Telecentric mechanism and surgical robot

Abstract

The invention relates to a telecentric mechanism and a surgical robot. The telecentric mechanism comprises: a master arm assembly; the near end of the first driven arm assembly is rotationally connected with the far end of the driving arm assembly; the near end of the second driven arm assembly is rotationally connected with the far end of the first driven arm assembly; the tail end assembly is rotationally connected with the far end of the second driven arm assembly; wherein a first force balance mechanism is assembled on the driving arm assembly, the force output end of the first force balance mechanism is connected with the first driven arm assembly, and the first force balance mechanism is used for applying compensation force to the first driven arm assembly; a second force balance mechanism is assembled on the second driven arm assembly, the force output end of the second force balance mechanism is connected with the tail end assembly, and the second force balance mechanism is used for applying compensation force to the tail end assembly. The load capacity and reliability of the telecentric mechanism can be improved, and the service life of the telecentric mechanism can be prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a telecentric mechanism and a surgical robot. Background Art

[0002] At present, minimally invasive surgical robots are increasingly used in modern medical surgeries. The actuator of the laparoscopic minimally invasive surgical robot is a telecentric mechanism, which is used to control the rotation and linear motion of surgical instruments around a fixed point to achieve real-time observation of lesions and various surgical operations. However, the current telecentric mechanism has problems such as weak load capacity, low reliability and low service life. Summary of the invention

[0003] Based on this, the present application proposes a telecentric mechanism and a surgical robot to address at least one of the above problems.

[0004] In a first aspect, an embodiment of the present application provides a telecentric mechanism, comprising:

[0005] Active arm assembly;

[0006] A first slave arm assembly, wherein a proximal end of the first slave arm assembly is rotatably connected to a distal end of the active arm assembly;

[0007] a second slave arm assembly, wherein a proximal end of the second slave arm assembly is rotatably connected to a distal end of the first slave arm assembly;

[0008] a terminal assembly, rotatably connected to the distal end of the second driven arm assembly;

[0009] Among them, the active arm assembly is equipped with a first force balancing mechanism, the force output end of the first force balancing mechanism is connected to the first slave arm assembly, and the first force balancing mechanism is used to apply a compensation force to the first slave arm assembly; the second slave arm assembly is equipped with a second force balancing mechanism, the force output end of the second force balancing mechanism is connected to the end assembly, and the second force balancing mechanism is used to apply a compensation force to the end assembly.

[0010] In one embodiment, the first force balancing mechanism is an elastic balancing mechanism, and a force output end of the first force balancing mechanism is connected to a driving force input end of the first slave arm assembly for applying an elastic compensation force to the first slave arm assembly.

[0011] In one embodiment, the first force balancing mechanism includes a first elastic component and a force transmission component, the fixed end of the first elastic component is connected to the active arm component, and the force transmission component connects the free end of the first elastic component and the driving force input end of the first driven arm component.

[0012] In one embodiment, the fixed end of the first elastic component is connected to the proximal end of the active arm component, and the free end of the first elastic component extends toward the distal end of the active arm component; the first slave arm component is connected to the distal end of the active arm component;

[0013] The first force balancing mechanism further includes a first guide wheel, which is arranged on a side of the free end of the first elastic component close to the distal end of the active arm component, and the force transmission component is wound around the first guide wheel.

[0014] In one embodiment, the first elastic component comprises:

[0015] An outer sleeve, one end of which is connected to the proximal end of the active arm assembly;

[0016] A guide bushing slidably disposed on the outer sleeve;

[0017] An assembly part is arranged at one end of the guide bushing close to the distal end of the active arm assembly; the force transmission part is connected to the assembly part;

[0018] The first elastic member is inserted into the outer sleeve and the guide bushing, one end of the first elastic member is connected to the proximal end of the active arm assembly, and the other end is connected to the assembly member.

[0019] In one embodiment, the first elastic member is a spring;

[0020] The first elastic component also includes an inner sleeve, one end of which is connected to the proximal end of the active arm; the inner sleeve is inserted into the outer sleeve, and the first elastic member is sleeved on the inner sleeve.

[0021] In one embodiment, the first force balancing mechanism also includes a guide wheel group, which is arranged on the side of the first guide wheel close to the far end of the active arm assembly, and the force transmission component passes through the guide wheel group and the first guide wheel in sequence and is connected to the free end of the first elastic assembly.

[0022] In one embodiment, the second force balancing mechanism is an elastic balancing mechanism, and a force output end of the second force balancing mechanism is connected to a driving force input end of the terminal component for applying an elastic compensation force to the terminal component.

[0023] In one embodiment, the second force balancing mechanism includes a second elastic component, a fixed end of the second elastic component is connected to the second driven arm component, and a free end of the second elastic component is connected to the driving force input end of the end component.

[0024] In one embodiment, the second elastic component comprises:

[0025] a first connecting member, hingedly connected to the second driven arm assembly;

[0026] A second connecting member, hinged to the driving force input end of the terminal assembly;

[0027] A second elastic member has one end connected to the first connecting member and the other end connected to the second connecting member.

[0028] In one embodiment, the first connecting member comprises:

[0029] a first connecting portion, hingedly connected to the second driven arm assembly;

[0030] A guide rod is arranged on a side of the first connecting portion close to the second connecting member; the second elastic member is a spring, the second elastic member is sleeved on the guide rod, and a fixed end of the second elastic member is connected to the first connecting portion;

[0031] The stopper is arranged at an end of the guide rod away from the first connecting portion.

[0032] In one embodiment, the second connecting member comprises:

[0033] A push rod is inserted into the stopper, and one end of the push rod is hinged to the driving force input end of the terminal assembly;

[0034] A pressure plate is arranged at an end of the push rod away from the driving force input end of the terminal assembly, and the pressure plate is connected to the free end of the second elastic member; the guide rod is also passed through the pressure plate.

[0035] In a second aspect, an embodiment of the present application provides a surgical robot, comprising the telecentric mechanism in any embodiment of the first aspect.

[0036] The telecentric mechanism and surgical robot provided in the embodiment of the present application are provided with a first force balancing mechanism on the active arm assembly and a second force balancing mechanism on the second slave arm assembly. In this way, on the one hand, the first force balancing mechanism can balance the gravity moment generated by all components at the rear end of the first slave arm assembly, reduce the load on the active arm assembly, and improve the stiffness of the connection between the active arm assembly and the first slave arm assembly, which is conducive to extending the life of the components; on the other hand, the second force balancing mechanism can balance the gravity moment generated by the terminal assembly, reduce the load on the second slave arm assembly, and improve the stiffness of the connection between the second slave arm assembly and the terminal assembly, which is conducive to extending the life of the components; on the other hand, since the second force balancing mechanism can balance a part of the load, the weight of the load that the first force balancing mechanism needs to balance can be reduced, so that the size of the first force balancing mechanism can be compressed to reduce the overall size of the telecentric mechanism, which is conducive to the miniaturization of the telecentric mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A schematic structural diagram of a telecentric mechanism provided in one embodiment of the present application.

[0039] Figure 2 for Figure 1 Exploded view of the telecentric mechanism shown.

[0040] Figure 3 for Figure 2 An assembly schematic diagram of the first connecting rod, the first force balancing mechanism and the first slave arm assembly is shown in FIG.

[0041] Figure 4 for Figure 3 A partial structural schematic diagram of the first force balancing mechanism is shown in .

[0042] Figure 5 for Figure 2 A structural schematic diagram of the second slave arm assembly and the second force balancing mechanism is shown in .

[0043] Figure 6 for Figure 2 Another structural schematic diagram of the second slave arm assembly and the second force balancing mechanism is shown in .

[0044] Figure 7 for Figure 2 A top view of the first connecting rod is shown in FIG.

[0045] Figure 8 for Figure 2 The force analysis diagram of the first force balancing mechanism is shown in .

[0046] Fig. 9 for Figure 2 The force analysis diagram of the second force balancing mechanism is shown in .

[0047] Description of reference numerals:

[0048] 10. Telecentric mechanism; 11. Active arm assembly; 111. First connecting rod; 1111. First rod body; 1112. Second rod body; 112. First driving member; 12. First driven arm assembly; 121. Second connecting rod; 122. First belt transmission mechanism; 1221. First pulley; 1222. First transmission belt; 1223. Second pulley; 123. First rotating shaft; 13. Second driven arm assembly; 131. Third connecting rod; 132. Second belt transmission mechanism; 1321. Third pulley; 1322. Second transmission belt; 1323. Fourth pulley; 133. Second rotating shaft; 14. Terminal assembly; 15. First Force balancing mechanism; 151, first elastic component; 1511, outer sleeve; 1512, guide bushing; 1513, assembly part; 1514, first elastic member; 1515, inner sleeve; 152, force transmission member; 153, first guide wheel; 154, guide wheel assembly; 16, second force balancing mechanism; 161, second elastic component; 1611, first connecting member; 16111, first connecting part; 16112, guide rod; 16113, stop part; 1612, second connecting member; 16121, push rod; 16122, pressure plate; 1613, second elastic member; 17, cantilever; 18, second driving member. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are 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 application. However, the present application 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 application, so the present application is not limited by the specific embodiments disclosed below.

[0050] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0051] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0052] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0054] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0055] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, in this specification, the term "and / or" includes any and all combinations of the relevant listed items.

[0056] First, refer to Figure 1 and Figure 2 As shown, the embodiment of the present application provides a telecentric mechanism 10, including: an active arm assembly 11, a first slave arm assembly 12, a second slave arm assembly 13 and an end assembly 14. In one example, the active arm assembly 11 is used to drive the first slave arm assembly 12, the second slave arm assembly 13 and the end assembly 14 to move as a whole.

[0057] Specifically, the proximal end of the first slave arm assembly 12 is rotationally connected to the distal end of the active arm assembly 11. The proximal end of the second slave arm assembly 13 is rotationally connected to the distal end of the first slave arm assembly 12. The terminal assembly 14 is rotationally connected to the distal end of the second slave arm assembly 13. Among them, the active arm assembly 11 is equipped with a first force balancing mechanism 15, the force output end of the first force balancing mechanism 15 is connected to the first slave arm assembly 12, and the first force balancing mechanism 15 is used to apply a compensation force to the first slave arm assembly 12. The second slave arm assembly 13 is equipped with a second force balancing mechanism 16, the force output end of the second force balancing mechanism 16 is connected to the terminal assembly 14, and the second force balancing mechanism 16 is used to apply a compensation force to the terminal assembly 14.

[0058] In the telecentric mechanism 10 provided in the embodiment of the present application, the end close to the patient is the distal end, and the end away from the patient is the proximal end.

[0059] Here, it should be noted that, since the active arm assembly 11 drives the first slave arm assembly 12, the second slave arm assembly 13 and the end assembly 14 to move as a whole, the force applied by the active arm assembly 11 will act on the first slave arm assembly 12. When the first slave arm assembly 12, the second slave arm assembly 13 and the end assembly 14 move as a whole, these components will generate a gravity moment, which acts on the active arm assembly 11 through the first slave arm assembly 12. Therefore, after the compensation force of the first force balancing mechanism 15 is applied to the first slave arm assembly 12, at least part of the gravity moment will be balanced.

[0060] Furthermore, since the second slave arm assembly 13 drives the end assembly 14 to move, when the end assembly 14 moves, the end assembly 14 will generate a gravity moment, and the gravity moment will act on the second slave arm assembly 13. Therefore, after the compensation force of the second force balancing mechanism 16 is applied to the end assembly 14, at least part of the gravity moment will be balanced.

[0061] The telecentric mechanism 10 provided in the embodiment of the present application is provided with a first force balancing mechanism 15 on the active arm assembly 11, and a second force balancing mechanism 16 on the second slave arm assembly 13. In this way, on the one hand, the first force balancing mechanism 15 can balance the gravity moment generated by all components at the rear end of the first slave arm assembly 12, reduce the load on the active arm assembly 11, and improve the stiffness of the connection between the active arm assembly 11 and the first slave arm assembly 12, thereby facilitating the extension of the component life; on the other hand, the second force balancing mechanism 16 can balance the gravity moment generated by the end assembly 14, reduce the load on the second slave arm assembly 13, and improve the stiffness of the connection between the second slave arm assembly 13 and the end assembly 14, thereby facilitating the extension of the component life; on the other hand, since the second force balancing mechanism 16 can balance a part of the load, the load weight that the first force balancing mechanism 15 needs to balance can be reduced, so that the size of the first force balancing mechanism 15 can be compressed to reduce the overall size of the telecentric mechanism 10, which is conducive to the miniaturization of the telecentric mechanism 10; on the other hand, the load capacity and reliability of the telecentric mechanism 10 can also be improved.

[0062] It is understandable that the compensation force applied by the first force balancing mechanism 15 can act on any position of the first slave arm assembly 12 , and the compensation force applied by the second force balancing mechanism 16 can act on any position of the end assembly 14 .

[0063] In one embodiment, the first force balancing mechanism 15 is an elastic balancing mechanism, and a force output end of the first force balancing mechanism 15 is connected to a driving force input end of the first slave arm assembly 12 for applying an elastic compensation force to the first slave arm assembly 12 .

[0064] By setting the first force balancing mechanism 15 as an elastic balancing mechanism, on the one hand, the value of the compensation force that can be applied by the first force balancing mechanism 15 is within a linear range, so that the value of the compensation force provided by the first force balancing mechanism 15 is not a single value, which is conducive to adjusting the magnitude of the compensation force provided by the first force balancing mechanism 15 according to the actual value of the gravity moment generated. On the other hand, when the first force balancing mechanism 15 applies the compensation force, the value of the compensation force can increase linearly and smoothly, preventing the first slave arm assembly 12 from being suddenly subjected to a large compensation force, which is conducive to improving the life of the first slave arm assembly 12.

[0065] By connecting the force output end of the first force balancing mechanism 15 with the driving force input end of the first slave arm assembly 12, the compensation force output by the first force balancing mechanism 15 can directly act on the driving force input end of the first slave arm assembly 12, which is beneficial to improving the force compensation efficiency of the first force balancing mechanism 15. It should be noted that when the active arm assembly 11 drives the first slave arm assembly 12, the second slave arm assembly 13 and the end assembly 14 to move as a whole, the driving force is input through the driving force input end of the first slave arm assembly 12. Therefore, it can be understood that the gravity torque generated by the first slave arm assembly 12, the second slave arm assembly 13 and the end assembly 14 mainly acts in reverse on the active arm assembly 11 through the driving force input end of the first slave arm assembly 12. Through the above-mentioned arrangement, the embodiment of the present application is equivalent to directly acting the compensation force on the main action point of the gravity torque, thereby improving the force compensation efficiency of the first force balancing mechanism 15.

[0066] In one embodiment, referring to Figure 3 As shown, the first force balancing mechanism 15 includes a first elastic component 151 and a force transmission component 152. The fixed end of the first elastic component 151 is connected to the active arm component 11, and the force transmission component 152 connects the free end of the first elastic component 151 and the driving force input end of the first slave arm component 12.

[0067] In the embodiment of the present application, by providing a force transmission member 152, it is convenient for the elastic force of the first elastic component 151 to act on the driving force input end of the first slave arm component 12. It should be noted that when the first slave arm component 12 is moving, the driving force input end of the first slave arm component 12 drives the first slave arm component 12 to rotate. When the driving force input end of the first slave arm component 12 rotates, the driving force input end of the first slave arm component 12 will pull the power transmission member 152, and the force transmission member 152 drives the free end of the first elastic component 151 to move. The elastic force generated by the first elastic component 151 acts in the opposite direction to the driving force input end of the first slave arm component 12 through the force transmission member 152. The elastic force generated by the first elastic component 151 is the compensation force applied by the first force balancing mechanism 15.

[0068] It can be understood that the fixed end of the first elastic component 151 can be connected to any position of the active arm component 11 .

[0069] In one embodiment, the fixed end of the first elastic component 151 is connected to the proximal end of the active arm component 11, and the free end of the first elastic component 151 extends toward the distal end of the active arm component 11. The first slave arm component 12 is connected to the distal end of the active arm component 11. The first force balancing mechanism 15 also includes a first guide wheel 153, which is disposed on a side of the free end of the first elastic component 151 close to the distal end of the active arm component 11, and the force transmission member 152 is wound around the first guide wheel 153.

[0070] It can be understood that the active arm assembly 11 extends from its own proximal end to the distal end. By connecting the fixed end of the first elastic assembly 151 to the proximal end of the active arm assembly 11, the free end of the first elastic assembly 151 extends toward the distal end of the active arm assembly 11, which can not only fully utilize the structural characteristics of the active arm assembly 11 to arrange the first elastic assembly 151, but also facilitate the movement of the first elastic assembly 151. In addition, by providing the first guide wheel 153, the force transmission direction on the force transmission member 152 can be changed, so that after the driving force input end of the first slave arm assembly 12 rotates, the first elastic assembly 151 can be driven to move through the force transmission member 152, so that the elastic force on the first elastic assembly 151 can react to the driving force input end of the first slave arm assembly 12 through the force transmission member 152.

[0071] Furthermore, the first guide wheel 153 can be set at the proximal end of the active arm assembly 11, so that the retractable range of the first elastic assembly 151 is larger. For example, the free end of the first elastic assembly 151 can be moved from the proximal end of the active arm assembly 11 to the distal end of the active arm assembly 11, thereby making the elastic force range of the first elastic assembly 151 larger, and further making the range of the compensation force value of the first force balancing mechanism 15 larger.

[0072] In another embodiment, the force transmission member 152 directly connects the free end of the first elastic component 151 and the driving force input end of the first driven arm component 12 without passing through the guide wheel. That is, the active arm component 11 is not provided with a guide wheel to guide the force transmission member 152 .

[0073] In one embodiment, referring to Figure 4 As shown, the first elastic component 151 includes an outer sleeve 1511, a guide bushing 1512, an assembly part 1513 and a first elastic part 1514. One end of the outer sleeve 1511 is connected to the proximal end of the active arm component 11, and the outer sleeve 1511 extends toward the distal end close to the active arm component 11. The other end of the outer sleeve 1511 assembly may be connected to the active arm component 11 or may not be connected. The guide bushing 1512 is slidably disposed on the outer sleeve 1511. Exemplarily, the guide bushing 1512 may be inserted into the outer sleeve 1511 for sliding, or may be sleeved on the outside of the outer sleeve 1511 for sliding. The assembly part 1513 is disposed at one end of the guide bushing 1512 close to the distal end of the active arm component 11. The force transmission member 152 is connected to the assembly part 1513. The first elastic member 1514 is inserted into the outer sleeve 1511 and the guide bushing 1512 . One end of the first elastic member 1514 is connected to the proximal end of the active arm assembly 11 , and the other end is connected to the assembly member 1513 .

[0074] The above arrangement can make the structure of the first elastic component 151 relatively simple, and reduce the difficulty of assembling and manufacturing the first elastic component 151.

[0075] In one embodiment, the first elastic member 1514 is a spring. The first elastic component 151 further includes an inner sleeve 1515, one end of which is connected to the proximal end of the active arm component 11. The inner sleeve 1515 is inserted into the outer sleeve 1511, and the first elastic member 1514 is sleeved on the inner sleeve 1515. By providing the inner sleeve 1515, the first elastic member 1514 can be guided to prevent the first elastic member 1514 from tilting or twisting during the extension and retraction process, thereby improving the directionality of the extension and retraction of the first elastic member 1514.

[0076] In one embodiment, referring to Figure 3 As shown, the first force balancing mechanism 15 also includes a guide wheel group 154, which is arranged on the side of the first guide wheel 153 close to the far end of the active arm assembly 11, and the force transmission member 152 passes through the guide wheel group 154 ​​and the first guide wheel 153 in sequence and is connected to the free end of the first elastic assembly 151.

[0077] It is understandable that the driving force input end of the first slave arm assembly 12 performs rotational motion, and by providing the guide wheel group 154, the force transmission member 152 can be guided to prevent the driving force input end of the first slave arm assembly 12 from causing the force transmission member 152 to "sway" during the rotation process, causing the force transmission member 152 to interfere with other components, thereby affecting the transmission of the compensation force. In one example, the guide wheel group 154 ​​includes two guide wheels, and the two guide wheels sandwich the force transmission member 152 in the middle. In one example, the force transmission member 152 is a steel belt or a transmission rope.

[0078] In one embodiment, referring to Figure 5 and Figure 6 As shown, the second force balancing mechanism 16 is an elastic balancing mechanism, and a force output end of the second force balancing mechanism 16 is connected to a driving force input end of the terminal assembly 14 for applying an elastic compensation force to the terminal assembly 14 .

[0079] By setting the second force balancing mechanism 16 as an elastic balancing mechanism, on the one hand, the value of the compensation force that can be applied by the second force balancing mechanism 16 is within a linear range, so that the value of the compensation force provided by the second force balancing mechanism 16 is not a single value, which is conducive to adjusting the magnitude of the compensation force provided by the second force balancing mechanism 16 according to the actual value of the gravity moment generated. On the other hand, when the second force balancing mechanism 16 applies the compensation force, the value of the compensation force can increase linearly and smoothly, preventing the second slave arm assembly 13 from being suddenly subjected to a large value of the compensation force, which is conducive to improving the life of the second slave arm assembly 13.

[0080] By connecting the force output end of the second force balancing mechanism 16 to the driving force input end of the terminal assembly 14, the compensation force output by the second force balancing mechanism 16 can directly act on the driving force input end of the terminal assembly 14, which is beneficial to improving the force compensation efficiency of the second force balancing mechanism 16. It should be noted that when the second slave arm assembly 13 drives the terminal assembly 14 to move, the driving force is input through the driving force input end of the terminal assembly 14. Therefore, it can be understood that the gravity torque generated by the terminal assembly 14 mainly acts in reverse on the second slave arm assembly 13 through the driving force input end of the terminal assembly 14. Through the above-mentioned arrangement, the embodiment of the present application is equivalent to directly applying the compensation force to the main action point of the gravity torque, thereby improving the force compensation efficiency of the second force balancing mechanism 16.

[0081] In one embodiment, referring to Figure 5 and Figure 6 As shown, the second force balancing mechanism 16 includes a second elastic component 161 , a fixed end of the second elastic component 161 is connected to the second driven arm component 13 , and a free end of the second elastic component 161 is connected to the driving force input end of the end component 14 .

[0082] It should be noted that the driving force input end of the terminal assembly 14 drives the terminal assembly 14 to rotate. When the driving force input end of the terminal assembly 14 rotates, the driving force input end of the terminal assembly 14 pulls the free end of the second elastic assembly 161 to expand and contract, and the second elastic assembly 161 generates an elastic force and reacts to the driving force input end of the terminal assembly 14. The elastic force generated by the second elastic assembly 161 is the compensation force applied by the second force balancing mechanism 16.

[0083] In one embodiment, the second elastic component 161 includes a first connecting member 1611, a second connecting member 1612, and a second elastic member 1613. The first connecting member 1611 is hinged to the second driven arm component 13. The second connecting member 1612 is hinged to the driving force input end of the end component 14. One end of the second elastic member 1613 is connected to the first connecting member 1611, and the other end is connected to the second connecting member 1612.

[0084] In this way, the structure of the second elastic component 161 can be made simpler, thereby reducing the difficulty of manufacturing and assembling the second force balancing mechanism 16 .

[0085] In one embodiment, referring to Figure 6As shown, the first connecting member 1611 includes a first connecting portion 16111, a guide rod 16112 and a stopper 16113. The first connecting portion 16111 is hinged to the second driven arm assembly 13. The guide rod 16112 is arranged on a side of the first connecting portion 16111 close to the second connecting member 1612. The second elastic member 1613 is a spring, and the second elastic member 1613 is sleeved on the guide rod 16112, and the fixed end of the second elastic member 1613 is connected to the first connecting portion 16111. The stopper 16113 is arranged at an end of the guide rod 16112 away from the first connecting portion 16111.

[0086] In the above structure, the first connecting portion 16111 connects the first connecting member 1611 to the second driven arm assembly 13 on the one hand, and fixes the fixed end of the second elastic member 1613 on the other hand. The guide rod 16112 mainly guides the second elastic member 1613. The stopper 16113 mainly limits the range of motion of the second elastic member 1613. It can be understood that the number of guide rods 16112 can be multiple, and further, the number of second elastic members 1613 is also multiple, so that when the compensation force of the second force balancing mechanism 16 is constant, the size of each second elastic member 1613 can be smaller, which is convenient for arranging the second elastic assembly 161.

[0087] In one embodiment, the second connecting member 1612 includes a push rod 16121 and a pressure plate 16122. The push rod 16121 is inserted into the stopper 16113, and one end of the push rod 16121 is hinged to the driving force input end of the terminal assembly 14. The pressure plate 16122 is disposed at one end of the push rod 16121 away from the driving force input end of the terminal assembly 14, and the pressure plate 16122 is connected to the free end of the second elastic member 1613. The guide rod 16112 is also inserted into the pressure plate 16122.

[0088] In this way, when the driving force input end of the terminal component 14 rotates, the second connecting member 1612 is driven to move, and the second connecting member 1612 compresses the second elastic member 1613 through the pressure plate 16122, so that the second elastic member 1613 generates elastic force, thereby reacting to the driving force input end of the terminal component 14 through the push rod 16121.

[0089] It should be noted that the first elastic component 151 and the second elastic component 161 in the embodiment of the present application may be gas springs, and the embodiment of the present application does not limit the specific forms of the first elastic component 151 and the second elastic component 161.

[0090] In one embodiment, referring to Figure 2As shown, the active arm assembly 11 includes a first connecting rod 111 and a first driving member 112 disposed on the first connecting rod 111. The active arm assembly 11 drives the first driven arm assembly 12, the second driven arm assembly 13 and the end assembly 14 to move through the first driving member 112. Specifically, the first force balancing mechanism 15 can be assembled on the first connecting rod 111.

[0091] Specifically, the first driven arm assembly 12 includes a second connecting rod 121 and a first belt transmission mechanism 122 arranged on the second connecting rod 121. The first belt transmission mechanism 122 includes a first pulley 1221, a first transmission belt 1222 and a second pulley 1223. The first pulley 1221 is fixedly connected to one end of the second connecting rod 121 and is transmission-connected to the first driving member 112, and the second pulley 1223 is rotatably arranged on the other end of the second connecting rod 121. The first transmission belt 1222 is stretched on the first pulley 1221 and the second pulley 1223. Here, the first pulley 1221 can be considered as the driving force input end of the first driven arm assembly 12. Further, the first driven arm assembly 12 also includes a first rotating shaft 123, the second pulley 1223 can be sleeved on the first rotating shaft 123, and the first pulley 1221 can be sleeved on the rotating shaft of the first driving member 112.

[0092] Specifically, the second driven arm assembly 13 includes a third connecting rod 131 and a second belt transmission mechanism 132 arranged on the third connecting rod 131. The second belt transmission mechanism 132 includes a third pulley 1321, a second transmission belt 1322 and a fourth pulley 1323. The third pulley 1321 and the second pulley 1323 are both fixedly connected to one end of the third connecting rod 131, and the fourth pulley 1323 is rotatably arranged on the other end of the third connecting rod 131 and fixedly connected to the terminal assembly 14. The second transmission belt 1322 is stretched on the third pulley 1321 and the fourth pulley 1323. Here, the fourth pulley 1323 can be considered as the driving force input end of the terminal assembly 14. Specifically, the second force balancing mechanism 16 can be assembled on the third connecting rod 131. Furthermore, the second driven arm assembly 13 further includes a second rotating shaft 133 , the fourth pulley 1323 can be sleeved on the second rotating shaft 133 , and the third pulley 1321 can be sleeved on the first rotating shaft 123 .

[0093] In one example, referring to Figure 2 and Figure 7 As shown, the telecentric mechanism 10 also includes a cantilever 17 and a second driving member 18. The proximal end of the active arm assembly 11 is connected to the cantilever 17. The second driving member 18 is used to drive the active arm assembly 11, the first slave arm assembly 12, the second slave arm assembly 13 and the end assembly 14 to rotate as a whole.

[0094] Further, the first connecting rod 111 includes a first rod body 1111 and a second rod body 1112, and the second rod body 1112 is arranged at one end of the first rod body 1111 close to the proximal end of the active arm assembly 11. The second rod body 1112 includes a first part 11121 and a second part 11122 connected to each other, the second part 11122 is connected to the first rod body 1111, and the first part 11121 is connected to the cantilever 17. The first part 11121 has a first extension center line a, and the second part 11122 has a second extension center line b, and the second extension center line b and the extension center line of the first rod body 1111 are located on the same plane. The angle between the first extension center line a and the second extension center line b is α. α satisfies the following condition: 30°≤α≤40°.

[0095] The above arrangement is equivalent to making the first connecting rod 111 have a deflection angle, which determines the horizontal distance between the RC point of the telecentric mechanism 10 and the axis line of the first driving member 112. By adjusting the deflection angle, the size of the offset caused by the gravity of the active arm assembly 11 and its rear end component borne by the second driving member 18 can be adjusted.

[0096] In another example, α may also be 0°.

[0097] Please refer to Figure 8 As shown, the embodiment of the present application analyzes the gravity of the first driven arm assembly 12 and its rear end components. It can be seen from the figure that the gravity load on the fourth pulley 1323 is the product of the gravity of the end assembly 14 and the distance from the center of mass M4 = m 4g ×L4, the gravity load on the third pulley 1321 is M3=m 3g * L3. The gravity load on the first driving member 112 (or the first pulley 1221) is M2=m 2g * In addition to L2, it also includes M4=m 4g *L4, that is, the second belt transmission mechanism 132 transmits the torque at the fourth pulley 1323 to the first driving member 112 (or the first pulley 1221). The first force balancing mechanism 15 provided in the embodiment of the present application can balance the sum of the gravity loads of M2 and M4, and the second force balancing mechanism 16 can balance the gravity load M4, thereby effectively reducing the gravity load borne by the first driving member 112 (or the first pulley 1221).

[0098] Please refer to Fig. 9As shown in FIG. 1 , when the second driven arm assembly 13 is subjected to a gravity load, there are tensions T1 and T2 on the second transmission belt 1322. These two forces not only generate torque on the third pulley 1321 and the fourth pulley 1323, but also generate a set of opposite forces along the axis of the third connecting rod 131 at both ends of the third connecting rod 131. Specifically, the force causes the third connecting rod 131 to produce a small concave deformation. By introducing the second elastic component 161, it can generate a torque in the direction of the third connecting rod 131 in accordance with F1. T1 、F T2 The opposite force (F spring ), and in this embodiment, the spring force of the second elastic component 161 is of the same magnitude as the tension, which can effectively reduce the resultant force acting on the third connecting rod 131, thereby reducing the deformation of the third connecting rod 131.

[0099] In a second aspect, an embodiment of the present application provides a surgical robot, comprising the telecentric mechanism 10 in any embodiment of the first aspect.

[0100] The telecentric mechanism 10 provided in the embodiment of the present application is provided with a first force balancing mechanism 15 on the active arm assembly 11, and a second force balancing mechanism 16 on the second slave arm assembly 13. In this way, on the one hand, the first force balancing mechanism 15 can balance the gravity moment generated by all components at the rear end of the first slave arm assembly 12, reduce the load on the active arm assembly 11, and improve the stiffness of the connection between the active arm assembly 11 and the first slave arm assembly 12, which is conducive to extending the life of the components; on the other hand, the second force balancing mechanism 16 can balance the gravity moment generated by the end assembly 14, reduce the load on the second slave arm assembly 13, and improve the stiffness of the connection between the second slave arm assembly 13 and the end assembly 14, which is conducive to extending the life of the components; on the other hand, since the second force balancing mechanism 16 can balance a part of the load, the weight of the load that the first force balancing mechanism 15 needs to balance can be reduced, so that the size of the first force balancing mechanism 15 can be compressed to reduce the overall size of the telecentric mechanism 10, which is conducive to the miniaturization of the telecentric mechanism 10.

[0101] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0102] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features of the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0103] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A telecentric mechanism, characterized in that: include: Active arm assembly (11); A first slave arm assembly (12), wherein the proximal end of the first slave arm assembly (12) is rotatably connected to the distal end of the active arm assembly (11); A second slave arm assembly (13), wherein the proximal end of the second slave arm assembly (13) is rotatably connected to the distal end of the first slave arm assembly (12); A terminal assembly (14) is rotatably connected to the distal end of the second driven arm assembly (13); The active arm assembly (11) is equipped with a first force balancing mechanism (15), the force output end of the first force balancing mechanism (15) is connected to the first slave arm assembly (12), and the first force balancing mechanism (15) is used to apply a compensation force to the first slave arm assembly (12); the second slave arm assembly (13) is equipped with a second force balancing mechanism (16), the force output end of the second force balancing mechanism (16) is connected to the end assembly (14), and the second force balancing mechanism (16) is used to apply a compensation force to the end assembly (14).

2. The telecentric mechanism according to claim 1, characterized in that: The first force balancing mechanism (15) is an elastic balancing mechanism, and a force output end of the first force balancing mechanism (15) is connected to a driving force input end of the first slave arm assembly (12) for applying an elastic compensation force to the first slave arm assembly (12).

3. The telecentric mechanism according to claim 2, characterized in that: The first force balancing mechanism (15) comprises a first elastic component (151) and a force transmission component (152), wherein the fixed end of the first elastic component (151) is connected to the active arm component (11), and the force transmission component (152) is connected to the free end of the first elastic component (151) and the driving force input end of the first driven arm component (12).

4. The telecentric mechanism according to claim 3, characterized in that: The fixed end of the first elastic component (151) is connected to the proximal end of the active arm component (11), and the free end of the first elastic component (151) extends toward the distal end of the active arm component (11); the first driven arm component (12) is connected to the distal end of the active arm component (11); The first force balancing mechanism (15) further comprises a first guide wheel (153), wherein the first guide wheel (153) is arranged on a side of the free end of the first elastic component (151) close to the far end of the active arm component (11), and the force transmission component (152) is wound around the first guide wheel (153).

5. The telecentric mechanism according to claim 4, characterized in that: The first elastic component (151) comprises: An outer sleeve (1511), one end of which is connected to the proximal end of the active arm assembly (11); A guide bushing (1512) slidably disposed on the outer sleeve (1511); An assembly part (1513) is arranged at one end of the guide bushing (1512) close to the far end of the active arm assembly (11); the force transmission member (152) is connected to the assembly part (1513); The first elastic member (1514) is inserted into the outer sleeve (1511) and the guide bushing (1512), one end of the first elastic member (1514) is connected to the proximal end of the active arm assembly (11), and the other end is connected to the assembly member (1513).

6. The telecentric mechanism according to claim 5, characterized in that: The first elastic member (1514) is a spring; The first elastic component (151) further comprises an inner sleeve (1515), one end of which is connected to the proximal end of the active arm component (11); the inner sleeve (1515) is inserted into the outer sleeve (1511), and the first elastic member (1514) is sleeved on the inner sleeve (1515).

7. The telecentric mechanism according to claim 5, characterized in that: The first force balancing mechanism (15) further comprises a guide wheel group (154), wherein the guide wheel group (154) is arranged on a side of the first guide wheel (153) close to the far end of the active arm assembly (11), and the force transmission member (152) is connected to the free end of the first elastic assembly (151) after passing through the guide wheel group (154) and the first guide wheel (153) in sequence.

8. The telecentric mechanism according to claim 1, characterized in that: The second force balancing mechanism (16) is an elastic balancing mechanism, and the force output end of the second force balancing mechanism (16) is connected to the driving force input end of the terminal component (14) for applying an elastic compensation force to the terminal component (14).

9. The telecentric mechanism according to claim 8, characterized in that: The second force balancing mechanism (16) comprises a second elastic component (161), a fixed end of the second elastic component (161) is connected to the second driven arm component (13), and a free end of the second elastic component (161) is connected to the driving force input end of the end component (14).

10. The telecentric mechanism according to claim 9, characterized in that: The second elastic component (161) comprises: A first connecting member (1611) is hingedly connected to the second driven arm assembly (13); A second connecting member (1612) is hingedly connected to the driving force input end of the terminal assembly (14); A second elastic member (1613) has one end connected to the first connecting member (1611) and the other end connected to the second connecting member (1612).

11. The telecentric mechanism according to claim 10, characterized in that: The first connecting member (1611) comprises: A first connecting portion (16111) is hingedly connected to the second driven arm assembly (13); a guide rod (16112) disposed on a side of the first connecting portion (16111) close to the second connecting member (1612); the second elastic member (1613) is a spring, the second elastic member (1613) is sleeved on the guide rod (16112), and the fixed end of the second elastic member (1613) is connected to the first connecting portion (16111); A stopper (16113) is arranged at an end of the guide rod (16112) away from the first connecting portion (16111).

12. The telecentric mechanism according to claim 11, characterized in that: The second connecting member (1612) comprises: A push rod (16121) is inserted into the stopper (16113), and one end of the push rod (16121) is hinged to the driving force input end of the terminal assembly (14); A pressure plate (16122) is arranged at an end of the push rod (16121) away from the driving force input end of the end assembly (14), and the pressure plate (16122) is connected to the free end of the second elastic member (1613); the guide rod (16112) is also passed through the pressure plate (16122).

13. A surgical robot, characterized in that: It comprises a telecentric mechanism (10) as claimed in any one of claims 1 to 12.

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