Transmission clearance measuring device and surgical robot compensation method

Abstract

The present invention discloses a transmission clearance measuring device and a surgical robot compensation method, belonging to the technical field of surgical robots. The transmission clearance measuring device includes a detection unit and an adapter unit, the adapter unit includes a base and at least four measuring modules arranged on the base, each measuring module includes a rotating shaft, an angle measuring component and a damping adjustment component, the rotating shaft is rotatably connected to the base, the angle measuring component is used to detect the rotation angle of the rotating shaft, and the damping adjustment component is used to adjust the rotation damping of the rotating shaft; the adapter unit includes a surgical instrument transition plate and at least four transition wheels rotatably arranged on the surgical instrument transition plate, one end of each transition wheel is coaxially connected to the corresponding rotating shaft, and the other end of each transition wheel is used to be coaxially connected to the groove wheel of the driving unit. The present invention is used to detect the transmission clearance of the driving unit at the end of the surgical robot to ensure the normal operation of the surgical robot and the accuracy of the movement of the surgical instrument.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a transmission clearance measuring device and a surgical robot compensation method. Background Art

[0002] With the development of medical technology, surgical robots are increasingly used in surgical operations. The surgical instruments of surgical robots are driven by multiple motors in the drive unit to drive the driving wheels of the ropes, thereby achieving precise movement of the end of the surgical instruments. This high-precision operation depends on the transmission structure inside the motor base.

[0003] At present, surgical instruments are usually manufactured using large-scale mold opening, which can ensure that the differences between products are small and the dimensional tolerance can be well controlled. However, the driving unit of the surgical robot includes a motor seat and a motor, a reduction gearbox and a groove wheel located inside the motor seat. The first encoder is integrated at the tail of the motor, and the reduction gearbox is integrated in front of the motor. There is a gap in the reduction gearbox, and there is also a processing gap at the connection between the reduction gearbox output shaft and the groove wheel. Since the driving unit at the end of the surgical robot is usually made by machining, there are certain errors in the machining process, and there may be large differences between different machines or between the processed products of the same batch.

[0004] During surgical operations, the transmission backlash of the drive unit may cause a reduction in the movement of the drive wheel of the cable drive, thereby significantly attenuating the clamping force at the end of the surgical instrument.

[0005] Therefore, there is an urgent need to provide a transmission gap measuring device and a surgical robot compensation method to solve the above problems. Summary of the invention

[0006] The object of the present invention is to provide a transmission clearance measuring device and a surgical robot compensation method for detecting the transmission clearance of a driving unit at the end of a surgical robot to ensure the normal operation of the surgical robot and the accuracy of the movement of surgical instruments.

[0007] In order to achieve the above objectives, the following technical solutions are provided:

[0008] Transmission clearance measuring device, comprising:

[0009] A detection unit, comprising a base and at least four measuring modules arranged on the base, each of the measuring modules comprising a rotating shaft, an angle measuring component and a damping adjustment component, the rotating shaft is rotatably connected to the base, the angle measuring component is used to detect the rotation angle of the rotating shaft, and the damping adjustment component is used to adjust the rotation damping of the rotating shaft;

[0010] The adapter unit includes a surgical instrument transition plate and at least four transition wheels rotatably arranged on the surgical instrument transition plate, one end of each of the transition wheels is coaxially connected to the corresponding rotating shaft, and the other end of each of the transition wheels is used to be coaxially connected to the groove wheel of the driving unit.

[0011] As an optional scheme for the transmission clearance measuring device, the damping adjustment assembly includes a first fixed frame and a first damping sleeve and a second damping sleeve respectively located at opposite ends of the first fixed frame, the first fixed frame is provided with at least four avoidance holes, the rotating shaft passes through the first damping sleeve, the avoidance hole and the second damping sleeve in sequence, the first damping sleeve or the second damping sleeve is fixedly connected to the rotating shaft, the adjusting screw passes through the first damping sleeve and the avoidance hole and is threadedly connected to the second damping sleeve, and the adjusting screw is rotated to adjust the distance between the first damping sleeve and the second damping sleeve.

[0012] As an optional solution of the transmission clearance measuring device, a first damping washer is provided at one end of the first damping sleeve close to the avoidance hole, and / or a second damping washer is provided at one end of the second damping sleeve close to the avoidance hole.

[0013] As an optional solution for the transmission clearance measuring device, a first assembly hole is radially arranged on the outer wall surface of the second damping sleeve, and a first set screw passes through the first assembly hole and is threadedly connected to the rotating shaft.

[0014] As an optional solution for the transmission gap measuring device, the angle measuring assembly includes a radial magnet, a second fixed frame and a second encoder, the second fixed frame is mounted on the first fixed frame, at least four cylinders are arranged on the second fixed frame, the second encoder is arranged in the cylinder, and the radial magnet is fixedly arranged at one end of the rotating shaft close to the second encoder.

[0015] As an optional solution for the transmission clearance measuring device, the angle measuring assembly also includes a mounting sleeve, the radial magnet is embedded in the mounting sleeve, the mounting sleeve is movably mounted on the rotating shaft, and a second fixing screw passes through the second assembly hole of the mounting sleeve and is abutted against the outer wall surface of the rotating shaft.

[0016] As an optional solution of the transmission clearance measuring device, the angle measuring assembly includes at least four cover plates, and the cover plates are connected to the corresponding cylinders.

[0017] As an optional solution for the transmission clearance measuring device, the groove wheel is provided with a first connecting hole, the tail of the rotating shaft is provided with a second connecting hole, and the opposite ends of the transition wheel are respectively provided with a first plug and a second plug, the first plug is plugged into the first connecting hole, and the second plug is plugged into the second connecting hole.

[0018] As an optional solution for the transmission gap measuring device, hook portions are respectively provided on opposite sides of the surgical instrument transition plate, and first card slots are provided on opposite sides of the base, and the first card slot and the second card slot on the motor seat of the driving unit are both engaged with the hook portions.

[0019] The surgical robot compensation method uses the transmission clearance measuring device as described above to measure the transmission clearance of the driving unit of the surgical robot, and comprises the following steps:

[0020] Installing the adapter unit of the transmission clearance measuring device onto the driving unit;

[0021] Adjusting the damping adjustment component so that the rotating shaft has a set damping value;

[0022] The motor of the driving unit rotates forward or reversely, and the rotation angle of the motor is measured as a first angle value by the first encoder of the motor, and the rotation angle of the rotating shaft is measured as a second angle value by the angle measuring component, and the difference between the first angle value and the second angle value is the transmission clearance value of the driving unit;

[0023] Collect data of all transmission gap values ​​and record the data in the storage unit of the surgical robot.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The transmission clearance measuring device provided by the present invention has a detection unit whose base is located on the surgical instrument transition plate of the adapter unit, and four measurement modules are arranged one by one with four transition wheels, one end of the transition wheel is coaxially connected to the rotating shaft, and the other end of the transition wheel is used to be coaxially connected to the groove wheel of the driving unit. Before measurement, the damping adjustment component is used to adjust the rotational damping of the rotating shaft to simulate the damping generated when the surgical instrument is used. During measurement, the driving unit drives the rotating shaft to rotate, and the angle measurement component detects the rotation angle of the rotating shaft, calculates the difference between the rotation angle of the rotating shaft and the rotation angle of the first encoder of the driving unit, and obtains the difference in the transmission clearance of the driving unit of the surgical robot. The control algorithm of the driving unit is corrected according to the difference to ensure the normal operation of the surgical robot and the accuracy of the movement of the surgical instrument.

[0026] The surgical robot compensation method provided by the present invention adopts a transmission gap measuring device to measure the transmission gap of the driving unit of the surgical robot, collects data of all transmission gap values, and records the data in the storage unit of the surgical robot, and corrects the control algorithm of the driving unit according to the difference to ensure the normal operation of the surgical robot and the accuracy of the movement of the surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0028] Figure 1 It is a schematic diagram of the assembly of the transmission clearance measuring device and the driving unit in an embodiment of the present invention;

[0029] Figure 2 An exploded schematic diagram of a transmission gap measuring device and a driving unit in an embodiment of the present invention;

[0030] Figure 3 It is a schematic diagram of the assembly of the detection unit in an embodiment of the present invention;

[0031] Figure 4 An exploded schematic diagram of a base, a first fixing frame, a second fixing frame and a cover plate in an embodiment of the present invention;

[0032] Figure 5 An exploded schematic diagram of a rotating shaft, a mounting sleeve and a radial magnet in an embodiment of the present invention;

[0033] Figure 6 It is a schematic diagram of the assembly of the rotating component in the detection unit in an embodiment of the present invention;

[0034] Figure 7 It is a schematic diagram of the structure of the rotating component and the second encoder in the detection unit in an embodiment of the present invention;

[0035] Figure 8 Flow chart of the surgical robot compensation method in an embodiment of the present invention.

[0036] Reference numerals:

[0037] 1. Detection unit; 2. Adapter unit; 3. Drive unit;

[0038] 11. base; 111. first slot; 12. rotating shaft; 121. second connecting hole; 13. angle measuring assembly; 131. radial magnet; 132. second fixing bracket; 1321. cylinder; 133. second encoder; 134. mounting sleeve; 1341. second assembly hole; 135. cover plate; 14. damping adjustment assembly; 141. first fixing bracket; 1411. avoidance hole; 142. first damping sleeve; 1421. first damping washer; 143. second damping sleeve; 1431. second damping washer; 1432. first assembly hole; 144. adjusting screw; 15. bearing;

[0039] 21. surgical instrument transition plate; 211. hook portion; 22. transition wheel; 221. second plug post;

[0040] 31. Grooved wheel; 311. First connecting hole; 32. Motor seat; 321. Second slot. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0042] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0043] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0045] In order to detect the transmission clearance of the driving unit at the end of the surgical robot and ensure the normal operation of the surgical robot and the accuracy of the movement of the surgical instrument, this embodiment provides a transmission clearance measuring device and a surgical robot compensation method. Figures 1 to 8 The specific contents of this embodiment are described in detail.

[0046] The transmission clearance measuring device in this embodiment includes a detection unit 1 and an adapter unit 2. The detection unit 1 includes a base 11 and at least four measurement modules arranged on the base 11, each of which includes a rotating shaft 12, an angle measurement component 13 and a damping adjustment component 14. The rotating shaft 12 is rotatably connected to the base 11 through a bearing 15. The angle measurement component 13 is used to detect the rotation angle of the rotating shaft 12, and the damping adjustment component 14 is used to adjust the rotation damping of the rotating shaft 12. The adapter unit 2 includes a surgical instrument transition plate 21 and at least four transition wheels 22 rotatably arranged on the surgical instrument transition plate 21. One end of each transition wheel 22 is coaxially connected to the corresponding rotating shaft 12, and the other end of each transition wheel 22 is used to be coaxially connected to the groove wheel 31 of the driving unit 3.

[0047] In short, the transmission clearance measuring device provided by the present invention has a base 11 of the detection unit 1 located on the surgical instrument transition plate 21 of the adapter unit 2, and four measurement modules are arranged one by one with four transition wheels 22, one end of the transition wheel 22 is coaxially connected to the rotating shaft 12, and the other end of the transition wheel 22 is used to be coaxially connected to the groove wheel 31 of the driving unit 3. Before measurement, the damping adjustment component 14 is used to adjust the rotation damping of the rotating shaft 12 to simulate the damping generated when the surgical instrument is used. During measurement, the driving unit 3 drives the rotating shaft 12 to rotate, and the angle measurement component 13 detects the rotation angle of the rotating shaft 12, calculates the difference between the rotation angle of the rotating shaft 12 and the rotation angle of the first encoder of the driving unit 3, and obtains the difference in the transmission clearance of the driving unit 3 of the surgical robot. According to the difference, the control algorithm of the driving unit 3 is corrected to ensure the normal operation of the surgical robot and the accuracy of the movement of the surgical instrument.

[0048] Furthermore, the damping adjustment assembly 14 includes a first fixing frame 141 and a first damping sleeve 142 and a second damping sleeve 143 respectively located at opposite ends of the first fixing frame 141. At least four avoidance holes 1411 are arranged on the first fixing frame 141. The rotating shaft 12 passes through the first damping sleeve 142, the avoidance hole 1411 and the second damping sleeve 143 in sequence. The first damping sleeve 142 or the second damping sleeve 143 is fixedly connected to the rotating shaft 12. The adjusting screw 144 passes through the first damping sleeve 142 and the avoidance hole 1411 and is threadedly connected to the second damping sleeve 143. Rotating the adjusting screw 144 is used to adjust the distance between the first damping sleeve 142 and the second damping sleeve 143. One of the first damping sleeve 142 and the second damping sleeve 143 is fixedly connected to the rotating shaft 12, and the first damping sleeve 142 and the second damping sleeve 143 are threadedly connected together by an adjusting screw 144. The friction damping between the other of the first damping sleeve 142 and the second damping sleeve 143 and the first fixing frame 141 can be changed by screwing the adjusting screw 144. The friction damping is detected by a torque measuring wrench until it is equal to the friction damping that the surgical instrument should generate. By adding the first fixing frame 141, the first damping sleeve 142 and the second damping sleeve 143, the friction damping that the surgical instrument should generate can be realistically simulated, thereby improving the authenticity and accuracy of the transmission clearance measuring device.

[0049] Further, a first damping washer 1421 is provided at one end of the first damping sleeve 142 near the avoidance hole 1411, and / or a second damping washer 1431 is provided at one end of the second damping sleeve 143 near the avoidance hole 1411. By installing the first damping washer 1421 on the first damping sleeve 142 and installing the second damping washer 1431 on the second damping sleeve 143, direct contact between the first damping sleeve 142 or the second damping sleeve 143 and the first fixing frame 141 can be avoided, which not only increases friction damping, but also prolongs the service life of the first damping sleeve 142 or the second damping sleeve 143.

[0050] For example, in this embodiment, the outer wall surface of the second damping sleeve 143 is radially provided with a first assembly hole 1432, and the first set screw passes through the first assembly hole 1432 and is threadedly connected to the wall surface of the rotating shaft 12. In this embodiment, the second damping sleeve 143 is fixed to the rotating shaft 12. In other embodiments, the first damping sleeve 142 can also be fixed to the rotating shaft 12.

[0051] Furthermore, the angle measurement assembly 13 includes a radial magnet 131, a second fixing frame 132 and a second encoder 133. The second fixing frame 132 is mounted on the first fixing frame 141. At least four cylinders 1321 are arranged on the second fixing frame 132. The second encoder 133 is arranged in the cylinder 1321. The radial magnet 131 is fixedly arranged at one end of the rotating shaft 12 close to the second encoder 133. Since the radial magnet 131 can rotate with the rotating shaft 12, the second encoder 133 can detect the rotation angles of the radial magnet 131 and the rotating shaft 12 at the same time.

[0052] Specifically, the angle measurement assembly 13 also includes a mounting sleeve 134, in which the radial magnet 131 is embedded, and the mounting sleeve 134 is movably mounted on the rotating shaft 12, and the second set screw passes through the second assembly hole 1341 of the mounting sleeve 134 and abuts against the outer wall surface of the rotating shaft 12. In this embodiment, the radial magnet 131 is first fixed to the mounting sleeve 134, and then the mounting sleeve 134 is fixed to the rotating shaft 12 by the second set screw. In some application scenarios, the mounting sleeve 134 and the rotating shaft 12 can be loosened by screwing the second set screw to facilitate the adjustment of the direction of the radial magnet 131. Optionally, the second encoder 133 uses a Hall absolute encoder, and there is a zero point where the magnet rotates a full circle to zero. The groove wheel 31 of the motor seat 32 does not rotate a full circle, and the zero position of the mounting sleeve 134 and the radial magnet 131 can be adjusted to the limit position of the motor output shaft to avoid measurement errors. It should be noted that the rotating component in this embodiment includes an assembly formed by the rotating shaft 12 , the radial magnet 131 , the mounting sleeve 134 , the first damping sleeve 142 , the second damping sleeve 143 and the bearing 15 .

[0053] Furthermore, the angle measurement assembly 13 includes at least four cover plates 135, and the cover plates 135 are connected to the corresponding cylinders 1321. The cover plates 135 are added to protect the second encoder 133 inside the cylinder 1321.

[0054] Furthermore, the groove wheel 31 is provided with a first connection hole 311, the tail of the rotating shaft 12 is provided with a second connection hole 121, and the opposite ends of the transition wheel 22 are respectively provided with a first plug post and a second plug post 221, the first plug post is plugged into the first connection hole 311, and the second plug post 221 is plugged into the second connection hole 121. The groove wheel 31, the transition wheel 22 and the rotating shaft 12 are fixed together coaxially by plugging, which is conducive to the synchronization of rotation.

[0055] Furthermore, hook portions 211 are respectively provided on opposite sides of the surgical instrument transition plate 21, and first clamping grooves 111 are provided on opposite sides of the base 11. The first clamping grooves 111 and the second clamping grooves 321 on the motor seat 32 of the drive unit 3 are clamped with the hook portions 211. The motor seat 32, the surgical instrument transition plate 21 and the base 11 are fixed as a whole by clamping, thereby improving the assembly stability of the three.

[0056] This embodiment also provides a surgical robot compensation method, which uses the transmission gap measuring device mentioned above to measure the transmission gap of the driving unit 3 of the surgical robot, including the following steps: installing the adapter unit 2 of the transmission gap measuring device on the driving unit 3; adjusting the damping adjustment component 14 so that the rotating shaft 12 has a set damping value; the motor of the driving unit 3 rotates forward or reverse, and the rotation angle of the motor is measured as a first angle value by the first encoder of the motor, and the rotation angle of the rotating shaft 12 is measured as a second angle value by the angle measurement component 13, and the difference between the first angle value and the second angle value is the transmission gap value of the driving unit 3; collecting data of all transmission gap values, and recording the data in the storage unit of the surgical robot. When the surgical robot performs operations such as clamping, the gap data is used for position compensation through an internal algorithm to ensure the consistency and accuracy of the internal drive device of the motor seat 32 of the driving unit 3.

[0057] In summary, the transmission gap measuring device and surgical robot compensation method have the following advantages: 1. High-precision detection: It can accurately detect the gap in the transmission structure of the motor seat 32 to ensure the precise operation of the surgical instrument. 2. Easy operation: The design is simple and easy to operate. One device can be applied to most surgical robots of the same type. 3. Strong reliability: Through strict testing and calibration, the stability and safety of surgical instruments are improved.

[0058] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. Transmission clearance measuring device, characterized in that: include: A detection unit (1) comprises a base (11) and at least four measuring modules arranged on the base (11), each of the measuring modules comprising a rotating shaft (12), an angle measuring component (13) and a damping adjustment component (14), the rotating shaft (12) being rotatably connected to the base (11), the angle measuring component (13) being used to detect the rotation angle of the rotating shaft (12), the damping adjustment component (14) being used to adjust the rotation damping of the rotating shaft (12), the damping adjustment component (14) comprising a first fixing frame (141) and a first damping sleeve (142) and a second damping sleeve (144) respectively located at opposite ends of the first fixing frame (141). 43), at least four avoidance holes (1411) are provided on the first fixing frame (141), the rotating shaft (12) passes through the first damping sleeve (142), the avoidance hole (1411) and the second damping sleeve (143) in sequence, the first damping sleeve (142) or the second damping sleeve (143) is fixedly connected to the rotating shaft (12), an adjusting screw (144) passes through the first damping sleeve (142) and the avoidance hole (1411) and is threadedly connected to the second damping sleeve (143), and the adjusting screw (144) is rotated to adjust the distance between the first damping sleeve (142) and the second damping sleeve (143); The adapter unit (2) comprises a surgical instrument transition plate (21) and at least four transition wheels (22) rotatably arranged on the surgical instrument transition plate (21), one end of each of the transition wheels (22) being coaxially connected to the corresponding rotating shaft (12), and the other end of each of the transition wheels (22) being coaxially connected to a groove wheel (31) of a drive unit (3).

2. The transmission clearance measuring device according to claim 1, characterized in that: A first damping washer (1421) is provided at one end of the first damping sleeve (142) close to the avoidance hole (1411), and / or a second damping washer (1431) is provided at one end of the second damping sleeve (143) close to the avoidance hole (1411).

3. The transmission clearance measuring device according to claim 1, characterized in that: A first assembly hole (1432) is radially arranged on the outer wall surface of the second damping sleeve (143), and a first set screw passes through the first assembly hole (1432) and is threadedly connected to the rotating shaft (12).

4. The transmission clearance measuring device according to claim 1, characterized in that: The angle measurement assembly (13) comprises a radial magnet (131), a second fixing frame (132) and a second encoder (133); the second fixing frame (132) is mounted on the first fixing frame (141); at least four cylinders (1321) are arranged on the second fixing frame (132); the second encoder (133) is arranged in the cylinder (1321); and the radial magnet (131) is fixedly arranged at one end of the rotating shaft (12) close to the second encoder (133).

5. The transmission clearance measuring device according to claim 4, characterized in that: The angle measuring assembly (13) further comprises a mounting sleeve (134), the radial magnet (131) being embedded in the mounting sleeve (134), the mounting sleeve (134) being movably mounted on the rotating shaft (12), and a second fixing screw passing through a second assembly hole (1341) of the mounting sleeve (134) and abutting against an outer wall surface of the rotating shaft (12).

6. The transmission clearance measuring device according to claim 4, characterized in that: The angle measurement assembly (13) comprises at least four cover plates (135), and the cover plates (135) are connected to corresponding cylinders (1321).

7. The transmission clearance measuring device according to any one of claims 1 to 6, characterized in that: The groove wheel (31) is provided with a first connection hole (311), the tail of the rotating shaft (12) is provided with a second connection hole (121), and the opposite ends of the transition wheel (22) are respectively provided with a first plug post and a second plug post (221), the first plug post is plugged into the first connection hole (311), and the second plug post (221) is plugged into the second connection hole (121).

8. The transmission clearance measuring device according to claim 7, characterized in that: Hooking parts (211) are respectively arranged on opposite sides of the surgical instrument transition plate (21), and first clamping grooves (111) are respectively arranged on opposite sides of the base (11), and the first clamping groove (111) and a second clamping groove (321) on the motor seat (32) of the drive unit (3) are both clamped with the hooking parts (211).

9. A surgical robot compensation method, characterized in that: Measuring the transmission clearance of a driving unit (3) of a surgical robot using the transmission clearance measuring device as claimed in any one of claims 1 to 8 comprises the following steps: Installing the adapter unit (2) of the transmission clearance measuring device onto the drive unit (3); Adjusting the damping adjustment component (14) so ​​that the rotating shaft (12) has a set damping value; The motor of the drive unit (3) rotates forward or reversely, and the rotation angle of the motor is measured as a first angle value by a first encoder of the motor, and the rotation angle of the rotating shaft (12) is measured as a second angle value by an angle measurement component (13), and the difference between the first angle value and the second angle value is a transmission clearance value of the drive unit (3); Collect data of all transmission gap values ​​and record the data in the storage unit of the surgical robot.

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