telescopic arm assembly, one end of the elastic member is fixed on the base, and the other end of the elastic member is connected to the input end of the telescopic arm assembly to apply a linearly changing force to the input end.

[0009] Based on the above technical solution, further, the telescopic arm assembly includes a first telescopic arm and a second telescopic arm, one end of the first telescopic arm is connected to the base through a fixed hinge, the other end of the first telescopic arm is connected to one end of the second telescopic arm through a movable hinge, and the other end of the second telescopic arm is connected to the moving part.

[0010] Based on the above technical solution, further, the crank mechanism also includes an output slider, the second telescopic arm is connected to the moving component through the output slider, and the second telescopic arm is connected to the output slider through a movable hinge.

[0011] Based on the above technical solution, further, the base is provided with a fixing portion, and the first telescopic arm is connected to the base via the fixing portion.

[0012] Based on the above technical solution, further, it also includes a guiding mechanism, the guiding mechanism includes a guiding column, the guiding column is installed on the base, and an elastic member is sleeved on the guiding column.

[0013] Based on the above technical solution, further, the guide mechanism also includes a guide block and a guide rod, the guide rod is installed on the base, the guide block moves along the guide rod, and the guide column and the elastic member are jointly inserted into the guide block.

[0014] Based on the above technical solution, further, the interior of the base is a groove structure, the guide mechanism is located in the groove, and a first through hole is opened on the base, a first guide hole is opened on the guide block, and the guide column extends from the outside of the base through the first through hole to the inside of the groove until it is inserted into the first guide hole.

[0015] Based on the above technical solution, further, a second through hole is provided on the base, one end of the first telescopic arm is connected to a bearing, and the bearing is located in the second through hole.

[0016] Based on the above technical solution, further, an avoidance groove is provided at the bottom of the guide block, and the crank mechanism moves below the avoidance groove.

[0017] Based on the above technical solution, further, at least one second guide hole is opened on the guide block, one end of the guide rod is fixed to one side of the base, and the other end of the guide rod passes through the second guide hole and is fixed to the other side of the base.

[0018] Based on the above technical solution, further, the guide rod is also sleeved with an oil-free bushing, and the oil-free bushing is located in the second guide hole.

[0019] Based on the above technical solution, further, the elastic member is a spring that can provide a linearly changing force.

[0020] A trolley base comprises a gravity balancing mechanism, wherein the stationary component comprises a base frame, and the moving component comprises a control pedal.

[0021] A surgical robot comprises a trolley base.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention converts the elastic force of an ordinary compression spring into the output tension of a slider through a crank mechanism. After design and calculation, a specific appropriate rod length can be matched in a specific scenario, and then the elastic force provided by the ordinary compression spring that changes linearly and regularly can be converted into an approximately constant output tension at the output slider. The error can currently be controlled within 5%. Compared with the prior art, the crank mechanism not only uses ordinary springs to achieve an almost constant balancing force, but also can determine different rod lengths to make the slider output different sizes of balancing forces, better meet different gravity balance requirements, and has strong versatility. On the other hand, the life of ordinary compression springs is much longer than that of constant force springs, and the mechanism can also meet the full life cycle of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A three-dimensional diagram of the gravity balance mechanism of the present invention from the front end perspective;

[0025] Figure 2 for Figure 1 AA section view;

[0026] Figure 3 It is a structural schematic diagram of the gravity balance mechanism of the prior art;

[0027] Figure 4 A three-dimensional diagram of the gravity balance mechanism of the present invention from the rear end perspective;

[0028] Figure 5 for Figure 4 BB cross-sectional view;

[0029] Figure 6 It is a structural schematic diagram of a base in the gravity balancing mechanism of the present invention;

[0030] Figure 7 for Figure 6 A schematic diagram of the structure of the relative angles of the base;

[0031] Figure 8 This is a structural schematic diagram of the gravity balance mechanism of the present invention without the base;

[0032] Fig. 9 It is a structural schematic diagram of the gravity balance mechanism of the present invention in a retracted state;

[0033] Fig.10It is a structural schematic diagram of the gravity balance mechanism of the present invention in an extended state;

[0034] Fig.11 It is a structural schematic diagram of the guide block of the present invention;

[0035] Fig.12 for Fig.11 A schematic diagram of the structure of the relative angle of the middle guide block;

[0036] Fig.13 A simplified diagram of the telescopic arm assembly of the present invention during its telescopic operation;

[0037] Fig.14 It is a schematic diagram of the balancing force without considering friction in Example 1 of the present invention;

[0038] Fig.15 for Fig.14 The vertical axis enlarged diagram;

[0039] Fig.16 This is a schematic diagram of the balancing force in the case of friction in Example 1 of the present invention;

[0040] Fig.17 for Fig.16 The vertical axis enlarged diagram;

[0041] Fig.18 A simplified diagram showing that the force directions of the spring force and the output slider are not perpendicular in Embodiment 2 of the present invention;

[0042] Fig.19 This is a schematic structural diagram of a trolley base of the prior art in Example 3 of the present invention;

[0043] Figure numerals: 1. first telescopic arm; 2. second telescopic arm; 3. output slider; 4. elastic member; 5. base; 6. fixed hinge; 7. movable hinge; 8. guide column; 9. guide block; 10. guide rod; 11. first guide hole; 12. second guide hole; 13. avoidance groove; 14. fixing plate; 15. bearing; 16. linerless sleeve; 17. fixing part; 18. first through hole; 19. second through hole; 20. spring pin; 21. constant force spring; 22. spring mounting seat; 23. control pedal. DETAILED DESCRIPTION

[0044] The present invention is further described and illustrated below in conjunction with the accompanying drawings and specific embodiments. The technical features of each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0045] In order to make the above-mentioned purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation mode of the present invention is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The technical features in each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0046] In the description of the present invention, it is to be understood that when an element is considered to be "connected" to another element, it may be directly connected to the other element or indirectly connected, that is, there are intermediate elements. On the contrary, when an element is said to be "directly" connected to another element, there are no intermediate elements.

[0047] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for the purpose of distinguishing descriptions, and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0048] Example 1

[0049] like Figure 1-Figure 5 As shown, a gravity balancing mechanism is assembled between a stationary component and a moving component and is used to balance the gravity of the moving component. The mechanism includes a crank mechanism and an elastic member 4. One end of the crank mechanism and one end of the elastic member 4 are both fixed to the stationary component. The other end of the elastic member 4 is connected to the input end of the crank mechanism to apply a linearly changing force to the crank mechanism. The output end of the crank mechanism is connected to the moving component. The crank mechanism transmits a linearly changing force so that the output end applies a force to the moving component that is opposite to the direction of the gravity of the moving component.

[0050] Specifically, the stationary part includes a base 5, combined with Figure 6 and Figure 7As shown, the crank mechanism includes a telescopic arm assembly, one end of the elastic member 4 is fixed on the base 5, and the other end of the elastic member 4 is connected to the input end of the telescopic arm assembly to apply a linearly changing force to the input end. The telescopic arm assembly includes a first telescopic arm 1, a second telescopic arm 2 and an output slider 3, and a fixing portion 17 is provided on the base 5. One end of the first telescopic arm 1 is connected to the base 5 through the fixing portion 17 on the base 5 through a fixed hinge 6, and the other end of the first telescopic arm 1 is connected to one end of the second telescopic arm 2 through a movable hinge 7. The other end of the second telescopic arm 2 is connected to the moving component, and the second telescopic arm 2 is connected to the moving component through the output slider 3, and the second telescopic arm 2 is connected to the output slider 3 through the movable hinge 7, that is, the first telescopic arm 1, the second telescopic arm 2, and the output slider 3 can all rotate around their respective mounting hinges, while the output slider 3 can only move up and down linearly relative to the base 5, and the "fixed" and "moving" of the hinge refer to whether the position relative to the base 5 changes.

[0051] Furthermore, the gravity balance mechanism also includes a guide mechanism, combined with Fig.11 and Fig.12 As shown, the guide mechanism includes a guide column 8, a guide block 9 and a guide rod 10. The guide column 8 is mounted on the base 5, and an elastic member 4 is sleeved on the guide column 8. The elastic member 4 is a spring that can provide a linearly changing force. Specifically, an ordinary compression spring is used in this embodiment. The guide rod 10 is mounted on the base 5, the guide block 9 moves along the guide rod 10, and the guide column 8 and the elastic member 4 are inserted into the guide block 9 together, wherein at least one guide rod 10 is provided. The interior of the base 5 is a groove structure, and the guide mechanism is located in the groove. The base 5 is provided with a first through hole 18 and a second through hole 19. A bearing 15 is also provided at the position of the second through hole 19. The bearing 15 is rotatably connected to one end of the first telescopic arm 1. The guide block 9 is provided with a first guide hole 11 and at least one second guide hole 12. The guide column 8 extends from the outside of the base 5 through the first through hole 18 to the inside of the groove until it is inserted into the first guide hole 11. One end of the guide rod 10 is fixed to one side of the base 5, and the other end of the guide rod 10 passes through the second guide hole 12 and is fixed to the other side of the base 5 through a fixing plate 14. An oil-free bushing 16 is also provided on the guide rod 10. The oil-free bushing 16 is located in the second guide hole 12. Through the oil-free bushing 16, the guide block 9 can slide smoothly in the base 5 along at least one guide rod 10. A avoidance groove 13 is also provided at the bottom of the guide block 9, and the crank mechanism moves below the avoidance groove 13. The avoidance groove 13 is provided to reduce the weight of the gravity balancing mechanism itself on the one hand, and to facilitate the crank mechanism to be accommodated in the avoidance groove 13 when it is retracted on the other hand, so as to avoid unnecessary interference between the crank mechanism and the bottom of the guide block 9 when it is retracted, thereby reducing the height dimension of the entire mechanism.

[0052] Specifically, the working principle of the gravity balance mechanism is: combined with Figure 8-Figure 10 As shown, the force generated by the compression spring pushes the guide block 9, so that the guide block 9 presses the end of the first telescopic arm 1 installed with the bearing 15. At this time, the spring will give the first telescopic arm 1 a rotational torque, which will drive the output slider 3 to move upward through the crank mechanism, so that the output slider 3 always provides an upward pulling force. By using a suitable rod length, the output slider 3 can provide an approximately constant upward pulling force within the full stroke range.

[0053] Specifically, combined Fig.13 As shown, when designing and calculating the rod length, auxiliary software such as Metalab can be used to perform force analysis and fitting calculations on the crank mechanism and spring. For example, if the output slider 3 is required to provide an approximately constant force F, the pulling force is applied to the end of the output slider 3. At this time, the crank mechanism is subjected to force analysis, and the expression f(F) of the force that finally acts on the first telescopic arm 1 and applies torque to the first telescopic arm 1 is listed. At the same time, a more suitable standard compression spring is selected, and the expression f(spring) of the torque applied by the spring to the first telescopic arm 1 is listed. When calculating, several parameters are involved, such as the main rod length L1 of the first telescopic arm 1, the main rod length L2 of the second telescopic arm 2, the length L3 of one end of the pressing guide block 9 in the first telescopic arm 1, the rod length L3 of the pressing guide block 9 in the first telescopic arm 1, the angle θ between the rod and the perpendicular line of the main rod length L1 of the first telescopic arm 1, and the installation position S of the spring on the base 5. During the design, the absolute value of the difference between f(F) and f(spring) can be calculated by programming with these five values ​​as independent variables within the full stroke range to minimize it, thereby determining the rod length of each telescopic arm and the installation position of the spring. Of course, the parameters involved in the entire analysis and calculation are not limited to those listed above. Those skilled in the art know that other values ​​can also be used as independent variables for analysis and calculation according to the needs of structural design.

[0054] Specifically, combined Fig.13As shown, when the spring is extended and retracted in the horizontal direction, the elastic force it provides changes linearly, and in order to ensure that the tension applied to the output slider 3 is approximately constant, specific parameters such as rod length and angle are designed. When the given input parameters change, the resulting structure will also change, not limited to the form listed in this embodiment. After the spring selection is completed, the form given in this embodiment is based on the following input parameters: the distance T from the end of the spring to the surface of the bearing 15, the diameter D of the bearing 15, Y (within the full stroke range, it can also be understood as the initial position of Y1, the end position of Y2, the vertical distance from the center of the movable hinge 7 at the output slider 3 to the center of the fixed hinge 6), LX (the horizontal distance between the above two), and the remaining 5 parameters are solved by calculation: the length L2 of the main rod of the second telescopic arm 2, the length L1 of the main rod of the first telescopic arm 1, the length L3 of one end of the pressing guide block 9 in the first telescopic arm 1, the angle θ of the vertical line of the length L1 of the main rod of the first telescopic arm 1, and the installation position S of the spring on the base 5, wherein the horizontal distance from the head end of the spring to the center of the fixed hinge 6 represents the installation position of the spring. The error of the result obtained in this embodiment is within 5%, which can meet the needs of gravity balance. Generally, those skilled in the art will first complete the spring selection, and then use at least Y and LX as input parameters. Of course, the characteristics of the spring can also be used as the calculation quantity, but this may occur in existing products on the market, and springs with calculated characteristics cannot be selected, and customization is required, thereby increasing the cost of the equipment. Figure 14-17 As shown, Fig.14 It is a schematic diagram of the balancing force without considering friction in Example 1 of the present invention; Fig.15 for Fig.14 The vertical axis enlarged diagram; Fig.16 This is a schematic diagram of the balancing force in the case of friction in Example 1 of the present invention; Fig.17 for Fig.16 The vertical axis enlarged diagram; set the expected balance force to 18kgf, through Fig.14 and Fig.15 It can be seen that when the balancing force without considering friction, the balancing force in the figure varies between 17.9kgf and 18.1kgf, and compared with the expected 18kgf, the error is very small, only 0.55%, which can meet the corresponding requirements. When the balancing force of reciprocating motion under friction is considered, the balancing force in the figure varies between 17.6kgf and 18.4kgf, with an error of 2.2%, which can also meet the corresponding requirements.

[0055] Example 2

[0056] Different from Example 1, Fig.18As shown, the relative directions of the spring force and the force of the output slider 3 in this embodiment are no longer perpendicular, for example, they can be parallel. Of course, there can be any other angle as long as the space allows. The spring applies a downward force, and through the conversion of the telescopic arm, an upward force will be provided to the output slider 3. It can be understood that this embodiment is an exemplary description of the positional relationship between the spring force and the output slider, and is not limited to the two relationships of perpendicularity or parallelism. Of course, the crank mechanism is also not limited to having only two telescopic arms, but the structure of the two telescopic arms is the simplest, and the analysis and fitting calculations are also simple.

[0057] Example 3

[0058] Based on the gravity balance mechanism of embodiment 1, different from Fig.19 The structural schematic diagram of the trolley base of the prior art is shown; a trolley base is implemented, wherein the stationary part includes a base frame, the base frame and the gravity balance mechanism are both installed on the trolley base, and the moving part includes a control pedal 23, which is arranged on the trolley base. The trolley base has the same technical effect as Example 1.

[0059] Example 4

[0060] Based on the trolley base of Example 3, a surgical robot is implemented, which also has the same technical effect as Example 3.

[0061] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A gravity balancing mechanism, assembled between a stationary component and a moving component, for balancing the gravity of the moving component, characterized in that: It includes a crank mechanism and an elastic member, one end of the crank mechanism and one end of the elastic member are both fixed to the stationary member, the other end of the elastic member is connected to the input end of the crank mechanism to apply a linearly changing force to the crank mechanism, the output end of the crank mechanism is connected to the moving member, the crank mechanism transmits the linearly changing force so that the output end applies a force to the moving member in the opposite direction to the gravity of the moving member.

2. A gravity balancing mechanism according to claim 1, characterized in that: The stationary component comprises a base, the crank mechanism comprises a telescopic arm assembly, one end of the elastic member is fixed on the base, and the other end of the elastic member is connected to the input end of the telescopic arm assembly to apply a linearly changing force to the input end.

3. A gravity balancing mechanism according to claim 2, characterized in that: The telescopic arm assembly includes a first telescopic arm and a second telescopic arm, one end of the first telescopic arm is connected to the base through a fixed hinge, the other end of the first telescopic arm is connected to one end of the second telescopic arm through a movable hinge, and the other end of the second telescopic arm is connected to the moving component.

4. A gravity balancing mechanism according to claim 3, characterized in that: The crank mechanism also includes an output slider, the second telescopic arm is connected to the moving component through the output slider, and the second telescopic arm and the output slider are connected through a movable hinge.

5. A gravity balancing mechanism according to claim 3, characterized in that: The base is provided with a fixing part, and the first telescopic arm is connected to the base through the fixing part.

6. A gravity balancing mechanism according to claim 2, characterized in that: The utility model also comprises a guiding mechanism, which comprises a guiding column, which is installed on a base and on which an elastic member is sleeved.

7. A gravity balancing mechanism according to claim 6, characterized in that: The guide mechanism also includes a guide block and a guide rod. The guide rod is installed on the base. The guide block moves along the guide rod. The guide column and the elastic member are inserted into the guide block together.

8. A gravity balancing mechanism according to claim 6, characterized in that: The interior of the base is a groove structure, the guide mechanism is located in the groove, and a first through hole is opened on the base, a first guide hole is opened on the guide block, and the guide column extends from the outside of the base through the first through hole to the inside of the groove until it is inserted into the first guide hole.

9. A gravity balancing mechanism according to claim 6, characterized in that: The base is also provided with a second through hole, one end of the first telescopic arm is connected with a bearing, and the bearing is located in the second through hole.

10. A gravity balancing mechanism according to claim 7, characterized in that: The bottom of the guide block is also provided with an avoidance groove, and the crank mechanism moves below the avoidance groove.

11. A gravity balancing mechanism according to claim 7, characterized in that: The guide block is also provided with at least one second guide hole, one end of the guide rod is fixed to one side surface of the base, and the other end of the guide rod passes through the second guide hole and is fixed to the other side surface of the base.

12. A gravity balancing mechanism according to claim 11, characterized in that: The guide rod is also sleeved with an oil-free bushing, which is located in the second guide hole.

13. A gravity balancing mechanism according to claim 1, characterized in that: The elastic member is a spring that provides a linearly changing force.

14. A trolley base, characterized in that: It comprises the gravity balancing mechanism according to any one of claims 1 to 13, wherein the stationary component comprises a base frame, and the moving component comprises a control pedal.

15. A surgical robot, characterized in that: Includes the trolley base as described in claim 14.

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