Mechanical arm and surgical robot system

Abstract

The embodiment of the invention provides a mechanical arm and a surgical robot system, the mechanical arm comprises a base mechanism, a first arm body, a balance weight rod, a connecting rod, a second arm body, a manipulator and a balancing mechanism, and the first arm body is rotationally arranged on the base mechanism; the balance weight lever is rotationally connected with the first arm body through a first rotating shaft; the connecting rod is rotationally connected with the balance weight rod and is parallel to the first arm body. The second arm body is rotationally connected with the first arm body and the connecting rod, and the second arm body is parallel to the balance weight rod; the manipulator is arranged at one end, far away from the counterweight block on the counterweight rod, of the second arm body; the balancing mechanism is arranged on the base mechanism, connected with the first rotating shaft and used for balancing gravitational torque caused by the fact that the first arm body deviates from the vertical posture. The first arm body, the second arm body, the balance weight rod and the connecting rod can form a parallelogram, the balance weight block and the balancing mechanism can be matched to achieve passive hovering of the mechanical arm, the falling possibility of the mechanical arm is small, and safety is high.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and more specifically, to a robotic arm and a surgical robot system. Background Art

[0002] The robotic arm used in surgery can generally be dragged manually to achieve horizontal and up and down movement. After the robotic arm is dragged to the predetermined position, it needs to remain hovering to facilitate the manipulator on the robotic arm to perform surgical operations.

[0003] At present, the robot arm is generally driven by electricity to actively compensate for the gravity of the robot arm so that the robot arm can remain suspended. Once the robot arm loses power, it will fall, and the robot arm is heavy, which poses a safety hazard. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a robotic arm and a surgical robot system to achieve the technical effect of passive hovering of the robotic arm.

[0005] The present application provides a mechanical arm, comprising:

[0006] Base mechanism;

[0007] A first arm body, disposed on the base mechanism, and the first arm body can rotate around a first axis relative to the base mechanism;

[0008] A counterweight rod, wherein a first end of the counterweight rod is rotatably connected to the first arm body via a first rotating shaft, and a counterweight block is disposed at a second end of the counterweight rod;

[0009] A connecting rod, rotatably connected to the counterweight rod, wherein the connecting rod is parallel to the first arm body;

[0010] A second arm body is rotatably connected to the first arm body and the connecting rod respectively, and the second arm body is parallel to the counterweight rod;

[0011] A manipulator, arranged at an end of the second arm away from the counterweight;

[0012] The balancing mechanism is arranged on the base mechanism and connected to the first rotating shaft, and is used for balancing the gravity moment caused by the first arm body deviating from the vertical posture.

[0013] By making the counterweight rod rotatably connected to the first arm body, the connecting rod rotatably connected to the counterweight rod, the second arm body is rotatably connected to the first arm body and the connecting rod respectively, and the connecting rod is parallel to the first arm body, and the second arm body is parallel to the counterweight rod, so that the first arm body, the second arm body, the counterweight rod and the connecting rod can form a parallelogram, and the second end of the counterweight rod is provided with a counterweight block, and the manipulator is provided at the end of the second arm body away from the counterweight block, so that the counterweight block can balance the gravity of the manipulator. The balancing mechanism is provided on the base mechanism, and is used to balance the gravity moment caused by the deviation of the first arm body from the vertical posture, so as to balance the force generated when the first arm body is tilted relative to the gravity direction. The parallelogram structure formed by the first arm body, the second arm body, the counterweight rod and the connecting rod, the counterweight block and the balancing mechanism can cooperate to realize the passive hovering of the manipulator, and the possibility of the manipulator falling is small, and the safety is high.

[0014] In some embodiments of the present application, the balancing mechanism includes a first elastic member, a second elastic member and a connecting rope, the first elastic member and the second elastic member are respectively connected to the base mechanism, one end of the connecting rope is connected to the first elastic member, and the other end passes around the first rotating shaft and is connected to the second elastic member, and the connecting rope is fixedly connected to the first rotating shaft.

[0015] In some embodiments of the present application, the first elastic member and the second elastic member form a gravity compensation component, and the stiffness coefficient of the gravity compensation component is K0, satisfying K0=6*T 1max / (πr 2 );T 1max is the maximum value of the static load moment of the first rotating shaft, r=r1=r2, r1 is the lever arm of the balancing moment provided by the first elastic member, and r2 is the lever arm of the balancing moment provided by the second elastic member.

[0016] In some embodiments of the present application, the first elastic member includes a first spring, the second elastic member includes a second spring, the stiffness coefficient of the first spring is K1, the stiffness coefficient of the second spring is K2, and K1=K2=K0 / 2 is satisfied.

[0017] In some embodiments of the present application, the ratio of the balance error of the first spring and the second spring to the maximum value of the static moment of the load of the first rotating shaft is Q=(T1-T K ) / T 1max , where T1 is the static load moment of the first shaft, T K is the balancing moment generated by the first spring and the second spring, T K =F K *r=2*θ1*r 2 *K, where F Kis the balancing force generated by the first spring and the second spring, θ1 is the inclination angle of the first arm relative to the direction of gravity, and K=K1=K2.

[0018] In some embodiments of the present application, a limiting member is provided on the base mechanism, and the limiting member is used to abut against the first arm body when the inclination angle of the first arm body relative to the gravity direction is θ1.

[0019] In some embodiments of the present application, -π / 6≤θ1≤π / 6.

[0020] In some embodiments of the present application, the base mechanism includes a base and a rotating seat, the rotating seat is movably disposed on the base, the rotating seat can rotate around a second axis relative to the base, and the second axis is perpendicular to the first axis; the first arm is disposed on the rotating seat.

[0021] In some embodiments of the present application, the robotic arm also includes a first driving mechanism, which is used to drive the first arm body to rotate relative to the base mechanism; and / or the robotic arm also includes a second driving mechanism, which is used to drive the rotating seat to rotate relative to the base.

[0022] An embodiment of the present application provides a surgical robot system, including a robotic arm and a doctor's trolley. The robotic arm is the robotic arm as described above, and the robotic arm is arranged on the doctor's trolley. The robotic arm is used to receive the doctor's control information, and then remotely map and control the surgical instruments and / or endoscope to achieve predetermined surgical actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 is a schematic diagram of a three-dimensional structure of a robotic arm provided in some embodiments of the present application;

[0025] Figure 2 is a three-dimensional schematic diagram of a partial structure of a robotic arm provided in some embodiments of the present application;

[0026] Figure 3 is a schematic diagram of a partial structure of a robotic arm provided by some embodiments of the present application from one perspective;

[0027] Figure 4is a schematic diagram of a model of a robotic arm provided in some embodiments of the present application;

[0028] Figure 5 is a schematic diagram of a three-dimensional structure of a robotic arm provided in some other embodiments of the present application;

[0029] Figure 6 is a schematic diagram of a three-dimensional structure of a robotic arm provided in some other embodiments of the present application;

[0030] Figure 7 is a schematic structural diagram of a mechanical arm provided by other embodiments of the present application from one perspective;

[0031] Figure 8 is a schematic cross-sectional structural diagram of a robotic arm provided in some other embodiments of the present application;

[0032] Fig. 9 It is a schematic diagram of the structure of a surgical robot system provided in some embodiments of the present application. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of this application.

[0034] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as those commonly understood by technicians in the technical field to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0035] The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0036] Reference to "embodiment" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments.

[0037] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0038] See also Figure 1 Some embodiments of the present application provide a mechanical arm 10, the mechanical arm 10 includes a base mechanism 100, a first arm body 200, a counterweight rod 300, a connecting rod 400, a second arm body 500, a manipulator 600 and a balancing mechanism 700, wherein the first arm body 200 is arranged on the base mechanism 100, and the first arm body 200 can rotate around a first axis relative to the base mechanism 100. The first end of the counterweight rod 300 is rotatably connected to the first arm body 200 through a first rotating shaft 210, and a counterweight block 310 is arranged at the second end of the counterweight rod 300. The connecting rod 400 is rotatably connected to the counterweight rod 300, and the connecting rod 400 is parallel to the first arm body 200. The second arm body 500 is rotatably connected to the first arm body 200 and the connecting rod 400, respectively, and the second arm body 500 is parallel to the counterweight rod 300. The manipulator 600 is arranged at one end of the second arm body 500 away from the counterweight block 310. The balancing mechanism 700 is disposed on the base mechanism 100 and connected to the first rotating shaft 210 , and is used to balance the gravity moment caused by the first arm body 200 deviating from the vertical posture.

[0039] By making the counterweight rod 300 rotatably connected to the first arm 200, the connecting rod 400 rotatably connected to the counterweight rod 300, the second arm 500 rotatably connected to the first arm 200 and the connecting rod 400 respectively, and the connecting rod 400 is parallel to the first arm 200, and the second arm 500 is parallel to the counterweight rod 300, so that the first arm 200, the second arm 500, the counterweight rod 300 and the connecting rod 400 can form a parallelogram, and the second end of the counterweight rod 300 is provided with a counterweight block 310, and the manipulator 600 is provided at one end of the second arm 500 away from the counterweight block 310, so that the counterweight block 310 can balance the gravity of the manipulator 600. The balancing mechanism 700 is provided on the base mechanism 100, and is used to balance the gravity moment caused by the first arm 200 deviating from the vertical posture, so as to balance the force generated when the first arm 200 is tilted relative to the gravity direction. The parallelogram structure composed of the first arm body 200, the second arm body 500, the counterweight rod 300 and the connecting rod 400, the counterweight block 310 and the balancing mechanism 700 can cooperate to realize the passive hovering of the robot arm 10, and the possibility of the robot arm 10 falling is small, and the safety is higher.

[0040] See also Figure 2 and Figure 3In some embodiments, the balancing mechanism 700 includes a first elastic member 710, a second elastic member 720 and a connecting rope 730. The first elastic member 710 and the second elastic member 720 are respectively connected to the base mechanism 100. One end of the connecting rope 730 is connected to the first elastic member 710, and the other end passes around the first rotating shaft 210 and is connected to the second elastic member 720. The connecting rope 730 is fixedly connected to the first rotating shaft 210.

[0041] By connecting the first elastic member 710 and the second elastic member 720 to the base mechanism 100 respectively, one end of the connecting rope 730 is connected to the first elastic member 710, and the other end passes around the first rotating shaft 210 and is connected to the second elastic member 720. The connecting rope 730 is fixedly connected to the first rotating shaft 210, so that the first elastic member 710 and the second elastic member 720 can provide elastic force to the first rotating shaft 210 to balance the force generated when the first arm body 200 is tilted relative to the direction of gravity, and the elastic forces of the first elastic member 710 and the second elastic member 720 act together on the first rotating shaft 210, which can make the first arm body 200 more stable.

[0042] In some embodiments, the connecting rope 730 may be a metal rope, such as a steel rope, a copper rope, etc., which can make the connecting rope 730 more stress-bearing and less likely to break.

[0043] In some embodiments, the first elastic member 710 and the second elastic member 720 form a gravity compensation assembly, and the stiffness coefficient of the gravity compensation assembly is K0, satisfying K0=6*T 1max / (πr 2 ).

[0044] Among them, T 1max is the maximum value of the static load moment of the first rotating shaft 210 , r=r1=r2, r1 is the arm of the balancing moment provided by the first elastic member 710 , and r2 is the arm of the balancing moment provided by the second elastic member 720 .

[0045] In some embodiments, r1 is the distance between the axis of the first rotating shaft 210 and the axis of the first elastic member 710 along the first direction Y. r2 is the distance between the axis of the first rotating shaft 210 and the axis of the second elastic member 720 along the first direction Y. The first direction Y is perpendicular to the gravity direction X.

[0046] In some embodiments, the first elastic member 710 includes a first spring, the second elastic member 720 includes a second spring, the stiffness coefficient of the first spring 710 is K1, and the stiffness coefficient of the second spring 720 is K2, satisfying K1=K2=K0 / 2.

[0047] In some embodiments, the axis of the first spring is parallel to the direction of gravity, and the axis of the second spring is parallel to the direction of gravity.

[0048] In some embodiments, the ratio of the balance error of the first spring and the second spring to the maximum value of the static moment of the load of the first rotating shaft 210 is Q=(T1-T K ) / T 1max , where T1 is the static load moment of the first rotating shaft 210, T K is the balancing moment generated by the first spring and the second spring, T K =F K *r=2*θ1*r 2 *K, where F K is the balancing force generated by the first spring and the second spring, θ1 is the inclination angle of the first arm 200 relative to the gravity direction, and K=K1=K2.

[0049] The ratio Q of the balance error between the first spring and the second spring to the maximum value of the load static moment of the first rotating shaft 210 can be made smaller, and the accuracy of the robot arm 10 is higher.

[0050] In some embodiments, -π / 6≤θ1≤π / 6. For example, θ1 may be -π / 6, 0, or π / 6, etc. θ1 is the inclination angle of the first arm 200 relative to the direction of gravity.

[0051] In some embodiments, the inclination angle of the first arm 200 relative to the gravity direction can be symmetrically set, for example, the inclination angle of the first arm 200 on one side relative to the gravity direction is π / 6, and the inclination angle of the first arm 200 on the other side relative to the gravity direction is -π / 6.

[0052] In other embodiments, the inclination angle of the first arm 200 relative to the gravity direction may also be set asymmetrically, for example, the inclination angle of the first arm 200 on one side relative to the gravity direction is π / 6, and the inclination angle of the first arm 200 on the other side relative to the gravity direction is -π / 9.

[0053] See also Figure 4 In some embodiments, only static forces are considered, and the potential energy of the overall system of the robot arm 10 is obtained by the Lagrange equation:

[0054] L=(m1gL4+m4gL C4 )cosθ1-m3gL C3 sin(θ2+α1)+m1gL C1 sin(θ2+α2) (1)

[0055] Among them, the center point of the first rotating axis 210 is defined as point A, point A is the zero potential energy reference point, the rotation connection point between the counterweight rod 300 and the connecting rod 400 is point B, the rotation connection point between the connecting rod 400 and the second arm body 500 is point C, the rotation connection point between the second arm body 500 and the first arm body 200 is point D, the center of mass of the second arm body 500 is located at point C1 (this is the ideal state simulation center of mass, and the center of mass deviates from the second arm body 500), the center of mass of the connecting rod 400 is located at point C2, the center of mass of the counterweight rod 300 is located at point C3, and the center of mass of the connecting rod 400 is located at point C4.

[0056] The mass m2 of the connecting rod 400 is divided into two equal parts at the two end points, that is, the mass at point B is m2 / 2, and the mass at point C is m2 / 2. m1 is the mass of the second arm 500 (including the mass m2 / 2 at point C), L4 is LAD, that is, the distance between point A and point D, L C4 LAC4 is the distance between point A and point C4, θ1 is the inclination angle of the first arm 200 relative to the direction of gravity (not shown in the figure), m3 is the mass of the counterweight rod 300 (including the mass m2 / 2 at point B), L C3 is LAC3, i.e., the distance between point A and point C3, θ2 is the inclination angle of the second arm 500 relative to the horizontal direction (not shown in the figure), α1 is the angle between the line AC3 and the horizontal direction, L C1 LAC1 is the distance between point C and point C1, and α2 is the angle between the line DC1 and the horizontal direction when the first arm 200 is parallel to the gravity direction.

[0057] By taking the derivative of θ1 and θ2 in formula (1), we can obtain:

[0058]

[0059] Only when T2=0 can the forces of the second arm 500 and the counterweight rod 300 in the horizontal direction be balanced, then m1gL C1 cos(θ2+α2) and m3gL C3 The amplitude and phase of cos(θ2+α1) are the same, so the mass of the connecting rod 400 and the counterweight rod 300 must meet the following conditions:

[0060]

[0061] The load static moment T1 of the first rotating shaft 210 is equal to |-(m1L4+m4L c4 )g sinθ1|, the absolute value of T1 increases as the absolute value of θ1 increases.

[0062] Since -π / 6≤θ1≤π / 6, when θ1=-π / 6 or π / 6, T1 reaches its maximum value T1max=(m1L4+m4L C4 )g / 2.

[0063] The stiffness coefficient of the first spring is K1, and the stiffness coefficient of the second spring is K2, K1 = K2 = K = T1max / [2*(θ1r 2 )]=3*T 1max / (πr 2 ).

[0064] The balancing moment generated by the first spring and the second spring

[0065] The ratio of the balance error of the first spring and the second spring to the maximum value of the static moment of the load of the first rotating shaft 210 is Q=(T1-T K ) / T 1max =2*sinθ1-6 / π*θ1. This can reduce the ratio Q of the balance error between the first spring and the second spring to the maximum value of the load static moment of the first rotating shaft 210.

[0066] For example, when θ1=π / 6, Q=2*sinθ1-6 / π*θ1=0.

[0067] In some embodiments, a limiting member (not shown in the figure) is disposed on the base mechanism 100, and the limiting member is used to abut against the first arm body 200 when the inclination angle of the first arm body 200 relative to the gravity direction is θ1.

[0068] By providing the limiter, the possibility of the robot arm 10 tipping over due to the inclination angle of the first arm body 200 relative to the gravity direction exceeding θ1 can be reduced, thereby improving the safety of the robot arm 10 .

[0069] See also Figures 1 to 3 In some embodiments, the base mechanism 100 includes a base 110 and a rotating base 120 , the rotating base 120 is movably disposed on the base 110 , and the rotating base 120 can rotate relative to the base 110 around a second axis, the second axis being perpendicular to the first axis. The first arm 200 is disposed on the rotating base 120 .

[0070] By making the base mechanism 100 include a base 110 and a rotating base 120, the rotating base 120 is movably arranged on the base 110, and the rotating base 120 can rotate around a second axis relative to the base 110, and the second axis is perpendicular to the first axis, so that the rotating base 120 can drive the first arm 200 to rotate in the horizontal direction, thereby adjusting the position of the manipulator 600 in the horizontal direction; the first arm 200 and the second arm 500 can drive the manipulator 600 to move in the direction of gravity, so that the manipulator 600 can be hovered at any position.

[0071] See also Figure 5In other embodiments, the base mechanism 100 may also only include a base, which can be used to support the first arm 200, the counterweight rod 300, the connecting rod 400, the second arm 500, the manipulator 600, the balancing mechanism 700 and other mechanisms.

[0072] See also Figures 6 to 8 In some embodiments, the robotic arm 10 further includes a first driving mechanism 810 , and the first driving mechanism 810 is used to drive the first arm body 200 to rotate relative to the base mechanism 100 .

[0073] By setting up the first driving mechanism 810 to drive the first arm 200 to rotate relative to the base mechanism 100, the position of the manipulator 600 in the direction of gravity can be automatically adjusted, thereby achieving the alignment of the position of the manipulator 600 during master-slave control, and improving the automation and intelligence of the manipulator 10.

[0074] In some embodiments, the robotic arm 10 also includes a first fixing member 211 and a first connecting rope 212. The first fixing member 211 is arranged in a circular shape. The rotating shaft 210 passes through the first fixing member 211 and is fixedly connected to the first fixing member 211. One end of the first connecting rope 212 is connected to the first fixing member 211, and the other end is connected to the first driving mechanism 810, so that the first driving mechanism 810 can drive the first fixing member 211 to rotate through the first connecting rope 212, thereby driving the rotating shaft 210 to rotate.

[0075] In some embodiments, the robot arm 10 further includes a second fixing member 213 , and the connecting rope 730 is fixedly connected to the second fixing member 213 , so that the connecting rope 730 can be fixedly connected to the rotating shaft 210 through the second fixing member 213 .

[0076] In some embodiments, the robot arm 10 further includes a second driving mechanism 820 , and the second driving mechanism 820 is used to drive the rotating seat 120 to rotate relative to the base 110 .

[0077] By setting up a second driving mechanism 820 to drive the rotating seat 120 to rotate relative to the base 110, the automatic adjustment of the horizontal position of the manipulator 600 can be achieved, thereby achieving the alignment of the position of the manipulator 600 during master-slave control, and improving the automation and intelligence of the robot arm 10.

[0078] In some embodiments, the robot arm 10 further includes a second rotating shaft 130, a third fixing member 131, and a second connecting rope 132, and the base 110 and the rotating seat 120 are rotatably connected via the second rotating shaft 130. The third fixing member 131 is arranged in a circular shape, the second rotating shaft 130 penetrates the third fixing member 131, and is fixedly connected to the third fixing member 131, one end of the second connecting rope 132 is connected to the third fixing member 131, and the other end is connected to the second driving mechanism 820, so that the second driving mechanism 820 can drive the third fixing member 131 to rotate through the second connecting rope 132, thereby driving the second rotating shaft 130 to rotate.

[0079] In some embodiments, the robotic arm 10 further includes a first fixed seat 910 , which is fixedly connected to the rotating seat 120 . The rotating shaft 210 passes through the first fixed seat 910 and is connected to the first arm body 200 and the counterweight rod 300 .

[0080] By providing the first fixing seat 910 , the overall structure of the robot arm 10 can be made more stable and less likely to fall over.

[0081] In some embodiments, the robot arm 10 further includes a third rotating shaft 320, a fourth fixing member 321, and a third connecting rope 322, and the counterweight rod 300 and the connecting rod 400 are rotatably connected via the third rotating shaft 320. The fourth fixing member 321 is arranged in a circular shape, the third rotating shaft 320 penetrates the fourth fixing member 321, and is fixedly connected to the fourth fixing member 321, one end of the third connecting rope 322 is connected to the fourth fixing member 321, and the other end is connected to the third driving mechanism 830, so that the third driving mechanism 830 can drive the fourth fixing member 321 to rotate through the third connecting rope 322, thereby driving the third rotating shaft 320 to rotate.

[0082] In some embodiments, the robot arm 10 further includes a second fixed seat 920 , which is fixedly connected to the rotating seat 120 , and the third rotating shaft 320 passes through the second fixed seat 920 and is connected to the counterweight rod 300 and the connecting rod 400 .

[0083] By providing the second fixing seat 920 , the overall structure of the robot arm 10 can be made more stable and less likely to fall over.

[0084] See also Fig. 9 Some embodiments of the present application provide a surgical robot system, including a robotic arm 10 and a doctor's trolley 20. The robotic arm 10 is the robotic arm 10 provided in any of the above embodiments. The robotic arm 10 is arranged on the doctor's trolley 20. The robotic arm 10 is used to receive the doctor's control information, and then remotely map and control the surgical instruments and / or endoscope to achieve predetermined surgical actions.

[0085] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0086] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robotic arm, characterized in that: include: Base mechanism; A first arm body, disposed on the base mechanism, and the first arm body can rotate around a first axis relative to the base mechanism; A counterweight rod, wherein a first end of the counterweight rod is rotatably connected to the first arm body via a first rotating shaft, and a counterweight block is disposed at a second end of the counterweight rod; A connecting rod, rotatably connected to the counterweight rod, wherein the connecting rod is parallel to the first arm body; A second arm body is rotatably connected to the first arm body and the connecting rod respectively, and the second arm body is parallel to the counterweight rod; A manipulator, arranged at an end of the second arm away from the counterweight; The balancing mechanism is arranged on the base mechanism and connected to the first rotating shaft, and is used for balancing the gravity moment caused by the first arm body deviating from the vertical posture.

2. The robotic arm according to claim 1, characterized in that: The balancing mechanism includes a first elastic member, a second elastic member and a connecting rope. The first elastic member and the second elastic member are respectively connected to the base mechanism. One end of the connecting rope is connected to the first elastic member, and the other end passes around the first rotating shaft and is connected to the second elastic member. The connecting rope is fixedly connected to the first rotating shaft.

3. The robotic arm according to claim 2, characterized in that: The first elastic member and the second elastic member form a gravity compensation component, and the stiffness coefficient of the gravity compensation component is K0, satisfying K0=6*T 1max / (πr 2 );T 1max is the maximum value of the static load moment of the first rotating shaft, r=r1=r2, r1 is the lever arm of the balancing moment provided by the first elastic member, and r2 is the lever arm of the balancing moment provided by the second elastic member.

4. The robotic arm according to claim 3, characterized in that: The first elastic member includes a first spring, and the second elastic member includes a second spring. The stiffness coefficient of the first spring is K1, and the stiffness coefficient of the second spring is K2, satisfying K1=K2=K0 / 2.

5. The robotic arm according to claim 4, characterized in that: The ratio of the balance error of the first spring and the second spring to the maximum value of the load static moment of the first rotating shaft is Q=(T1-T K ) / T 1max , where T1 is the static load moment of the first shaft, T K is the balancing moment generated by the first spring and the second spring, T K =F K *r=2*θ1*r 2 *K, where F K is the balancing force generated by the first spring and the second spring, θ1 is the inclination angle of the first arm relative to the direction of gravity, and K=K1=K2.

6. The robotic arm according to claim 1, characterized in that: The base mechanism is provided with a limiting member, and the limiting member is used for contacting with the first arm body when the inclination angle of the first arm body relative to the gravity direction is θ1.

7. The robot arm according to claim 6, characterized in that: -π / 6≤θ1≤π / 6.

8. The robotic arm according to claim 1, characterized in that: The base mechanism includes a base and a rotating base, the rotating base is movably arranged on the base, the rotating base can rotate around a second axis relative to the base, and the second axis is perpendicular to the first axis; the first arm is arranged on the rotating base.

9. The robot arm according to claim 8, characterized in that: The robotic arm further includes a first driving mechanism, which is used to drive the first arm body to rotate relative to the base mechanism; and / or the robotic arm further includes a second driving mechanism, which is used to drive the rotating seat to rotate relative to the base.

10. A surgical robot system, characterized in that: It comprises a robotic arm and a doctor's trolley, wherein the robotic arm is the robotic arm as described in any one of claims 1 to 9, and the robotic arm is arranged on the doctor's trolley, and the robotic arm is used to receive the doctor's control information, and then remotely map and control the surgical instrument and / or endoscope to achieve the predetermined surgical action.

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