Main manipulator and surgical robot

Abstract

The invention provides a main manipulator and a surgical robot. The main manipulator comprises an operating rod; the balance assembly is rotationally connected with the operating rod through a rotating shaft; one end of the magnetic assembly is connected with the balance assembly, and the other end is connected with the balance position of the operating rod; the magnetic assembly always applies constant magnetic force opposite to the gravity direction to the balance position so as to at least partially balance gravitational torque generated by the gravity of the operating rod relative to the rotating shaft. The invention solves the problems that the corresponding pulling (pressing) force of a spring of a main manipulator is linearly changed along with the extension and retraction of the length, and the dynamic self-balance cannot be realized. Therefore, how to provide the gravitational equilibrium mode of the main manipulator is the problem urgently needed to be solved at present.

Description

Technical Field

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

[0002] In recent years, the application of surgical robot systems in domestic tertiary hospitals has gradually entered a period of rapid development. The main operator of the surgical robot system is a joystick that can move up and down, left and right, and forward and backward. When the main operator is in use, the gravity of the main operator usually has a negative impact on the movement of the joystick and the force feedback to the operator.

[0003] In order to ensure the flexible movement of the operating rod, the main operator needs to be gravity compensated to ensure dynamic gravity balance. At present, the gravity compensation of the main operator is usually performed by a spring, and the gravity of the main operator is balanced by the extension and compression of the spring.

[0004] However, as the length of the spring increases, the corresponding tension (compression) force will also change linearly, and dynamic self-balancing cannot be achieved. Therefore, how to provide a gravity balance method for the main operator is an urgent problem to be solved. Summary of the invention

[0005] The problem solved by the present invention is that as the length of the spring of the main operator increases or decreases, the corresponding tension (compression) force will also change linearly, and dynamic self-balancing cannot be achieved. Therefore, how to provide a gravity balancing method for the main operator is a problem that needs to be solved urgently.

[0006] In order to solve the above problems, the present invention provides a main operator, which includes: an operating rod; a balancing assembly, which is rotatably connected to the operating rod through a rotating shaft; and a magnetic assembly, one end of which is connected to the balancing assembly, and the other end of which is connected to the equilibrium position of the operating rod; wherein the magnetic assembly always applies a constant magnetic force opposite to the direction of gravity to the equilibrium position, so as to at least partially balance the gravitational torque generated by the gravity of the operating rod relative to the rotating shaft.

[0007] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: by setting a magnetic component, during the rotation of the operating lever, the magnetic component always applies a constant magnetic force in the opposite direction of gravity to the equilibrium position of the operating lever, thereby overcoming the shortcoming of the traditional spring balancing method that the spring force changes linearly with the length, and realizing self-balancing of dynamic gravity compensation, that is, no matter what position the operating lever is in, a constant force can be provided to the operating lever to balance its gravity, thereby ensuring the stability and flexibility of the main operator's operation.

[0008] Furthermore, the magnetic assembly includes: a magnetic sleeve, which is arranged on the balance assembly; a magnetic shaft, one end of which is slidably connected to the magnetic sleeve, and the other end of which is connected to the balance position; wherein, during the rotation of the operating rod relative to the balance assembly, the operating rod drives the magnetic shaft and the magnetic sleeve to slide relative to each other, and the magnetic force between the magnetic shaft and the magnetic sleeve is constant.

[0009] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the magnetic assembly includes a magnetic sleeve and a magnetic shaft, wherein the magnetic shaft is slidably connected to the magnetic sleeve and maintains a constant magnetic force, ensuring that no matter how the operating rod rotates, the magnetic assembly can apply a constant magnetic force opposite to the direction of gravity to the equilibrium position of the operating rod. This design is more precise than the traditional spring compensation method and is not affected by the linear force change caused by the change in spring length, thereby achieving a more stable dynamic balance. At the same time, the response speed of the magnetic assembly is usually faster than that of a mechanical spring, because the magnetic force acts instantaneously and does not need to generate force through deformation like a spring. When the main operator makes rapid or sudden movements, the magnetic assembly can provide the required balancing force more quickly, thereby improving the response speed and stability of the entire system.

[0010] Furthermore, the balancing assembly includes: a fixing member, one end of which is rotatably connected to the operating rod, and the other end of which is provided with a magnetic axis; wherein, during the rotation of the operating rod relative to the balancing assembly, the axial direction of the magnetic sleeve is parallel to the direction of gravity.

[0011] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: one end of the fixed part in the balancing assembly is rotatably connected to the operating rod, and the other end is provided with a magnetic axis, and it is ensured that during the rotation of the operating rod relative to the balancing assembly, the axial direction of the magnetic sleeve is parallel to the direction of gravity, thereby ensuring that the balancing force generated by the magnetic assembly on the operating rod always remains opposite to the direction of gravity, making the balance more stable and reliable.

[0012] Furthermore, the balancing assembly includes: a connecting piece, one end of which is fixedly connected to the magnetic shaft, and the other end of which is provided with a first slide groove; a balancing shaft, which is arranged at a balancing position and is slidably arranged in the first slide groove; wherein, when the operating rod drives the magnetic shaft and the magnetic sleeve to slide relative to each other, the balancing shaft slides in the slide groove.

[0013] Compared with the prior art, the technical effect achieved by adopting this technical solution is that the setting of the balance shaft enables the constant magnetic force generated by the magnetic assembly to be transmitted to the balance position of the operating rod more directly and effectively. When the operating rod rotates, the balance shaft slides in the slide groove, driving the connecting piece and the magnetic shaft to move, so that the magnetic shaft and the magnetic sleeve slide relative to each other, ensuring the continuity and stability of the magnetic force transmission and improving the overall performance of the system.

[0014] Furthermore, the main operator includes: a compensation component, which is arranged between the rotating shaft and the balancing shaft and is used to adjust the distance between the rotating shaft and the balancing shaft.

[0015] Compared with the prior art, the technical effect achieved by adopting this technical solution is: by setting the compensation component, the distance between the balance shaft and the rotating shaft can be adjusted under the premise of satisfying the magnetic shaft travel range, so as to control the torque of the magnetic component on the gravity of the operating rod. During the equipment debugging stage, the compensation component makes the debugging process simpler and more efficient. The operator can find the optimal distance between the rotating shaft and the balance shaft by adjusting the compensation component, thereby achieving the gravity balance effect.

[0016] Furthermore, the compensation component includes: a compensation adjustment member, one end of which is provided with a balancing shaft and the other end is provided with a second slide groove; an adapter member, one end of which is fixedly connected to the operating rod and the other end is provided with an adapter shaft, and the adapter shaft is slidably arranged in the second slide groove; wherein the compensation adjustment member can slide relative to the adapter member to adjust the distance between the rotating shaft and the balancing shaft.

[0017] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: by adjusting the position of the compensating adjustment member in the second slide groove, the position of the balancing shaft can be adjusted; by sliding between the compensating adjustment member and the adapter member, the distance between the rotating shaft and the balancing shaft can be adjusted, thereby achieving higher precision gravity balance.

[0018] Furthermore, when the operating rod is arranged along the horizontal direction, the line between the balance position and the balance axis is parallel to the horizontal direction.

[0019] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: when the operating lever is in a horizontal position, the torque generated by the operating lever relative to the rotating shaft is the largest. At this time, since the line connecting the equilibrium position of the magnetic component and the rotating shaft is also in a horizontal position, it can be ensured that the torque of the balancing magnetic force provided by the magnetic component relative to the rotating shaft is the largest.

[0020] Furthermore, the balancing component also includes: a slide rail, which is arranged on the fixing member along the direction of gravity, and the connecting member is slidably arranged on the slide rail.

[0021] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: by setting a slide rail on the fixed part along the direction of gravity, and sliding the connecting part on the slide rail, the balancing component can be moved and adjusted along the direction of gravity to improve the effect and accuracy of gravity balance.

[0022] Furthermore, the main operator includes: a posture component, which is arranged at one end of the operating rod; and a reducer component, which is arranged at the other end of the operating rod.

[0023] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: the posture component can finely control the end effector of the surgical instrument to achieve complex surgical operations. The reducer component can ensure that the operating rod remains stable during movement and reduce vibration and shaking caused by excessive speed or insufficient torque.

[0024] The present invention also provides a surgical robot, characterized in that the surgical robot includes a main operator as described in any one of the above technical solutions.

[0025] After adopting the technical solution of the present invention, the following technical effects can be achieved: The magnetic component always applies a constant magnetic force in the opposite direction of gravity to the equilibrium position of the operating rod, overcoming the shortcoming of the traditional spring balancing method that the spring force changes linearly with the length, and realizes self-balancing of dynamic gravity compensation, that is, no matter what position the operating rod is in, it can provide a constant force to the operating rod to balance its gravity, thereby ensuring the stability and flexibility of the main operator's operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of a main manipulator provided in an embodiment of the present invention; Figure 2 A mechanical illustration diagram provided for an embodiment of the present invention; Figure 3 A schematic diagram of the structure of another main manipulator provided by an embodiment of the present invention; Figure 4 A schematic structural diagram of another main manipulator compensation structure provided by an embodiment of the present invention; Figure 5 is a schematic diagram of the structure of the shell; Figure 6 It is a schematic diagram of the structure of the adapter.

[0027] Description of reference numerals: 100, operating lever; 110, rotating shaft; 200, balancing assembly; 210, fixing member; 220, connecting member; 221, first slide slot; 230, balancing shaft; 240, slide rail; 250, housing; 300, magnetic assembly; 310, magnetic sleeve; 320, magnetic shaft; 400, compensation assembly; 410, compensation adjustment member; 411, second slide slot; 420, adapter; 421, adapter shaft; 500, posture assembly; 600, reducer assembly. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0029] This embodiment provides a main operator, such as Figure 1As shown, the main operator includes an operating rod 100, a balancing assembly 200 and a magnetic assembly 300; the balancing assembly 200 is rotatably connected to the operating rod 100 via a rotating shaft 110; one end of the magnetic assembly 300 is connected to the balancing assembly 200, and the other end is connected to the equilibrium position of the operating rod 100; wherein the magnetic assembly 300 always applies a constant magnetic force opposite to the direction of gravity to the equilibrium position, so as to at least partially balance the gravitational torque generated by the gravity of the operating rod 100 relative to the rotating shaft 110.

[0030] Specifically, Figure 1 A master operator provided in this embodiment includes an operating rod 100, one end of which is provided with a rotating shaft 110, and a balancing assembly 200 is rotatably arranged on a side of the operating rod 100 via the rotating shaft 110. The magnetic assembly 300 is arranged between the balancing assembly 200 and the balancing position of the operating rod 100, and when the operating rod is in a stationary state and the operating rod 100 rotates relative to the balancing assembly 200, the magnetic assembly 300 always applies a constant magnetic force in the opposite direction of gravity to the balancing position, so as to at least partially balance the gravitational torque generated by the gravity of the operating rod 100 relative to the rotating shaft 110.

[0031] For example, Figure 2 As shown, Figure 2 : is a mechanical illustration of the main operator in this embodiment, wherein point O is the position of the rotation axis, point A is the position of the center of mass of the operating rod 100 at the initial horizontal moment, point B is the position of the center of mass after the operating rod rotates around point O by an angle θ, point C is the connection point between the magnetic component 300 and the equilibrium position at the initial horizontal moment, and point D is the connection point between the magnetic component 300 and the equilibrium position after the operating rod 100 rotates around point O by an angle θ. Assume that the gravity of the operating rod 100 is M, and the constant magnetic force provided by the magnetic assembly 300 is F. When the operating rod 100 is at the initial horizontal moment, the operating rod is in a balanced state, and M*OA=F*OC at this time; when the operating rod 100 rotates to point B, the torque of the operating rod is M*OA*cos(θ), and the connection point between the magnetic assembly 300 and the equilibrium position rotates to point D. Since the constant magnetic force provided by the magnetic assembly 300 remains unchanged, the torque provided by the magnetic assembly 300 is F*OC*cos(θ). Since M*OA*cos(θ)=F*OC*cos(θ), it can be ensured that the magnetic force provided by the magnetic assembly 300 balances the gravity of the operating rod 100 at any position of the operating rod 100.

[0032] Furthermore, the magnetic assembly 300 includes a magnetic sleeve 310 and a magnetic axis 320; the magnetic sleeve 310 is arranged in the balance assembly 200; one end of the magnetic axis 320 is slidably connected to the magnetic sleeve 310, and the other end is connected to the balance position; wherein, during the rotation of the operating rod 100 relative to the balance assembly 200, the operating rod 100 drives the magnetic axis 320 and the magnetic sleeve 310 to slide relative to each other, and the magnetic force between the magnetic axis 320 and the magnetic sleeve 310 is constant.

[0033] Specifically, Figure 1 As shown, the magnetic sleeve 310 and the magnetic shaft 320 are radially magnetized, and the magnetic force generated between the magnetic sleeve 310 and the magnetic shaft 320 is substantially constant. Within the range of axial movement of the magnetic shaft 320 along the magnetic sleeve 310, the direction is constant and the magnitude of the magnetic force remains unchanged.

[0034] Furthermore, the balancing assembly 200 includes a fixing member 210, one end of which is rotatably connected to the operating rod 100, and the other end of which is provided with a magnetic axis 320; wherein, during the rotation of the operating rod 100 relative to the balancing assembly 200, the axial direction of the magnetic sleeve 310 is parallel to the direction of gravity.

[0035] Specifically, Figure 1 As shown, the lower end of the fixing member 210 and the operating rod 100 are rotatably connected via the rotating shaft 110, so that the operating rod 100 can rotate around the fixing member 210. A magnetic sleeve 310 is disposed at the other end of the fixing member 210.

[0036] It should be noted that the axial direction of the magnetic sleeve 310 should always remain parallel to the gravity direction, so the direction of the fixing member 210 should also remain unchanged. When the operating rod 100 moves up and down, the operating rod 100 rotates around the fixing member 210, and the direction of the fixing member 210 remains unchanged.

[0037] Preferably, the rotating shaft 110 may be hollow in design, so that the cable of the operating rod 100 can be routed through the rotating shaft 110 .

[0038] Furthermore, the balancing assembly 200 includes a connecting member 220 and a balancing shaft 230, one end of the connecting member 220 is fixedly connected to the magnetic shaft 320, and the other end is provided with a first slide groove 221; the balancing shaft 230 is arranged at a balancing position, and the balancing shaft 230 is slidably arranged in the first slide groove 221; wherein, when the operating rod 100 drives the magnetic shaft 320 and the magnetic sleeve 310 to slide relative to each other, the balancing shaft 230 slides in the slide groove.

[0039] Specifically, the lower end of the magnetic axis 320 is connected to the connecting piece 220, and the balance position of the operating rod 100 is fixedly connected to the balance shaft 230. The balance shaft 230 is arranged in the first slide groove 221 of the connecting piece 220. When the operating rod 100 moves, the balance shaft 230 moves along an arc. The balance shaft 230 moves horizontally in the first slide groove 221, and abuts against the upper and lower surfaces of the first slide groove 221, and drives the connecting piece 220 to move up and down.

[0040] Further, such as Figure 3 As shown, the main operator includes a compensation component 400 , which is disposed between the rotating shaft 110 and the balancing shaft 230 and is used to adjust the distance between the rotating shaft 110 and the balancing shaft 230 .

[0041] Specifically, Figure 3 Another main operator provided in this embodiment is provided with a compensation component 400. The fixing member 210 of the main operator is a housing 250, such as Figure 5 As shown, the housing 250 is provided with a through hole for connecting with the rotating shaft 110 , and a magnetic sleeve 310 is installed on the upper end of the housing 250 .

[0042] Further, such as Figure 3 and Figure 4 As shown, the compensation assembly 400 includes a compensation adjustment member 410 and an adapter member 420; one end of the compensation adjustment member 410 is provided with a balancing shaft 230, and the other end is provided with a second slide groove 411; one end of the adapter member 420 is fixedly connected to the operating rod 100, and the other end is provided with an adapter shaft 421, and the adapter shaft 421 is slidably set in the second slide groove 411; wherein, the compensation adjustment member 410 can slide relative to the adapter member 420 to adjust the distance between the rotating shaft 110 and the balancing shaft 230.

[0043] Specifically, Figure 4 and Figure 6 As shown, Figure 4 4 is a schematic structural diagram of the operating rod 100 and the compensation assembly 400 . The balancing shaft 230 is disposed at one end of the compensation adjustment member 410 , and a second sliding groove 411 is disposed at the other end of the compensation adjustment member 410 .

[0044] Furthermore, when the operating rod 100 is arranged along the horizontal direction, the line between the balancing position and the balancing axis 230 is parallel to the horizontal direction.

[0045] It should be noted that the compensation assembly 400 should be arranged so that when the operating rod 100 is in a horizontal position, the center of mass of the operating rod, the balancing shaft 230 on the compensation adjustment member 410 and the rotating shaft 110 are in a horizontal position.

[0046] Furthermore, the balancing assembly 200 further includes a slide rail 240 , which is disposed on the fixing member 210 along the gravity direction, and the connecting member 220 is slidably disposed on the slide rail 240 .

[0047] Specifically, Figure 5 As shown, the slide rail 240 is disposed in the fixing member 210 . In another master operator, the slide rail 240 may also be disposed in the housing 250 .

[0048] Preferably, in another master operator, the balancing assembly 200 , the magnetic assembly 300 and the compensation assembly 400 are arranged in the inner space of the housing 250 .

[0049] Furthermore, the main operator includes: a posture component 500 , which is disposed at one end of the operating rod 100 ; and a reducer component 600 , which is disposed at the other end of the operating rod 100 .

[0050] Specifically, the posture assembly 500 can finely control the end effector of the surgical instrument to achieve complex surgical operations. The speed reducer assembly 600 can ensure that the operating rod remains stable during movement and reduce vibration and shaking caused by excessive speed or insufficient torque.

[0051] It should be noted that, in this embodiment, the centroid of the operating rod 100 is the combined centroid of the posture assembly 500 , the speed reducer assembly 600 and other components arranged on the operating rod 100 .

[0052] This embodiment also provides a surgical robot, which includes a main operator as described in any of the above embodiments.

[0053] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A master operator, characterized in that: The main operator includes: Joystick(100); A balancing assembly (200), the balancing assembly (200) being rotatably connected to the operating rod (100) via a rotating shaft (110); A magnetic component (300), one end of the magnetic component (300) being connected to the balancing component (200), and the other end of the magnetic component (300) being connected to the balancing position of the operating rod (100); The magnetic component (300) always applies a constant magnetic force in the opposite direction of gravity to the equilibrium position, so as to at least partially balance the gravity torque generated by the gravity of the operating rod (100) relative to the rotating shaft (110).

2. The master operator according to claim 1, characterized in that: The magnetic assembly (300) comprises: A magnetic sleeve (310), wherein the magnetic sleeve (310) is arranged on the balancing assembly (200); A magnetic axis (320), one end of the magnetic axis (320) being slidably connected to the magnetic sleeve (310), and the other end of the magnetic axis (320) being connected to the equilibrium position; In the process of the operating rod (100) rotating relative to the balancing assembly (200), the operating rod (100) drives the magnetic shaft (320) and the magnetic sleeve (310) to slide relative to each other, and the magnetic force between the magnetic shaft (320) and the magnetic sleeve (310) is constant.

3. The master operator according to claim 2, characterized in that: The balancing component (200) comprises: A fixing member (210), one end of the fixing member (210) being rotatably connected to the operating rod (100), and the other end of the fixing member (210) being provided with the magnetic axis (320); Wherein, during the process of the operating rod (100) rotating relative to the balancing assembly (200), the axial direction of the magnetic sleeve (310) is parallel to the gravity direction.

4. The master operator according to claim 2, characterized in that: The balancing component (200) comprises: A connecting member (220), one end of the connecting member (220) being fixedly connected to the magnetic shaft (320), and the other end of the connecting member (220) being provided with a first sliding groove (221); A balancing shaft (230), the balancing shaft (230) being arranged at the balancing position, and the balancing shaft (230) being slidably arranged in the first sliding groove (221); When the operating rod (100) drives the magnetic shaft (320) and the magnetic sleeve (310) to slide relative to each other, the balancing shaft (230) slides in the sliding groove.

5. The master operator according to claim 4, characterized in that: The main operator includes: A compensation component (400) is provided between the rotating shaft (110) and the balancing shaft (230) and is used to adjust the distance between the rotating shaft (110) and the balancing shaft (230).

6. The master operator according to claim 5, characterized in that: The compensation component (400) comprises: A compensation adjustment member (410), wherein one end of the compensation adjustment member (410) is provided with the balance shaft (230) and the other end is provided with a second slide groove (411); An adapter (420), one end of the adapter (420) being fixedly connected to the operating rod (100), and the other end of the adapter being provided with an adapter shaft (421), and the adapter shaft (421) being slidably disposed in the second sliding groove (411); The compensating adjustment member (410) can slide relative to the adapter member (420) to adjust the distance between the rotating shaft (110) and the balancing shaft (230).

7. The master operator according to any one of claims 1 to 6, characterized in that: When the operating rod (100) is arranged in a horizontal direction, a line connecting the balancing position and the balancing axis (230) is parallel to the horizontal direction.

8. The main operator according to any one of claims 4 to 6, characterized in that: The balancing assembly (200) further includes: A slide rail (240), wherein the slide rail (240) is arranged on the fixing member (210) along the direction of gravity, and the connecting member (220) is slidably arranged on the slide rail (240).

9. The master operator according to any one of claims 1 to 6, characterized in that: The main operator includes: A posture component (500), the posture component (500) being arranged at one end of the operating rod (100); A reducer assembly (600), wherein the reducer assembly (600) is arranged at the other end of the operating rod (100).

10. A surgical robot, characterized in that: The surgical robot comprises a main manipulator as claimed in any one of claims 1 to 9.

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