Gravity compensation device and medical system

Abstract

The invention discloses a gravity compensation device and a medical system. The gravity compensation device comprises a first component and a second component; the first part is arranged on the movable part structure and can move up and down relative to the fixed part structure along with the movable part structure; the second part is arranged on the fixed part structure and can move up and down relative to the fixed part structure; wherein the gravity compensation device has a first state, in the first state, in the first direction, the second component is higher than the first component, a distance is formed between the first component and the second component, at least one of the first component and the second component is arranged to be a magnetic component, and magnetic acting force exists between the first component and the second component; and the first part has a trend of moving towards the second part. Reliable assistance is provided when the mechanical arm of the affected robot moves, compensation or counteracting of the gravity of the mechanical arm is achieved, and therefore the operation pressure of an operator is remarkably reduced, and meanwhile the lifting stability of the mechanical arm is improved.

Description

Technical Field

[0001] This application generally relates to the technical field of surgical robots, and more particularly to a gravity compensation device and a medical system. Background Art

[0002] A robotic surgical system consists of three main components: a surgeon's console, a patient-side robot, and a vision cart. In robotic minimally invasive surgery, the surgery is performed remotely by one or more surgeons who control input devices at the console, and the generated input signals are transmitted to the patient-side robot. Then, the patient-side robot activates the surgical instruments connected to its robotic arms and performs the surgery according to the instructions of the remote surgeon.

[0003] The patient-side robot is provided with a robotic arm system including several robotic arms. The end of the robotic arm can achieve multi-degree-of-freedom movement, and an instrument driver is installed at the end of the robotic arm. A surgical instrument or an endoscope is detachably installed on the instrument driver.

[0004] Before starting robotic surgery, the robotic arm needs to be connected to a cannula. The cannula is pre-inserted into the patient's body, providing a port for the docking of the robotic arm. During the docking process, the operator manually operates the robotic arm and guides it into the cannula. When the robotic arm moves, gravity acts on the robotic arm, and the gravitational torque is a non-linear disturbance in the motion control of the robotic arm, resulting in unstable motor torque for pulling the robotic arm up and down and affecting the performance of the motor.

[0005] Application Content

[0006] A series of simplified concepts are introduced in the application content section, which will be further described in detail in the detailed implementation section. The application content section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0007] A first aspect of this application provides a gravity compensation device disposed on a medical device. The medical device includes a columnar fixed structure and a moving structure that can move up and down along the fixed structure. The gravity compensation device includes:

[0008] A first component disposed on the moving structure, and the first component can move up and down relative to the fixed structure following the moving structure;

[0009] A second component disposed on the fixed structure, and the second component can move up and down relative to the fixed structure;

[0010] Among them, the gravity compensation device has a first state. In the first state, along a first direction, the second component is higher than the first component, and there is a spacing between the first component and the second component. The second component is fixed relative to the fixed part structure. At least one of the first component and the second component is provided as a magnetic component, and there is a magnetic force between the first component and the second component, such that the first component has a tendency to move towards the second component;

[0011] Among them, the first direction is the direction in which the moving part structure moves up and down.

[0012] Optionally, the gravity compensation device has a second state. In the second state, the spacing between the first component and the second component is the smallest. The second component is fixed relative to the first component, and when the first component moves following the moving part structure, the second component has the same movement state as the first component.

[0013] Optionally, when the gravity compensation device is in the second state, there is a gap between the first component and the second component.

[0014] Optionally, the gravity compensation device includes a stop structure which is fixedly arranged relative to the fixed part structure. When the gravity compensation device is in the first state, the stop structure stops the second component.

[0015] Optionally, the gravity compensation device includes at least two sets of the first component and the second component, and the at least two sets of the first component and the second component are arranged along the first direction.

[0016] Optionally, two adjacent sets of the first component and the second component include a first set and a second set. The first component in the first set and the first component in the second set each have an effective stroke. The starting end of the effective stroke of the first component in the first set is located within the effective stroke of the first component in the second set, and the terminal end of the effective stroke of the first component in the second set is located within the effective stroke of the first component in the first set.

[0017] Optionally, the first component is provided as a columnar structure extending along the first direction, the second component is provided with a cavity portion penetrating along the first direction, and at least a part of the columnar structure of the first component can pass through the cavity portion of the second component.

[0018] Optionally, when the columnar structure of the first component is located in the cavity portion of the second component, there is a gap between the outer wall surface of the first component and the inner wall surface of the cavity portion of the second component.

[0019] Optionally, a first slit is provided on the side wall of the second component; or

[0020] The side wall of the second component is closed, and the projection of the second component in the plane perpendicular to the first direction is a closed ring.

[0021] Optionally, the first component is a magnetic component, the magnetic poles of the first component are distributed at the end of the first component along the first direction, and the second component first generates a magnetic force with the end of the first component.

[0022] Optionally, the gravity compensation device further includes:

[0023] A first sliding seat;

[0024] A first sliding block, the first sliding block is arranged on the first sliding seat, and the first sliding block is in sliding fit with the fixed part structure;

[0025] The first component is arranged on the first sliding seat and can move up and down synchronously with the first sliding seat along the first direction.

[0026] Optionally, the gravity compensation device further includes:

[0027] A second sliding seat;

[0028] A second sliding block, the second sliding block is arranged on the second sliding seat, and the second sliding block is in sliding fit with the fixed part structure;

[0029] The second component is arranged on the second sliding seat and can move up and down synchronously with the second sliding seat along the first direction.

[0030] Optionally, the first sliding seat is L-shaped, one first component is arranged on the first sliding seat, and the first component is arranged at one end of the first sliding seat;

[0031] Alternatively, the first sliding seat is C-shaped, two first components are arranged on the first sliding seat, and the two first components are respectively arranged at the two ends of the first sliding seat.

[0032] Optionally, a second slit distributed along the first direction is arranged on the side wall of the second sliding seat.

[0033] Optionally, the first component is a magnet column and the second component is a magnetic induction coil.

[0034] The second aspect of the present application provides a medical system, including:

[0035] A patient-side robot, the patient-side robot includes a column and at least one robotic arm; and

[0036] The gravity compensation device according to any one of the above technical solutions, and the gravity compensation device is arranged on the column of the patient-side robot.

[0037] A third aspect of the present application provides a medical system, the medical system includes a robotic arm, the robotic arm includes a columnar fixed part structure and a moving part structure that can move up and down along the fixed part structure, and the medical system further includes the gravity compensation device as described in any of the above technical solutions.

[0038] Details of one or more embodiments of the present application are set forth in the following drawings and description. Other features, objects, and advantages of the present application will become apparent from the specification, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The following drawings of the embodiments of the present application are hereby incorporated as part of the present application for understanding the present application. The embodiments and descriptions thereof of the present application shown in the drawings are used to explain the principles of the present application. In the drawings,

[0040] Figure 1 is a schematic diagram of a medical system according to an embodiment of the present application;

[0041] Figure 2 is a schematic diagram of a robot beside the patient according to an embodiment of the present application;

[0042] Figure 3 is a perspective view of an assisting device according to an embodiment of the present application;

[0043] Figure 4 is a perspective view of an induction component according to an embodiment of the present application;

[0044] Figure 5 is a diagram showing the cooperation relationship between a magnetic component and an induction component according to an embodiment of the present application, in which the second component is located at the top of the first component;

[0045] Figure 6 is a diagram showing the cooperation relationship between a magnetic component and an induction component according to an embodiment of the present application, in which the second component is located in the upper part of the first component;

[0046] Figure 7 is a diagram showing the cooperation relationship between a magnetic component and an induction component according to an embodiment of the present application, in which the second component is located in the middle part of the first component;

[0047] Figure 8 is a perspective view of a magnetic component according to an embodiment of the present application.

[0048] Description of the reference numerals:

[0049] 100: Surgical instrument 110: End effector assembly

[0050] 120: Shaft part 130: Rear end transmission device

[0051] 200: Medical system 210: Doctor's console

[0052] 220: Patient-side robot 221: Manipulator arm

[0053] 222: Instrument-holding arm 223: Column

[0054] 224: First guide rail 225: Second guide rail

[0055] 226: Third guide rail 2231: Stop structure

[0056] 230: Imaging device 240: Mounting base

[0057] 241: First magnetic component 242: Second magnetic component

[0058] 243: Third magnetic component 244: Fourth magnetic component

[0059] 245: First induction component 246: Second induction component

[0060] 247: Third induction component 248: Fourth induction component

[0061] 2410: First sliding seat 2411: First slider

[0062] 2412: First component 2450: Second sliding seat

[0063] 2451: Second slider 2452: Second component

[0064] 2453: First gap 2454: Second gap Detailed implementation manners

[0065] In the following description, numerous specific details are given to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without one or more of these details. In other instances, some well-known technical features are not described to avoid confusion with the present application.

[0066] To thoroughly understand the present application, a detailed description will be presented in the following. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concept of these exemplary embodiments to those of ordinary skill in the art. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present application are described in detail below. However, in addition to these detailed descriptions, the present application can also have other embodiments.

[0067] Ordinal numbers such as "first" and "second" cited in this application are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself.

[0068] It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used in this application are for illustrative purposes only and are not restrictive.

[0069] The terms "distal end" and "proximal end" used in this application are directional terms, which are commonly used terms in the field of interventional medical devices. Among them, the "distal end" refers to the end far from the operator during the operation, and the "proximal end" refers to the end close to the operator during the operation. In a telesurgical robot system, the "operator" refers to the patient-side robot that holds and brakes the surgical instrument.

[0070] The "parallel" / "perpendicular" and similar expressions used in this application include absolute parallel / perpendicular relationships and approximate parallel / perpendicular relationships (for example, relationships within a range of -5° to +5° from absolute parallel / perpendicular), which can achieve equivalent effects.

[0071] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings.

[0072] The medical system 200 according to an embodiment of the present application is a surgical robot system that can perform surgery remotely. Refer to Figure 1 , the medical system 200 may include a doctor console 210, a patient-side robot 220, and an imaging device 230.

[0073] Among them, the doctor console 210 is provided with a display unit for displaying the surgical instrument environment, a doctor operation control mechanism, armrests, etc. Among them, an observation window is opened on the display unit for the doctor to observe. The operation control mechanism is configured such that its actions can correspond to the actions of the surgical instrument. The armrests are used to place the doctor's arms. In addition, on the doctor console 210, there are also other control switches that are convenient for the hands or feet to touch or press to perform various function operations and complete human-machine interaction.

[0074] The imaging device 230 has a display screen, an endoscope controller, system electronic devices, an image processor, etc.

[0075] Refer to Figure 2, the surgical robot 220 may include at least one robotic arm 221, and there are several connecting arms on the robotic arm 221. Two adjacent connecting arms are relatively movable with specific degrees of freedom, so that the end of the robotic arm can achieve multi-degree-of-freedom movement (such as 7 degrees of freedom, which may vary according to different surgical instruments). A tool holding arm 222 is provided at the end of the robotic arm 221, and the surgical instrument 100 is detachably mounted on the tool holding arm 222. The surgical instrument 100 may be an instrument for performing surgical operations, such as an electrocautery device, a clamp, a vascular occluder, etc., or may be a camera for image acquisition of the surgical area, such as an endoscope, or other surgical instruments.

[0076] In some application scenarios, the robotic arm 221 can be configured to move mechanically around a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is defined as the port through which the patient's abdominal cavity is entered during the operation. During the operation, the robotic arm 221 is manipulated so that the tool holding arm 222 drives the surgical instrument 100 to perform movements such as pitching, deflecting, inserting, and rotating. During the movement, the longitudinal axis of the surgical instrument 100 always passes through the RCM point to avoid non-surgical damage to the patient's abdominal incision caused by the surgical instrument 100.

[0077] The surgical instrument 100 sequentially includes a rear-end transmission device 130, a shaft portion 120, and a distal end execution assembly 110 from the proximal end to the distal end. The rear-end transmission device 130 is in transmission connection with a driving device provided in the tool holding arm 222. The rear-end transmission device 130 can be connected to the distal end execution assembly 110 through a transmission member and brake the distal end execution assembly 110 through the transmission member. Among them, the transmission member can include a push-pull rod, a wire, a rope, a belt, etc. The shaft portion 120 is connected between the rear-end transmission device 130 and the distal end execution assembly 110 to space the rear-end transmission device 130 from the distal end execution assembly 110 and support the distal end execution assembly 110. The distal end execution assembly 110 may include tools for performing surgical operations such as cutting tissue, such as a hook, a spatula, a clamp, scissors, etc., or may be an endoscope lens for image acquisition.

[0078] Furthermore, a joint, such as a pitching joint, a yaw joint, etc., can also be provided between the distal end execution assembly 110 and the shaft portion 120 to improve the mobility of the distal end execution assembly 110. The rear-end driving device 130 can drive the joint to move through transmission members such as a push-pull rod, a wire, a rope, a belt, etc.

[0079] However, the inventors found that: before starting a robotic surgery, the operator needs to adjust the posture of the robotic arm, including the lifting of the robotic arm. When the robotic arm is lifted or lowered, gravity acts on the robotic arm, and the gravity moment is a non-linear disturbance in the motion control of the robotic arm, resulting in unstable motor torque for towing the lifting and lowering of the robotic arm and affecting the performance of the motor.

[0080] The gravity compensation device according to the embodiments of the present application can improve or solve at least one of the above problems.

[0081] As Figure 3 shown, the gravity compensation device according to the embodiments of the present application is provided on a medical device. The medical device includes a columnar fixed structure and a moving structure that can move up and down along the fixed structure. The fixed structure can be a part of the column 223 of the bedside robot 220, and the moving structure can be a part of the robotic arm 221 of the bedside robot 220. Or in some cases, the robotic arm itself also includes a vertically lifting structure, and the fixed structure can be a columnar fixed structure in the vertical direction of the robotic arm, and the moving structure can be a moving structure of the robotic arm that can move up and down relative to the fixed structure.

[0082] Wherein, the gravity compensation device includes: a first component 2412 and a second component 2452;

[0083] The first component 2412 is provided on the moving structure, and the first component 2412 can move up and down relative to the fixed structure following the moving structure;

[0084] The second component 2452 is provided on the fixed structure, and the second component 2452 can move up and down relative to the fixed structure;

[0085] Wherein, the gravity compensation device has a first state. In the first state, along a first direction, the second component 2452 is higher than the first component 2412, and there is a distance between the first component 2412 and the second component 2452. At least one of the first component 2412 and the second component 2452 is provided as a magnetic component, and there is a magnetic force between the first component 2412 and the second component 2452, and this magnetic force makes the first component 2412 have a tendency to move towards the second component 2452.

[0086] The first direction in this embodiment is the direction of the up and down movement of the moving part, that is, the height direction of the fixed structure, such as the height direction of the column 223, and is usually the vertical direction.

[0087] In the first state, the second component 2452 is higher than the first component 2412, and there is a distance between the second component 2452 and the first component 2412. The magnetic force between the first component 2412 and the second component 2452 can compensate for or offset the gravity of the moving structure (such as the robotic arm 221). Furthermore, during the process of the first component 2412 approaching or moving away from the second component 2452, the first component 2412 and the second component 2452 can always compensate for or offset the gravity of the robotic arm 221.

[0088] In the gravity compensation device of this embodiment, the magnetic force between the first component 2412 and the second component 2452 provides a relatively reliable balancing force during the lifting process of the robotic arm 221 of the bedside robot 220, realizing the compensation or cancellation of the gravity of the robotic arm 221 and reducing the disturbance of gravity to the system control, especially keeping the output torque of the motor controlling the lifting of the robotic arm 221 as constant as possible.

[0089] In one example, the gravity compensation device has a second state. In the second state, the distance between the first component 2412 and the second component 2452 is the smallest, and when the first component 2412 moves following the moving part structure, the second component 2452 has the same motion state as the first component 2412.

[0090] In the second state, when the first component 2412 moves to the minimum distance from the second component 2452, in order to prevent the second component 2452 from generating a force in the same direction as gravity during the continuous upward movement of the first component 2412, which has an effect opposite to gravity compensation, therefore, the second component 2452 is arranged to be a structure that can move up and down relative to the fixed part structure, so that the second component can rise together with the first component 2412. At this time, the second component 2452 and the first component 2412 have the same motion state, and the second component 2452 no longer compensates or cancels the gravity of the first component 2412 and the moving part structure.

[0091] Furthermore, in the embodiment, when the first component and the second component are in the second state, the first component and the second component are preferably not in contact, and there is at least a certain gap between them. The gap or distance between the first component and the second component can effectively ensure that when they change from the second state to the first state, they will not be difficult to separate due to magnetic attraction or friction. On the contrary, if the first component and the second component are in contact, then when the first component separates from the second component, due to the excessive attraction between them, it will have an opposite effect, that is, if the first component and the second component are in contact, due to the excessive force when they separate, the output torque of the motor is too large, which is also a non-linear disturbance during the operation of the motor, and even has a braking effect.

[0092] In one example, such as Figure 3As shown in the figure, the gravity compensation device includes a stop structure 2231, and the stop structure 2231 is fixedly arranged relative to the fixed part structure. When the first component 2412 is located below the stop structure, the gravity compensation device is in the first state at this time. Due to the magnetic attraction between the first component 2412 and the second component 2452, the second component 2452 has a tendency to move towards the first component 2412. Due to the blocking of the second component 2452 by the stop structure 2231, the second component 2452 is stationary and has a magnetic force acting on the first component 2412 in the direction opposite to the gravity direction, and even on the moving part structure fixedly connected to the first component 2412, thus achieving the effect of gravity compensation. Whether during the upward movement of the first component 2412 or during the downward movement of the second component 2452, as long as the first component 2412 and the second component 2452 do not reach the minimum distance between them, especially when the first component 2412 is located below the stop structure 2231 or most of the structure of the first component 2412 is located below the stop structure 2231, due to the second component 2452 being blocked by the stop structure 2231, the magnetic attraction between the second component 2452 and the first component 2412 can offset at least part of the gravity of the moving part structure and the second component 2452, achieving the effect of gravity compensation.

[0093] In one embodiment, taking the first component 2412 of the gravity compensation device being arranged on the robotic arm and the second component 2452 being arranged on the column 223 as an example, the stop structure 2231 can be a block arranged on the column 223, such as a rubber block. Within the effective action stroke of the magnetic attraction between the first component 2412 and the second component 2452, the block is located at the upper end of the effective stroke. When an operator operates the robotic arm, within this effective stroke, due to the blocking effect of the stop block on the second component 2452, the second component 2452 always has a magnetic force acting on the first component 2412 in the direction opposite to the gravity direction. Of course, to a certain extent, within the effective action stroke of the magnetic attraction between the first component 2412 and the second component 2452, the farther the distance between the first component 2412 and the second component 2452, the weaker the force of the second component 2452 on the first component 2412, but the direction of this force is still opposite to the gravity direction, and it can play a role in gravity compensation to a certain extent.

[0094] Furthermore, since in practical applications, the magnetic attraction between the second component 2452 and the first component 2412 has a stronger force within a certain distance range, and beyond a certain distance range, the magnetic force between the two is negligible. Therefore, in one example, as Figure 3As shown in the figure, the gravity compensation device includes at least two sets of first components 2412 and second components 2452, and the at least two sets of first components 2412 and second components 2452 are arranged in a first direction. Here, the first direction can be along the direction of gravity or the height direction. The at least two sets of first components 2412 and second components 2452 can increase the effective stroke of the gravity compensation device, so that when the moving part structure has a relatively long moving range relative to the fixed part structure, it is ensured as much as possible that the moving part structure can obtain gravity compensation during the entire movement process.

[0095] In one embodiment, taking Figure 3 as an example, the gravity compensation device includes a combined structure of a first magnetic component 241 and a first induction component 245, and a combined structure of a third magnetic component 243 and a third induction component 247. The first magnetic component 241 may include at least one first component 2412, the first induction component 245 may include at least one second component 2452, and there is a magnetic attraction between the first component 2412 of the first magnetic component 241 and the second component 2452 of the first induction component 245. The third magnetic component 243 includes a first component 2412, the third induction component 247 includes a second component 2452, and there is a magnetic attraction between the first component 2412 of the third magnetic component 243 and the second component 2452 of the third induction component 247. Among them, both the third magnetic component 243 and the third induction component 247 are located above the first magnetic component 241 and the first induction component 245, that is, arranged in the height direction, and the third induction component 247, the third magnetic component 243, the first induction component 245, and the first magnetic component 241 are arranged from top to bottom in sequence. In this arrangement, the stroke of the gravity compensation device can be effectively increased, at least the sum of the effective strokes between the first induction component 245 and the first magnetic component 241 and between the third induction component 247 and the third magnetic component 243.

[0096] In a further embodiment, the multiple magnetic components and induction components can be arranged in an interspersed manner. Each set of magnetic attraction components includes a first component 2412, and each set of induction components includes a second component 2452. In any two adjacent combined structures of magnetic components and induction components, the starting end of the effective stroke of the magnetic component in the first group can be located within the effective stroke of the magnetic component in the second group, and the terminal end of the effective stroke of the magnetic component in the second group can be located within the effective stroke of the magnetic component in the first group. For example, taking Figure 3For example, the gravity compensation device includes a combined structure of a first magnetic component 241 and a first induction component 245, a combined structure of a second magnetic component 242 and a second induction component 246, and a combined structure of a third magnetic component 243 and a third induction component 247. The first magnetic component 241, the second magnetic component 242, and the third magnetic component 243 each include a first part 2412, and the first induction component 245, the second induction component 246, and the third induction component 247 each include a second part 2452. The arrangement of the third induction component 247, the third magnetic component 243, the first induction component 245, and the first magnetic component 241 can be the top-down arrangement as described above. For the arrangement of the second induction component 246 and the second magnetic component 242, the second induction component 246 can be arranged between the first induction component 245 and the third induction component 247 and within the effective stroke of the third magnetic component 243, and the starting end of the effective stroke of the second magnetic component 242 is within the effective stroke of the first magnetic component 241. Correspondingly, the first induction component 245 is within the effective stroke of the second magnetic component 242, so that within the distance from the starting end of the first magnetic component 241 to the third induction component 247, the combined structure of the second magnetic component 242 and the second induction component 246 can compensate for the part of the stroke where the magnetic attraction of the third magnetic component 243 and the third induction component 247 is weak, so as to achieve that within the distance from the starting end of the first magnetic component 241 to the third induction component 247, the gravity compensation device can provide a relatively constant acting force as much as possible, achieving an effect similar to that of a constant force spring.

[0097] By analogy, the gravity compensation device can further include a combined structure of a fourth magnetic component 244 and a fourth induction component 248. The fourth induction component 248 and the fourth magnetic component 244 are both higher than the second induction component 246 and the second magnetic component 242, and the third induction component 247 is arranged between the second induction component 246 and the first induction component 245, and the third induction component 247 is within the effective stroke of the second magnetic component 242. The third induction component 247 cooperates to compensate for the part where the magnetic attraction of the fourth magnetic component 244 and the fourth induction component 248 is weak, so as to achieve that within the distance from the starting end of the first magnetic component 241 to the fourth induction component 248, the gravity compensation device can provide a relatively constant acting force.

[0098] Furthermore, in the embodiment, the gravity compensation device can further increase the combined structure of more magnetic components and induction components, and arrange them in an interspersed manner to provide a relatively constant compensation force during the entire movement stroke of the moving component.

[0099] Further, in the above embodiments, since in the height direction, the entire effective stroke of the second magnetic component 242 may intersect with the first induction component 245, in order to avoid the influence of the first induction component 245 on the second magnetic component 242, the second magnetic component 242 can be offset relative to the first induction component 245. Correspondingly, the second induction component 246 is also offset relative to the first magnetic or first induction component 245. For example, in combination with Figure 3 , the combined structure of the first magnetic component 241 and the first induction component 245 and the combined structure of the second magnetic component 242 and the second induction component 246 are respectively located on both sides of the fixed part structure, and try to keep the second magnetic component 242 and the first induction component 245 away from each other to avoid the interaction between the first induction component 245 and the second magnetic component 242. Similarly, the combined structure of the second magnetic component 242 and the second induction component 246 and the third magnetic component 243 and the third induction component 247 should also be kept as far away as possible. In the embodiment, referring to Figure 3 , the combined structure of the first magnetic component 241 and the first induction component 245 and the combined structure of the third magnetic component 243 and the third induction component 247 are located on one side of the fixed part structure, while the combined structure of the second magnetic component 242 and the second induction component 246 and the combined structure of the fourth magnetic component 244 and the fourth induction component 248 are located on the other side of the fixed part structure.

[0100] The above takes the induction component and the magnetic component as examples. The magnetic component and the induction component are only used as illustrations of the application examples of the first component 2412 and the second component 2452, and do not limit the producer of the magnetic force. In practice, the first component 2412 can be set as a magnetic component or the second component 2452 can be set as a magnetic component, or both the first component 2412 and the second component 2452 are magnetic components.

[0101] In one example, as Figure 3 , Figure 4 , Figure 5 shown, the first component 2412 is set as a columnar structure extending along the first direction, and the second component 2452 is provided with a cavity portion penetrating along the first direction. The columnar structure of the first component 2412 can pass through the cavity portion of the second component 2452. In some cases, setting the first component 2412 as a columnar structure member will have a longer effective stroke compared to a non-columnar structure. Correspondingly, the second component 2452 with a cavity portion cooperates with the columnar structure of the first component 2412, so that at least part of the structure of the first component 2412 can pass through the cavity portion of the second component 2452, which can further increase the effective stroke of the first component 2412.

[0102] In one example, as Figure 3As shown, when the columnar structure of the first component 2412 is located in the cavity of the second component 2452, there is a gap between the outer wall surface of the first component 2412 and the inner wall surface of the cavity of the second component 2452. This gap ensures that the first component 2412 and the second component 2452 are not difficult to separate due to magnetic attraction or friction, thereby protecting the motor that drives the movement of the moving part structure.

[0103] In one example, as Figure 4 shown, a first slit 2453 is provided on the side wall of the second component 2452. The first slit 2453 prevents the second component 2452 from forming a current loop or offsetting a part of the acting force between the first component and the second component due to the Lenz phenomenon.

[0104] In one example, the side wall of the second component 2452 having a cavity is closed. That is, the projection of the second component 2452 in a plane perpendicular to the first direction is a closed ring. The ring-shaped second component 2452 can ensure magnetic field balance and enhance magnetic acting force.

[0105] For the second component 2452, whether to provide a first slit 2453 or close the side wall of the second component 2452 having a cavity depends on the different materials selected for the second component 2452. In some embodiments, if the material of the second component 2452 itself has good magnetization effect, stronger magnetism and weak conductivity, the side wall of the second component 2452 can be set to be closed to ensure more balanced magnetic field and stronger magnetic acting force of the second component 2452. In other embodiments, if the material of the second component 2452 itself has conductivity, the side wall of the second component 2452 can be provided with a first slit 2453.

[0106] In one example, as Figure 3 shown, the first component 2412 is a magnetic component. The magnetic poles of the first component 2412 are distributed along the first direction at the ends of the first component 2412. The second component 2452 first generates a magnetic acting force with the ends of the first component 2412.

[0107] The ends of the first component 2412 face the second component 2452. The second component 2452 first generates a magnetic acting force with the ends of the first component 2412. When the second component 2452 moves to the middle of the first component 2412, the second component 2452 generates a magnetic acting force with the whole of the first component 2412. At this time, the generated magnetic acting force is in the maximum state, and the second component 2452 and the first component 2412 are in a synchronous movement state. Refer to Figure 7 shown.

[0108] In one example, as Figure 5 、 Figure 6 、 Figure 7As shown, the gravity compensation device further includes: a first sliding seat 2410 and a first slider 2411;

[0109] The first slider 2411 is disposed on the first sliding seat 2410 and is in sliding fit with the fixed part structure; the first sliding seat 2410 is provided with a mounting groove for mounting the first slider 2411;

[0110] The first component 2412 is disposed on the first sliding seat 2410 and can move up and down synchronously with the first sliding seat 2410 along the first direction.

[0111] If the column 223 has a sliding guiding structure, the first slider 2411 can be directly in sliding fit with the column 223. Preferably, a first guide rail 224 is provided on one side of the column 223, and the first slider 2411 is in sliding fit with the first guide rail 224 on the column 223.

[0112] The first sliding seat 2410 is provided with a mounting groove for mounting the first component 2412. The first component 2412 is in a vertical state on the first sliding seat 2410, with its lower end fixed in the mounting groove and its upper end facing the second component 2452 and coaxial with the cavity of the second component 2452.

[0113] In one example, as Figure 5 、 Figure 6 、 Figure 7 shown, the gravity compensation device further includes: a second sliding seat 2450 and a second slider 2451;

[0114] The second slider 2451 is disposed on the second sliding seat 2450 and is in sliding fit with the fixed part structure; the second sliding seat 2450 is provided with a mounting groove for mounting the second slider 2451;

[0115] The second component 2452 is disposed on the second sliding seat 2450 and can move up and down synchronously with the second sliding seat 2450 along the first direction.

[0116] If the column 223 has a sliding guiding structure, the second slider 2451 can be directly in sliding fit with the column 223. Preferably, a second guide rail 225 is provided on one side of the column 223, and the second slider 2451 is in sliding fit with the second guide rail 225 on the column 223. The second sliding seat 2450 is provided with a mounting groove for mounting the second component 2452, and the second component 2452 is fixed in the mounting groove. The cavity of the second component 2452 faces the first component 2412 and is coaxial with the first component 2412.

[0117] A third guide rail 226 is further provided on one side of the column 223. The third guide rail 226 is disposed opposite to the second guide rail 225 and is used for guiding the second slider 2451 on the opposite side.

[0118] In one example, asFigure 3 As shown, the first sliding seat 2410 is L-shaped, and a first component 2412 is provided on the first sliding seat 2410. The first component 2412 is arranged at one end of the first sliding seat 2410.

[0119] In one example, as Figure 8 shown, the first sliding seat 2410 is C-shaped, and two first components 2412 are provided on the first sliding seat 2410. The two first components 2412 are respectively arranged at the two ends of the first sliding seat 2410.

[0120] When the first sliding seat 2410 is L-shaped, two first sliding seats 2410 need to be combined and connected to the robotic arm 221 to install multiple first components 2412. When the first sliding seat 2410 is C-shaped, it is more convenient to install multiple first components 2412.

[0121] As Figure 3 shown, the first sliding seats 2410 are all fixedly connected to the mounting seat 240. The mounting seat 240 can be a component of the robotic arm 221, or it can be a separate component and fixedly connected to the robotic arm 221, so as to realize the fixed connection between the gravity compensation device and the robotic arm 221.

[0122] In one example, as Figure 4 shown, second gaps 2454 distributed along the first direction are provided on the side wall of the second sliding seat 2450. The second gaps 2454 prevent the second sliding seat 2450 from forming a current loop.

[0123] If the second sliding seat 2450 is made of a non-metallic material and cannot form a conductor, the second gaps 2454 may not be provided.

[0124] In one example, as Figure 4 、 Figure 5 、 Figure 6 shown, mounting holes are provided on the second sliding seat 2450 for installing the second component 2452. The second gaps 2454 communicate with the mounting holes. When the second component 2452 is installed in the mounting holes, the first gap 2453 and the second gaps 2454 are aligned, and the width of the second gaps 2454 is not less than the width of the first gap 2453.

[0125] Through this setting, it is possible to prevent the second component 2452 and the second sliding seat 2450 from combining to form a conductor loop, prevent the second component 2452 and the second sliding seat 2450 from combining to form a current loop, and at the same time prevent the second component 2452 and the second sliding seat 2450 from combining to generate a magnetic force that resists the movement of the first component 2412.

[0126] In one example, as Figure 4 、 Figure 5 、 Figure 6As shown, the first component 2412 is a magnet column, and the second component 2452 is a magnetic induction coil.

[0127] The N pole and S pole of the magnet column are distributed at both ends of the axial direction of the magnet column. Any one of the magnetic poles can face the second component 2452. For multiple first components 2412 along the first direction, the magnetic pole arrangements need to be the same.

[0128] The material of the magnetic induction coil can be DT4. DT4 belongs to low-carbon, low-sulfur, and low-phosphorus iron, which is high-quality steel with an iron content of more than 99.5%, that is, the so-called "electromagnetic pure iron". Using this material makes the magnetic induction coil easy to be magnetized and also easy to demagnetize. Preferably, DT4E pure iron can be selected, with a carbon content less than 0.02%.

[0129] An embodiment of the present application also provides a medical system, including:

[0130] A patient-side robot 220, the patient-side robot 220 includes a column 223 and at least one robotic arm 221; and

[0131] The gravity compensation device according to any one of the above embodiments, the gravity compensation device is provided on the column 223 of the patient-side robot 220.

[0132] The processes and steps described in all the above preferred embodiments are only examples. Unless adverse effects occur, various processing operations can be performed in an order different from the order of the above processes. The order of the steps of the above processes can also be increased, combined, or deleted according to actual needs.

[0133] When understanding the scope of the present application, as used herein, the term "comprising" and its derivatives are intended to be open-ended terms, which specify the presence of the recited features, elements, components, groups, wholes, and / or steps, but do not exclude the presence of other unrecited features, elements, components, groups, wholes, and / or steps. This concept also applies to words with similar meanings, such as the terms "including", "having", and their derivatives.

[0134] As used herein, the terms "attached" or "attachment" include: a configuration in which an element is directly fixed to another element by directly fixing the element to the other element; a configuration in which an element is indirectly fixed to another element by fixing the element to an intermediate member, and the intermediate member is in turn fixed to the other element; and a configuration in which one element is integral with another element, that is, one element is substantially a part of the other element. This definition also applies to words with similar meanings, such as "connected", "coupled", "mounted", "adhered", "fixed", and their derivatives. Finally, degree terms such as "substantially", "about", and "approximate" used herein represent the amount of deviation that modifies the term such that the final result will not change significantly.

[0135] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the technical field of this application. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application. The features described in one example herein can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other embodiment.

[0136] This application has been described by the above embodiments, but it should be understood that the above embodiments are only for illustrative and explanatory purposes and are not intended to limit this application to the scope of the described embodiments. In addition, those skilled in the art can understand that this application is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of this application, and these variations and modifications all fall within the scope claimed by this application.

Claims

1. A gravity compensation device is provided in a medical device. The medical device includes a columnar fixed part structure and a moving part structure that can move up and down along the fixed part structure. It is characterized in that, The gravity compensation device includes: A first component, which is arranged on the moving part structure and can move up and down relative to the fixed part structure following the moving part structure; A second component, which is arranged on the fixed part structure and can move up and down relative to the fixed part structure; Wherein, the gravity compensation device has a first state. In the first state, along a first direction, the second component is higher than the first component, and there is a spacing between the first component and the second component. The second component is fixed relative to the fixed part structure. At least one of the first component and the second component is set as a magnetic component, and there is a magnetic force between the first component and the second component, so that the first component has a tendency to move towards the second component; Wherein, the first direction is the direction in which the moving part structure moves up and down.

2. The gravity compensation device according to claim 1, wherein The gravity compensation device has a second state. In the second state, the spacing between the first component and the second component is the smallest, the second component is fixed relative to the first component, and when the first component moves following the moving part structure, the second component has the same movement state as the first component.

3. The gravity compensation device according to claim 2, characterized in that, When the gravity compensation device is in the second state, there is a gap between the first component and the second component.

4. The gravity compensation device according to claim 1, characterized in that, The gravity compensation device includes a stop structure, which is fixedly arranged relative to the fixed part structure. When the gravity compensation device is in the first state, the stop structure stops the second component.

5. The gravity compensation device according to claim 1, wherein, The gravity compensation device includes at least two groups of the first component and the second component, and at least two groups of the first component and the second component are arranged along the first direction.

6. The gravity compensation device according to claim 1, wherein, Adjacent two groups of the first component and the second component include a first group and a second group. The first component in the first group and the first component in the second group both have effective strokes respectively. The starting end of the effective stroke of the first component in the first group is located within the effective stroke of the first component in the second group, and the terminal end of the effective stroke of the first component in the second group is located within the effective stroke of the first component in the first group.

7. The gravity compensation device according to claim 1, wherein The first component is set as a columnar structure extending along the first direction, and the second component is provided with a cavity part penetrating along the first direction. At least part of the columnar structure of the first component can pass through the cavity part of the second component.

8. The gravity compensation device according to claim 7, wherein, When the columnar structure of the first component is located in the cavity part of the second component, there is a gap between the outer wall surface of the first component and the inner wall surface of the cavity part of the second component.

9. The gravity compensation device according to claim 8, characterized in that, A first slit is provided on the side wall of the second component; or The side wall of the second component is closed, and the projection of the second component in the plane perpendicular to the first direction is a closed ring.

10. The gravity compensation device according to claim 9, characterized in that, The first component is a magnetic component, and the magnetic poles of the first component are distributed at the end of the first component along the first direction. The second component first generates a magnetic force with the end of the first component.

11. The gravity compensation device according to claim 1, characterized in that, The gravity compensation device further includes: A first sliding seat; A first slider, which is arranged on the first sliding seat and is in sliding fit with the fixed part structure; The first component is arranged on the first sliding seat and can move up and down synchronously with the first sliding seat along the first direction.

12. The gravity compensation device according to claim 11, wherein, The gravity compensation device further includes: A second sliding seat; A second slider, the second slider is arranged on the second sliding seat, and the second slider is slidably matched with the fixed part structure; The second component is arranged on the second sliding seat and can move up and down synchronously with the second sliding seat along the first direction.

13. The gravity compensation device according to claim 11, characterized in that, The first sliding seat is L-shaped, and one first component is arranged on the first sliding seat, and the first component is arranged at one end of the first sliding seat; Alternatively, the first sliding seat is C-shaped, and two first components are arranged on the first sliding seat, and the two first components are respectively arranged at the two ends of the first sliding seat.

14. The gravity compensation device according to claim 12, characterized in that, A second gap distributed along the first direction is arranged on the side wall of the second sliding seat.

15. The gravity compensation device according to any one of claims 1-14, characterized in that, The first component is a magnet column, and the second component is a magnetic induction coil.

16. A medical system, characterized in that, Including: A patient-side robot, the patient-side robot includes a column and at least one robotic arm; And The gravity compensation device according to any one of claims 1 to 15, the fixed part structure of the gravity compensation device is fixedly arranged on the column of the patient-side robot, and the moving part structure is fixedly arranged on the robotic arm of the patient-side robot.

17. A medical system, characterized in that, The medical system includes a robotic arm, the robotic arm includes a columnar fixed part structure and a moving part structure that can move up and down along the fixed part structure, and the medical system further includes the gravity compensation device according to any one of claims 1 to 15.

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