Doctor console and surgical robot

Abstract

The utility model relates to the technical field of surgical robots, and discloses a doctor console and a surgical robot. The doctor console comprises a base, a main operation arm and a first balance mechanism, the main operation arm comprises an arm mechanism and a wrist mechanism, the arm mechanism comprises a first arm section, a second arm section and a third arm section, and the first end of the first arm section is rotationally connected to the base through a first rotating shaft; the first end of the second arm section is rotationally connected to the second end of the first arm section through a second rotating shaft, the first end of the third arm section is rotationally connected to the second end of the second arm section through a third rotating shaft, and the wrist mechanism is connected to the second end of the third arm section; the first balance mechanism is connected to the first arm section and can at least balance part of gravitational torque of the main operation arm to the first rotating shaft. While the gravitational torque generated by the main operation arm on the first rotating shaft is balanced, the space occupied by the end, close to a doctor, of the main operation arm is prevented from being increased, and the design difficulty is lowered.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical robots, in particular to a doctor's console and a surgical robot. Background Art

[0002] Surgical robots are widely used in the medical field. Surgical robots usually include a doctor's console and a patient's surgical end. The doctor's console includes a base and a main operating arm. Two main operating arms are arranged on the base. The main operating arms include a wrist mechanism and an arm mechanism. The wrist mechanism is movably connected to the base through the arm mechanism. When performing a surgical operation, the doctor controls the movement of the surgical instrument on the patient's surgical end by grasping the wrist mechanism and moving the wrist mechanism.

[0003] Chinese patent CN113081289B discloses a main operating arm for a surgical robot. The main operating arm includes a first mechanism, a main connecting rod, a second mechanism and a main hand (i.e., a wrist mechanism). The first mechanism includes a first translation arm and a second translation arm, and the two ends of the first translation arm are rotationally connected to the base and one end of the second translation arm respectively through a vertical rotation axis. The other end of the second translation arm is rotationally connected to the main connecting rod through a vertical rotation axis. The main connecting rod is rotationally connected to one end of the second mechanism through a horizontal rotation axis, and the main hand is connected to the other end of the second mechanism. The horizontal rotation axis is set at the end close to the doctor, which reduces the weight of the structure (the second mechanism and the main hand) rotating around the horizontal rotation axis, and reduces the impact on the doctor's operation caused by the change in the height of the center of gravity of the second mechanism and the main hand.

[0004] In order to further avoid the influence of the height change of the center of gravity on the doctor's operation, some existing technologies set a balancing mechanism, which is a spring or a counterweight. The balancing mechanism is set on the second mechanism to balance the weight of the second mechanism and the main hand. However, because the balancing mechanism is set on the second mechanism, the volume of the second mechanism is relatively large, that is, the volume of the main operating arm close to the doctor is relatively large, which increases the space occupied by the main operating arm close to the doctor, reduces the activity space provided by the doctor's console to the doctor's arm, and the doctor is prone to arm muscle tension, which increases the doctor's fatigue and reduces the safety of the operation; at the same time, in order to reduce the volume of the second mechanism, the volume of the balancing mechanism and the location of the balancing mechanism on the second mechanism are required to be high, which also increases the design difficulty.

[0005] Based on this, there is an urgent need for a doctor's console and a surgical robot to solve the problems mentioned above. Utility Model Content

[0006] The purpose of the utility model is to provide a doctor's console and a surgical robot, which can balance the effect of the gravitational torque generated by the main operating arm on the first rotating shaft while avoiding increasing the space occupied by the main operating arm close to the doctor's end, thereby reducing the doctor's fatigue level, improving the safety of the operation, and reducing the design difficulty.

[0007] To achieve this purpose, the utility model adopts the following technical solutions:

[0008] Physician console, including:

[0009] Pedestal;

[0010] A main operating arm, comprising an arm mechanism and a wrist mechanism, wherein the arm mechanism comprises a first arm segment, a second arm segment, and a third arm segment, wherein the first end of the first arm segment is rotatably connected to the base via a first rotating shaft, the first end of the second arm segment is rotatably connected to the second end of the first arm segment via a second rotating shaft, the first end of the third arm segment is rotatably connected to the second end of the second arm segment via a third rotating shaft, the wrist mechanism is connected to the second end of the third arm segment, the first rotating shaft is horizontally arranged, and the second rotating shaft and the third rotating shaft are vertically arranged;

[0011] The first balancing mechanism is connected to the first arm segment and is capable of balancing at least part of the gravity moment of the main operating arm on the first rotating shaft.

[0012] As an optional technical solution of the doctor's console, the main operating arms are provided with two, the two arm mechanisms include a first arm and a second arm, the first arm is located on the left side of the base, the second arm is located on the right side of the base, the first arm segment is set at an angle with the front-to-back direction of the base, and the axis of the first rotating shaft extends along the front-to-back direction;

[0013] The first arm segment of the first arm and the first arm segment of the second arm are arranged along the front-to-back direction, and the first end of the first arm segment of the first arm is located on the right side of the first end of the first arm segment of the second arm.

[0014] As an optional technical solution for the doctor's console, the doctor's console also includes a mounting member, which is movably connected to the base and can move in a vertical direction relative to the base, and the first end of the first arm segment is connected to the mounting member.

[0015] As an optional technical solution for the doctor's console, the two first arm sections are respectively located on the front and rear sides of the mounting member.

[0016] As an optional technical solution of the doctor's console, the arm mechanism further includes a first connecting seat, the first connecting seat is provided with a second rotating shaft, the second arm segment is rotatably connected to the second rotating shaft, and the first connecting seat has a connecting plane, and the connecting plane extends along the front-back direction;

[0017] The second ends of the two first arm segments are respectively connected to the two connecting planes, and the axes of the two second rotating shafts are both located in a vertically arranged first plane, and the first plane is perpendicular to the front-rear direction.

[0018] As an optional technical solution of the doctor's console, the first arm section includes a rotating rod and a connecting piece, one end of the rotating rod is rotatably connected to the base through the first rotating shaft, the other end of the rotating rod is connected to the connecting piece, and the connecting piece is connected to the first connecting seat;

[0019] The first arm segment of the second arm and the connecting member of the first arm are both located on the same side of the first arm segment of the first arm along the front-to-back direction; and / or the first arm segment of the first arm and the connecting member of the second arm are both located on the same side of the first arm segment of the second arm along the front-to-back direction.

[0020] As an optional technical solution of the doctor's console, the main operating arms are provided with two, and the two arm mechanisms include a first arm and a second arm, one of the first arm and the second arm is located on the left side of the base, and the other is located on the right side of the base;

[0021] The doctor's console also includes a mounting piece, which is movably connected to the base and can move relative to the base in a vertical direction, and the two arm mechanisms are respectively connected to the left and right sides of the mounting piece; or, the base includes a column, and the columns are provided with two, and the two arm mechanisms are respectively connected to the two columns.

[0022] As an optional technical solution of the doctor's console, the first balancing mechanism is a counterweight block, and the counterweight block is connected to the first end of the first arm segment; or,

[0023] The first balancing mechanism is an elastic member, one end of which is connected to the base, and the other end is connected to the first arm segment; or, the first arm segment includes two rotating rods of the same length and arranged in parallel, one end of the rotating rod is rotatably connected to the base through the first rotating shaft, and the other end of the rotating rod is rotatably connected to the first end of the second arm segment through a fourth rotating shaft, and the fourth rotating shaft is arranged parallel to the first rotating shaft. The first balancing mechanism is an elastic member, and both ends of the elastic member are respectively connected to the two rotating rods.

[0024] As an optional technical solution for the doctor's console, the first arm section includes an intermediate rod and two rotating rods of the same length and arranged in parallel, one end of the rotating rod is rotatably connected to the base via the first rotating shaft, the other end of the rotating rod is rotatably connected to the second arm section via a fourth rotating shaft, both ends of the intermediate rod are rotatably connected to the two rotating rods via a fifth rotating shaft, the first rotating shaft, the fourth rotating shaft and the fifth rotating shaft are arranged in parallel, and the plane where the axes of the two fifth rotating shafts are located is parallel to the plane where the axes of the two first rotating shafts are located.

[0025] A surgical robot comprising a physician console as described above.

[0026] Beneficial effects of the utility model:

[0027] The doctor control console provided by the utility model comprises a base, a main operating arm and a first balancing mechanism. The first arm section is connected to the base through a horizontally arranged first rotating shaft, the second arm section and the first arm section as well as the second arm section and the third arm section are connected through a vertically arranged rotating shaft, and since the first arm section is arranged at one end of the main operating arm close to the base, the first balancing mechanism connected to the first arm section is also arranged at one end of the main operating arm close to the base. That is, the setting position of the first balancing mechanism is far away from the doctor, while achieving the effect of balancing the gravity torque generated by the main operating arm on the first rotating shaft, it also reduces the space occupied by the end of the main operating arm close to the doctor, expands the activity space provided by the doctor's console to the doctor's arm, reduces the possibility of the doctor's arm muscle tension, reduces the doctor's fatigue, and improves the safety of the operation; it also reduces the requirements for the volume of the first balancing mechanism and the setting position of the first balancing mechanism, and reduces the design difficulty.

[0028] The surgical robot provided by the utility model places the first balancing mechanism away from the doctor, which can achieve the effect of balancing the gravitational torque generated by the main operating arm on the first rotating shaft, while also reducing the space occupied by the main operating arm close to the doctor, thereby expanding the activity space provided by the doctor's console to the doctor's arm, reducing the possibility of the doctor's arm muscle tension, reducing the doctor's fatigue level, improving the safety of the operation, and reducing the design difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the doctor's console provided in the first embodiment of the utility model;

[0030] Figure 2 It is a partial structural schematic diagram of the doctor's console provided in the first embodiment of the utility model;

[0031] Figure 3 It is a top view of the arm mechanism and the mounting member provided in the first embodiment of the utility model;

[0032] Figure 4 It is a partial structural schematic diagram of the main operating arm provided in the first embodiment of the utility model;

[0033] Figure 5 It is a partial structural diagram of the doctor's console provided in the second embodiment of the utility model;

[0034] Figure 6 It is a structural schematic diagram of the doctor's console provided in the third embodiment of the present utility model;

[0035] Figure 7 This is a partial structural diagram of the doctor's console provided in the third embodiment of the present utility model;

[0036] Figure 8 It is a structural schematic diagram of the doctor's console provided by the fourth embodiment of the utility model;

[0037] Fig. 9 It is a structural schematic diagram of the doctor's console provided in Embodiment 5 of the present utility model;

[0038] Fig.10 It is a structural schematic diagram of the doctor's console provided in the sixth embodiment of the present utility model;

[0039] Fig.11 It is a structural schematic diagram of the doctor's console provided by the seventh embodiment of the utility model;

[0040] Fig.12 It is a structural schematic diagram of a doctor's console provided in Embodiment 8 of the present utility model.

[0041] In the figure:

[0042] 1. Base; 11. Column; 12. Base;

[0043] 2. Main operating arm; 21. Arm mechanism; 21a. First arm; 21b. Second arm; 211. First arm section; 2111. Rotating rod; 2112. Connecting piece; 2113. Intermediate rod; 2114. Protrusion; 2115. Arc hole; 212. Second arm section; 213. Third arm section; 214. First connecting seat; 2141. Connecting plane; 215. Second connecting seat; 216. Sliding piece; 2161. Locking bolt; 22. Wrist mechanism;

[0044] 31, first rotating shaft; 32, second rotating shaft; 33, third rotating shaft; 34, fourth rotating shaft; 35, fifth rotating shaft; 36, sixth rotating shaft;

[0045] 4. First balancing mechanism; 5. Mounting member; 51. Mounting boss;

[0046] 61. First steel wire rope; 62. Second steel wire rope;

[0047] 7. Second balancing mechanism; 71. Balancing block; 72. Guide wheel; 73. Third steel wire rope;

[0048] 8. Screen. DETAILED DESCRIPTION

[0049] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0050] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0052] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0053] This embodiment provides a doctor console. Specifically, Figure 1-Figure 4As shown, the doctor's console includes a base 1, a main operating arm 2 and a first balancing mechanism 4. The main operating arm 2 includes an arm mechanism 21 and a wrist mechanism 22. The arm mechanism 21 includes a first arm segment 211, a second arm segment 212, and a third arm segment 213. The first end of the first arm segment 211 is rotatably connected to the base 1 through a first rotating shaft 31, the first end of the second arm segment 212 is rotatably connected to the second end of the first arm segment 211 through a second rotating shaft 32, the first end of the third arm segment 213 is rotatably connected to the second end of the second arm segment 212 through a third rotating shaft 33, the wrist mechanism 22 is connected to the second end of the third arm segment 213, the first rotating shaft 31 is horizontally arranged, and the second rotating shaft 32 and the third rotating shaft 33 are vertically arranged; the first balancing mechanism 4 is connected to the first arm segment 211, and can at least balance part of the gravity moment of the main operating arm 2 on the first rotating shaft 31.

[0054] In this embodiment, the structure of the base 1 can refer to the prior art, which is not the focus of protection of this embodiment and will not be described in detail here.

[0055] In this embodiment, two ends of the first arm segment 211 along the length direction are respectively a first end and a second end. Similarly, the first end and the second end of the second arm segment 212 and the third arm segment 213 are both two ends along the length direction.

[0056] The doctor console provided in this embodiment includes a base 1, a main operating arm 2 and a first balancing mechanism 4. The first arm segment 211 is connected to the base 1 through a horizontally arranged first rotating shaft 31, and the second arm segment 212 is connected to the first arm segment 211 and the second arm segment 212 is connected to the third arm segment 213 through a vertically arranged rotating shaft. Since the first arm segment 211 is arranged at the end of the main operating arm 2 close to the base 1, the first balancing mechanism 4 connected to the first arm segment 211 is also arranged at the end of the main operating arm 2 close to the base 1. That is, the setting position of the first balancing mechanism 4 is far away from the doctor, and while balancing the gravity torque generated by the main operating arm 2 on the first rotating shaft 31, it also reduces the space occupied by the end of the main operating arm 2 close to the doctor, expands the activity space provided by the doctor console to the doctor's arm, reduces the possibility of the doctor's arm muscle tension, reduces the doctor's fatigue, and improves the safety of the operation; it also reduces the requirements for the volume of the first balancing mechanism 4 and the setting position of the first balancing mechanism 4, and reduces the design difficulty.

[0057] It is worth noting that the descriptions of the directions such as front, back, left, and right mentioned in this embodiment are all based on the doctor's console in normal use. The front and back directions are set horizontally, and the doctor is at the front side of the base 1, the side of the base 1 away from the doctor is the back side, and the left and right directions of the doctor are the left and right directions of the base 1. The right side of the doctor is the right side of the base 1, and the left side of the doctor is the left side of the base 1.

[0058] It can be understood that when the first arm segment 211 rotates around the first rotation axis 31 relative to the base 1, the height of the center of gravity of the main operating arm 2 changes, and the gravitational torque generated by the main operating arm 2 on the first rotation axis 31 will affect the doctor's operation; when the second arm segment 212 rotates around the second rotation axis 32 relative to the first arm segment 211, and when the third arm segment 213 rotates around the third rotation axis 33 relative to the second arm segment 212, the height of the center of gravity of the main operating arm 2 does not change, and the gravitational torque generated by the main operating arm 2 on the first rotation axis 31 is zero.

[0059] In this embodiment, two main operating arms 2 are provided, and the two arm mechanisms 21 are respectively a first arm 21a and a second arm 21b. One of the first arm 21a and the second arm 21b is located on the left side of the base 1, and the other is located on the right side of the base 1. Specifically, the first arm 21a is located on the left side of the base 1, and the second arm 21b is located on the right side of the base 1. Among them, the number of main operating arms 2 can also be adaptively adjusted, which is not limited here.

[0060] Specifically, the first arm section 211 is arranged at an angle with the front-to-back direction of the base 1 , and the axis of the first shaft 31 extends in the front-to-back direction. One end of the first arm section 211 along the left-right direction of the base 1 is connected to the base 1 , and the other end is connected to the second arm section 212 .

[0061] In this embodiment, the first arm section 211 is disposed perpendicular to the front-to-back direction. In other embodiments, the angle between the first arm section 211 and the front-to-back direction of the base 1 can be adaptively adjusted, which is not limited here.

[0062] Preferably, the first arm segment 211 of the first arm 21a and the first arm segment 211 of the second arm 21b are arranged in the front-to-back direction, and the first end of the first arm segment 211 of the first arm 21a is located on the right side of the first end of the first arm segment 211 of the second arm 21b. Compared with the first arm segment 211 of the first arm 21a and the first arm segment 211 of the second arm 21b being arranged in a spaced manner along the left-right direction of the base 1, the above arrangement enables the first arm segment 211 of the first arm 21a and the first arm segment 211 of the second arm 21b to at least partially overlap, thereby improving the compactness of the structure of the doctor's console, facilitating the reduction of the size of the doctor's console along the left-right direction of the base 1, improving the convenience of transportation and handling, and further reducing the space occupied by the two main operating arms 2 in the doctor's console, facilitating the increase of the activity space provided by the doctor's console to the doctor's arms, reducing the possibility of arm muscle tension in the doctor, reducing the doctor's fatigue, and improving the safety of the operation.

[0063] In this embodiment, the right end of the first arm segment 211 of the first arm 21a is the first end, that is, the right end of the first arm segment 211 of the first arm 21a is connected to the base 1, and the left end of the first arm segment 211 of the first arm 21a is connected to the second arm segment 212; the left end of the first arm segment 211 of the second arm 21b is the first end, that is, the left end of the first arm segment 211 of the second arm 21b is connected to the base 1, and the right end of the first arm segment 211 of the second arm 21b is connected to the second arm segment 212.

[0064] As a preferred solution, the doctor's console also includes a mounting member 5, which is movably connected to the base 1 and can move relative to the base 1 in a vertical direction. The first end of the first arm segment 211 is connected to the mounting member 5, thereby realizing the rising or falling of the main operating arm 2, facilitating the adjustment of the main operating arm 2 to a suitable height position, thereby improving the doctor's comfort during operation, alleviating the doctor's fatigue, and improving the safety of the operation.

[0065] In this embodiment, the mounting member 5 is plate-shaped and perpendicular to the front-to-back direction of the doctor's console. Only one mounting member 5 is provided. In other embodiments, two mounting plates 5 may be provided, and the two mounting plates 5 are respectively connected to the first arm 21a and the second arm 21b to control the two main operating arms 2 to rise or fall respectively, so as to meet the different suitable height requirements of the doctor's left and right hands, which is not limited here.

[0066] Specifically, the doctor console also includes a lifting drive member, which is arranged on the base 1 and can drive the mounting member 5 to rise or fall. The lifting drive member can be a cylinder, a linear motor or other structure, which is not limited here. The specific structure of the lifting drive member can refer to the prior art, which is not the focus of protection of this embodiment and will not be repeated here.

[0067] Preferably, the two first arm sections 211 are respectively located on the front and rear sides of the mounting member 5, and the mounting member 5 can separate the two main operating arms 2, thereby avoiding interference between the two main operating arms 2 during operation, reducing the possibility of damage to the main operating arms 2, and ensuring the smooth progress of the operation; at the same time, compared with installing the two main operating arms 2 on the same side of the mounting member 5, the above-mentioned arrangement makes the area occupied by each side of the mounting member 5 smaller, which is conducive to reducing the size and volume of the mounting member 5, and thus reducing the volume of the doctor's console; in addition, installing the two main operating arms 2 on both sides of the mounting member 5 respectively also facilitates determining the installation position of the main operating arms 2, which is conducive to assembly.

[0068] In this embodiment, the first arm segment 211 of the first arm 21a is located at the rear side of the mounting member 5, and the first arm segment 211 of the second arm 21b is located at the front side of the mounting member 5. In other embodiments, the first arm segment 211 of the first arm 21a may be located at the front side of the mounting member 5, and the first arm segment 211 of the second arm 21b may be located at the rear side of the mounting member 5, which is not limited here.

[0069] Specifically, the arm mechanism 21 further includes a first connection seat 214, on which a second rotation shaft 32 is disposed, and the second arm segment 212 is rotatably connected to the second rotation shaft 32. The first arm segment 211 includes a rotating rod 2111 and a connecting member 2112, one end of the rotating rod 2111 is rotatably connected to the base 1 through the first rotation shaft 31, and the other end of the rotating rod 2111 is connected to the connecting member 2112, and the connecting member 2112 is connected to the first connection seat 214.

[0070] In this embodiment, in order to avoid interference between the mounting member 5 and the connecting member 2112 , the length of the rotating rod 2111 is greater than the width of the mounting member 5 along the left-right direction of the base 1 .

[0071] Furthermore, two rotating rods 2111 are arranged in parallel, one end of the rotating rod 2111 is rotatably connected to the first rotating shaft 31, the first rotating shaft 31 is fixedly connected to the mounting member 5, and the other end of the rotating rod 2111 is rotatably connected to the fourth rotating shaft 34, and the fourth rotating shaft 34 is fixedly connected to the connecting member 2112. The two rotating rods 2111 have the same length, and the fourth rotating shaft 34 is arranged in parallel with the first rotating shaft 31, so that the first arm segment 211 is formed into a parallelogram structure. In the process of the doctor moving the wrist mechanism 22 to control the movement of the surgical instrument, the posture of the connecting member 2112 relative to the mounting member 5 remains unchanged, which is conducive to simplifying the control difficulty; at the same time, compared with the use of steel wire transmission, the first arm segment 211 is set as a parallelogram structure, the structural rigidity is greater, the possibility of deformation of the first arm segment 211 is smaller, the accuracy of transmission is improved, the movement accuracy of the surgical instrument is improved, and the safety of the operation is further improved.

[0072] In this embodiment, an arc-shaped hole 2115 is provided on the rotating rod 2111, and the axis of the arc-shaped hole 2115 is arranged colinearly with the axis of the first rotating shaft 31. A limit pin is protruding from the mounting member 5, and the limit pin is placed in the arc-shaped hole 2115. When the rotating rod 2111 rotates relative to the mounting member 5, the limit pin can slide along the arc-shaped hole 2115, and the arc-shaped hole 2115 can limit the rotation angle range of the rotating rod 2111.

[0073] In this embodiment, the two first rotating shafts 31 connected to the same first arm segment 211 are arranged in the vertical direction, so the two fourth rotating shafts 34 connected to the same first arm segment 211 are also arranged in the vertical direction. The connecting member 2112 is rod-shaped and vertically arranged, and the two ends of the connecting member 2112 are respectively connected to the two fourth rotating shafts 34. The "attitude of the connecting member 2112 relative to the mounting member 5 remains unchanged" described above means that the connecting rod 2112 is always arranged vertically during the rotation of the rotating rod 2111.

[0074] In other embodiments, the first arm section 211 may also be driven by a steel wire. Specifically, a rotating rod 2111 is provided, one end of the rotating rod 2111 is rotatably connected to the first rotating shaft 31, and the other end is rotatably connected to the fourth rotating shaft 34, and the fourth rotating shaft 34 is fixedly connected to the connecting member 2112. The steel wire tensioning is arranged on the first rotating shaft 31 and the fourth rotating shaft 34, so that the first rotating shaft 31 and the fourth rotating shaft 34 can rotate synchronously relative to the rotating rod 2111, and the posture of the connecting member 2112 relative to the mounting member 5 remains unchanged. The above arrangement simplifies the structure of the first arm section 211, improves the compactness of the structure, and further reduces the volume of the main operating arm 2.

[0075] It is understandable that if the two rotating rods 2111 are respectively arranged on opposite sides of the connecting member 2112, during the rotation of the parallelogram structure, when the two rotating rods 2111 are rotated to overlap, further rotation may result in a singular configuration where the two rotating rods 2111 are cross-arranged, which may cause the main operating arm 2 to get stuck. Preferably, in the axial direction of the fourth rotating shaft 34, the two rotating rods 2111 of the same first arm segment 211 are located on the same side of the connecting member 2112. The above arrangement avoids the parallelogram structure from rotating to a singular configuration where the two rotating rods 2111 are cross-arranged, and avoids the main operating arm 2 from getting stuck during surgery, thereby ensuring the smooth progress of the surgery.

[0076] Specifically, the first connecting seat 214 has a connecting plane 2141, and the connecting plane 2141 extends in the front-to-back direction. The second ends of the two first arm segments 211 are respectively connected to the two connecting planes 2141, that is, the two connecting members 2112 are respectively connected to the two connecting planes 2141. In order to improve the convenience of production, the lengths of the two second arm segments 212 are usually the same, and the lengths of the two third arm segments 213 are usually the same. Since the two first arm segments 211 are respectively located on the front and back sides of the mounting member 5, if the two connecting members 2112 are respectively connected to the same position of the corresponding connecting plane 2141, the distances between the axes of the two second rotating shafts 32 and the doctor are different. Then, if the two second arm segments 212 are the same length, and the two third arm segments 213 are the same length, the lengths of the two main operating arms 2 extending forward are different, thereby causing the minimum distances between the two wrist mechanisms 22 and the doctor to be different.

[0077] When the doctor operates the main operating arm 2, his elbow is pressed on the armrest of the base, the arm's more comfortable range of movement is smaller, and the above-mentioned range of movement is located in front of the doctor's chest. The wrist mechanism 22 connected to the second rotating shaft 32 closer to the doctor is set as the first wrist, and the wrist mechanism 22 connected to the second rotating shaft 32 farther from the doctor is set as the second wrist. The minimum distances between the first wrist and the second wrist and the doctor are different, and the minimum distance between the first wrist and the doctor is smaller, and the minimum distance between the second wrist and the doctor is larger. It can be understood that if the range of motion of the first wrist completely covers the arm's more comfortable range of movement, the range of motion of the second wrist may not completely cover the arm's more comfortable range of movement; if the range of motion of the second wrist completely covers the arm's more comfortable range of movement, the range of motion of the first wrist may not completely cover the arm's more comfortable range of movement. In both of the above cases, doctors are prone to fatigue. If the two second arm segments 212 are designed to have different lengths, and / or the two third arm segments 213 are designed to have different lengths, the two main operating arms 2 can be extended forward to the same length, ensuring that the minimum distance between the two wrist mechanisms 22 and the doctor is the same, so that the movement range of the two wrist mechanisms 22 can fully cover the more comfortable movement range of the arm, but this increases the design difficulty and is not conducive to production and processing.

[0078] Preferably, in this embodiment, the side walls of the two connecting members 2112 are respectively connected to different positions of the two connecting planes 2141 along the front-to-back direction, so that the axes of the two second rotating shafts 32 are both located in the vertically arranged first plane, and the first plane is perpendicular to the front-to-back direction. The above arrangement can design the two second arm segments 212 to be the same length, and the two third arm segments 213 to be the same length, so that the two main operating arms 2 extend forward to the same length, and the minimum distance between the two wrist mechanisms 22 and the doctor is the same. The movement range of the two wrist mechanisms 22 can completely cover the more comfortable movement range of the doctor's arm, which is conducive to relieving the doctor's fatigue; it also reduces the design difficulty, facilitates production and processing, and simplifies the production and processing process; in addition, it avoids distinguishing the installation positions of the two second arm segments 212 and the two third arm segments 213, simplifying the assembly process.

[0079] As a preferred solution, the first arm segment 211 of the second arm 21b and the connecting piece 2112 of the first arm 21a are both located on the same side of the first arm segment 211 of the first arm 21a along the front-back direction. The above arrangement is conducive to reducing the overall thickness of the two first arm segments 211 after installation, improving the compactness of the structure and reducing the volume of the doctor's console.

[0080] Similarly, the first arm segment 211 of the first arm 21a and the connecting piece 2112 of the second arm 21b are both located on the same side of the first arm segment 211 of the second arm 21b along the front-back direction. The above arrangement further helps to reduce the overall thickness of the two first arm segments 211 after installation, improves the compactness of the structure, and reduces the volume of the doctor's console.

[0081] In this embodiment, since the first arm segment 211 of the first arm 21a is located at the rear side of the first arm segment 211 of the second arm 21b, the first arm segment 211 of the second arm 21b and the connecting piece 2112 of the first arm 21a are both located at the front side of the first arm segment 211 of the first arm 21a, and the first arm segment 211 of the first arm 21a and the connecting piece 2112 of the second arm 21b are both located at the rear side of the first arm segment 211 of the second arm 21b.

[0082] In other embodiments, if the first arm segment 211 of the first arm 21a is located on the front side of the first arm segment 211 of the second arm 21b, the first arm segment 211 of the second arm 21b and the connecting piece 2112 of the first arm 21a may also be located on the rear side of the first arm segment 211 of the first arm 21a, and the first arm segment 211 of the first arm 21a and the connecting piece 2112 of the second arm 21b may be located on the front side of the first arm segment 211 of the second arm 21b, which is not limited here.

[0083] Preferably, the first arm section 211 further includes an intermediate rod 2113, the two ends of the intermediate rod 2113 are rotatably connected to the two rotating rods 2111 through the fifth rotating shaft 35, and the first rotating shaft 31, the fourth rotating shaft 34 and the fifth rotating shaft 35 are arranged in parallel. For the same first arm section 211, the plane where the axes of the two fifth rotating shafts 35 are located is parallel to the plane where the axes of the two first rotating shafts 31 are located, that is, the two fifth rotating shafts 35 are arranged in the up-down direction, and the connecting member 2112 is arranged in parallel with the intermediate rod 2113. By setting the intermediate rod 2113, it is further avoided that the parallelogram structure of the first arm section 211 rotates to the singular position where the two rotating rods 2111 are cross-arranged, and the main operating arm 2 is prevented from getting stuck during surgery, thereby ensuring the smooth progress of the surgery.

[0084] In this embodiment, the middle rod 2113 is located on the side of the first arm segment 211 opposite to the mounting member 5. That is, the middle rod 2113 on the first arm segment 211 of the first arm 21a is located at the rear side of the rotating rod 2111, and the middle rod 2113 on the first arm segment 211 of the second arm 21b is located at the front side of the rotating rod 2111.

[0085] Specifically, the base 1 includes a column 11 and a base 12. The column 11 is vertically arranged, and the bottom of the column 11 is connected to the base 12. The mounting member 5 is arranged on the front side of the column 11 and is movably connected to the column 11 and can rise or fall relative to the column 11.

[0086] In this embodiment, a guide rail is provided on the front arm of the column 11, and the guide rail extends in the vertical direction. A slider is connected to the mounting plate 5, and the slider is slidably connected to the guide rail, which can guide the mounting plate 5 and ensure that the mounting plate 5 moves in the vertical direction, reducing the possibility of the mounting plate 5 colliding with other structures of the doctor's console during lifting and lowering, avoiding affecting the smooth implementation of the operation, and improving the reliability of the doctor's console.

[0087] Specifically, the first balancing mechanism 4 is an elastic member, one end of which is connected to the base 1, and the other end of which is connected to the first arm section 211. The first balancing mechanism 4 is a spring.

[0088] In this embodiment, a mounting boss 51 is fixedly provided on the mounting plate 5, one end of the spring is connected to the mounting plate 5, and the other end is connected to the first arm section 211. Specifically, a connecting portion for connecting with the spring is provided on the first arm section 211. Preferably, the distance between the connecting portion and the axis of the first rotating shaft 31 is greater than the distance between the connecting portion and the axis of the fourth rotating shaft 34. The larger the distance between the connecting portion and the first rotating shaft 31, the greater the force arm of the elastic force applied by the spring to the rotating rod 2111, thereby reducing the elastic force that the spring needs to provide, reducing the requirements for the mechanical properties of the spring, and helping to reduce costs. Furthermore, the connecting portion is a through hole, and the through hole is provided on the rotating rod 2111.

[0089] In some embodiments, the spring is connected to the rotating rod 2111 at the top of the first arm segment 211 .

[0090] In other embodiments, the connecting portion is a protrusion 2114, which is protrudingly provided on the side wall of the connecting member 2112, and the side wall of the connecting member 2112 is protrudingly provided with a protrusion 2114, and the end of the spring away from the end of the mounting plate 5 is connected to the protrusion 2114. By providing the protrusion 2114, it is avoided to open a through hole on the rotating rod 2111, thereby reducing the impact on the structural strength of the rotating rod 2111.

[0091] Two arm mechanisms 21 are provided, so two springs are provided correspondingly, namely, a first spring and a second spring. Preferably, the mounting boss 51 extends in the front-to-back direction and penetrates the mounting plate 5. One end of the first spring is connected to the first arm section 211 of the first arm 21a, and the other end is connected to the rear end of the mounting boss 51; one end of the second spring is connected to the first arm section 211 of the second arm 21b, and the other end is connected to the front end of the mounting boss 51. The above arrangement enables one mounting boss 51 to be connected to both springs, reduces the number of mounting bosses 51, helps to simplify the structure on the mounting plate 5, and further facilitates assembly.

[0092] In some embodiments, two ends of the spring are respectively connected to two rotating rods 2111. The spring is arranged to be inclined in the vertical direction.

[0093] In some other embodiments, the first balancing mechanism 4 is a counterweight block, and the counterweight block is connected to the first end of the first arm segment 211. Specifically, the counterweight block is connected to the end of the rotating rod 2111, and the counterweight block can be integrally formed with the rotating rod 2111, which is not limited here. The counterweight blocks can be connected to both rotating rods 2111, or only one rotating rod 2111 can be connected to the counterweight block, which is not limited here.

[0094] Preferably, the arm mechanism 21 further comprises a second connecting seat 215, and the second connecting seat 215 is connected to the wrist mechanism 22. One end of the second arm segment 212 is rotatably connected to the second rotating shaft 32, and the other end of the second arm segment 212 is rotatably connected to the third rotating shaft 33, and the first steel wire rope 61 is tensioned on the second rotating shaft 32 and the third rotating shaft 33, so that the second rotating shaft 32 and the third rotating shaft 33 can rotate synchronously relative to the second arm segment 212. The sixth rotating shaft 36 is fixedly arranged on the second connecting seat 215, one end of the third arm segment 213 is rotatably connected to the sixth rotating shaft 36, and the other end of the third arm segment 213 is rotatably connected to the third rotating shaft 33, and the second steel wire rope 62 is tensioned on the third rotating shaft 33 and the sixth rotating shaft 36, so that the third rotating shaft 33 and the sixth rotating shaft 36 can rotate synchronously relative to the third arm segment 213. The above arrangement ensures that the posture of the second connection seat 215 and the wrist mechanism 22 relative to the mounting member 5 remains unchanged when the doctor moves the wrist mechanism 22 to control the movement of the surgical instrument, which helps to simplify the control difficulty. In this embodiment, the sixth rotating shaft 36 is arranged vertically.

[0095] In this embodiment, the second arm segment 212 is hollow inside, and the first steel wire rope 61 is located inside the second arm segment 212. The third arm segment 213 is hollow inside, and the second steel wire rope 62 is located inside the third arm segment 213.

[0096] As a preferred solution, the doctor's console also includes a second balancing mechanism 7, which is used to balance the gravity of the main operating arm 2 and the mounting member 5. When the doctor needs to lift the two main operating arms 2 as a whole, the second balancing mechanism 7 reduces the operating force required by the doctor, improves the convenience of operation, and further helps to relieve the doctor's fatigue. The second balancing mechanism 7 is connected to the mounting member 5 and can apply a vertically upward force to the mounting member 5.

[0097] like Figure 1 As shown, the second balancing mechanism 7 can be a gas spring, which is placed below the mounting member 5. The piston rod of the gas spring is connected to the bottom of the mounting member 5. The gas spring can provide a force to the mounting member that is equal to the sum of the gravity of the two main operating arms 2 and the mounting member 5.

[0098] Specifically, the doctor's console also includes a screen 8 , which is connected to the top of the column 11 .

[0099] This embodiment also provides a surgical robot. Specifically, the surgical robot includes a doctor's console as described above.

[0100] The surgical robot provided in this embodiment places the first balancing mechanism 4 away from the doctor, which achieves the effect of balancing the gravitational torque generated by the main operating arm 2 on the first rotating shaft 31, while avoiding increasing the space occupied by the main operating arm 2 close to the doctor, thereby expanding the activity space provided by the doctor's console to the doctor's arm, reducing the possibility of arm muscle tension in the doctor, reducing the doctor's fatigue level, improving the safety of the operation, and reducing the design difficulty.

[0101] Embodiment 2

[0102] This embodiment provides a doctor's console and a surgical robot, and the structure of this embodiment is basically the same as that of the first embodiment, with only some structures being different. This embodiment will not repeat other structures that are the same as the first embodiment.

[0103] Preferably, if Figure 5 As shown, the first rotating shaft 31 can move relative to the rotating rod 2111 along the length direction of the rotating rod 2111 to adjust the rotation radius of the connecting member 2112 relative to the mounting member 5, thereby changing the vertical movement range of the second arm segment 212, the third arm segment 213 and the wrist mechanism 22, thereby expanding the scope of application and improving the practicality of the doctor's console.

[0104] Specifically, the arm mechanism 21 further includes a sliding member 216, the first rotating shaft 31 is rotatably connected to the sliding member 216, and the rotating rod 2111 is movably provided on the sliding member 216, so that the first rotating shaft 31 can move relative to the rotating rod 2111 along the length direction of the rotating rod 2111. Furthermore, a locking bolt 2161 is threadedly provided on the side wall of the sliding member 216, and the locking bolt 2161 can press against the rotating rod 2111 to fix the position of the sliding member 216 on the rotating rod 2111. By providing the sliding member 216 and the locking bolt 2161, the connection structure between the first rotating shaft 31 and the rotating rod 2111 can be simplified, which is convenient for processing and assembly, and helps to reduce costs.

[0105] In this embodiment, an arc-shaped hole (not shown in the figure) is formed on the sliding member 216, the axis of the arc-shaped hole is arranged colinearly with the axis of the first rotating shaft 31, and the stop pin protruding from the mounting member 5 is placed in the arc-shaped hole. When the sliding member 216 rotates relative to the mounting member 5, the stop pin can slide along the arc-shaped hole, and the arc-shaped hole can limit the rotation angle range of the sliding member 216, thereby limiting the rotation angle of the rotating rod 2111.

[0106] Specifically, the doctor's console also includes a controller and an encoder. Before performing an operation, the doctor adjusts the mounting member 5 to a suitable height and fixes the position of the mounting member 5. During the operation, the doctor holds the wrist mechanism 22 and moves it. The controller can calculate the distance the wrist mechanism 22 moves in the vertical direction according to the angle of rotation of the rotating rod 2111, thereby controlling the surgical instrument to move the same distance in the vertical direction.

[0107] The encoder is used to collect the angle of rotation of the rotating rod 2111. Since the encoder has a constant graduation value, the radius of rotation of the connecting member 2112 relative to the mounting member 5 can affect the collection resolution of the main operating arm 2. The smaller the radius of rotation of the connecting member 2112 relative to the mounting member 5, the higher the collection resolution of the main operating arm 2, and the larger the radius of rotation of the connecting member 2112 relative to the mounting member 5, the lower the collection resolution of the main operating arm 2. In other words: when the wrist mechanism 22 moves the same distance in the vertical direction, if the radius of rotation of the connecting member 2112 relative to the mounting member 5 is smaller, the angle of rotation of the rotating rod 2111 is larger. Since the graduation value of the encoder is constant, the larger the angle of rotation of the rotating rod 2111 is, the easier it is to be accurately detected by the encoder, so that the controller can accurately control the movement of the surgical instrument, ensuring that the surgical instrument can be accurately moved to the target position, improving the accuracy and sensitivity of the surgical robot, and being suitable for surgeries requiring high precision and high sensitivity; conversely, if when the wrist mechanism 22 moves the same distance in the vertical direction, if the radius of rotation of the connecting member 2112 relative to the mounting member 5 is larger, the angle of rotation of the rotating rod 2111 is smaller. Since the graduation value of the encoder is constant, the smaller the angle of rotation of the rotating rod 2111 is, the harder it is to be accurately detected by the encoder, reducing the accuracy and sensitivity of the surgical robot, and being suitable for surgeries requiring low precision and low sensitivity but with a larger range of motion. Therefore, since the first rotating shaft 31 can move relative to the rotating rod 2111 along the length direction of the rotating rod 2111, the accuracy and sensitivity of the surgical robot can be changed according to different types of operations, thereby expanding the scope of application and improving the practicability of the surgical robot.

[0108] Embodiment 3

[0109] This embodiment provides a doctor's console and a surgical robot, and the structure of this embodiment is basically the same as that of the first embodiment, with only some structures being different. This embodiment will not repeat other structures that are the same as the first embodiment.

[0110] Specifically, Figure 6-Figure 7As shown, the two arm mechanisms 21 are respectively connected to the two sides of the mounting member 5 along the left-right direction. The first arm segment 211 of the first arm 21a and the first arm segment 211 of the second arm 21b are arranged along the left-right direction, and the first arm segment 211 of the first arm 21a is located on the left side of the first arm segment 211 of the second arm 21b. In this embodiment, the first arm 21a is connected to the left side of the mounting member 5, and the second arm 21b is connected to the right side of the mounting member 5. Further, the first arm segment 211 of the first arm 21a and the first arm segment 211 of the second arm 21b can be located on both sides of the mounting member 5 along the front-back direction.

[0111] In other embodiments, the first arm segment 211 of the first arm 21a and the first arm segment 211 of the second arm 21b may be located on the same side of the mounting member 5 along the front-to-back direction, which can reduce the size of the doctor's console along the front-to-back direction and reduce the volume of the doctor's console.

[0112] Embodiment 4

[0113] This embodiment provides a doctor's console and a surgical robot, and the structure of this embodiment is basically the same as that of the second embodiment, with only some structures being different. This embodiment will not repeat other structures that are the same as those of the second embodiment.

[0114] like Figure 8 As shown, the first balancing mechanism 4 is a gas spring. In this embodiment, the gas spring is connected to the rotating rod 2111 at the bottom end of the first arm section 211.

[0115] Embodiment 5

[0116] This embodiment provides a doctor's console and a surgical robot, and the structure of this embodiment is basically the same as that of the first embodiment, with only some structures being different. This embodiment will not repeat other structures that are the same as the first embodiment.

[0117] like Fig. 9 As shown, the mounting member 5 is fixedly arranged on the base 12, and the two first rotating shafts 31 connected to the same first arm segment 211 are arranged in the left-right direction, so the connecting member 2112 extends in the left-right direction, and the two fourth rotating shafts 34 connected to the same first arm segment 211 are also arranged in the left-right direction. The two first arm segments 211 are staggered and cross-arranged.

[0118] In this embodiment, the connecting member 2112 of the first arm segment 211 is connected to the bottom of the first connecting seat 214 .

[0119] Embodiment 6

[0120] This embodiment provides a doctor's console and a surgical robot, and the structure of this embodiment is basically the same as that of the fifth embodiment, with only some structures being different. This embodiment will not repeat other structures that are the same as those of the fifth embodiment.

[0121] like Fig.10 As shown, the mounting member 5 is fixedly arranged at the bottom of the screen 8. The two first arm sections 211 are arranged along the left and right directions. The two first arm sections 211 are respectively connected to the left and right sides of the mounting member 5. The two first arm sections 211 are both located at the front side of the mounting member 5.

[0122] Embodiment 7

[0123] This embodiment provides a doctor's console and a surgical robot, and the structure of this embodiment is basically the same as that of the first embodiment, with only some structures being different. This embodiment will not repeat other structures that are the same as the first embodiment.

[0124] like Fig.11 As shown, there are two columns 11, which are arranged along the left and right directions of the base 1, and the two arm mechanisms 21 are respectively connected to the two columns 11, which reduces the possibility of the two arm mechanisms 21 interfering with each other during installation and is conducive to improving the assembly pin rate.

[0125] Preferably, two mounting parts are provided, and the two mounting parts are respectively movably connected to the two columns 11. The two arm mechanisms 21 are respectively connected to the two mounting parts, and the two mounting parts respectively realize the rise or fall of the two main operating arms 2 to meet the different suitable height requirements of the doctor's left and right hands.

[0126] Embodiment 8

[0127] This embodiment provides a doctor's console and a surgical robot, and the structure of this embodiment is basically the same as that of the first embodiment, with only some structures being different. This embodiment will not repeat other structures that are the same as the first embodiment.

[0128] The structure of the second balancing mechanism is different from that of the first embodiment. Fig.12 As shown, the second balancing mechanism 7 includes a balancing block 71, a guide wheel 72 and a third steel wire rope 73. The guide wheel 72 is fixedly arranged on the column 11. The balancing block 71 is connected to one end of the third steel wire rope 73, and the other end of the third steel wire rope 73 passes around the guide wheel 72 and is connected to the top of the mounting member 5. The weight of the balancing block 71 is equal to the sum of the weights of the two main operating arms 2 and the mounting member 5.

[0129] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. Doctor's console, characterized in that, include: Pedestal; A main operating arm, comprising an arm mechanism and a wrist mechanism, wherein the arm mechanism comprises a first arm segment, a second arm segment, and a third arm segment, wherein the first end of the first arm segment is rotatably connected to the base via a first rotating shaft, the first end of the second arm segment is rotatably connected to the second end of the first arm segment via a second rotating shaft, the first end of the third arm segment is rotatably connected to the second end of the second arm segment via a third rotating shaft, the wrist mechanism is connected to the second end of the third arm segment, the first rotating shaft is horizontally arranged, and the second rotating shaft and the third rotating shaft are vertically arranged; The first balancing mechanism is connected to the first arm segment and is capable of balancing at least part of the gravity moment of the main operating arm on the first rotating shaft.

2. The doctor console according to claim 1, characterized in that: The main operating arms are provided with two, and the two arm mechanisms include a first arm and a second arm, the first arm is located on the left side of the base, and the second arm is located on the right side of the base, the first arm section is set at an angle with the front-to-back direction of the base, and the axis of the first rotating shaft extends along the front-to-back direction; The first arm segment of the first arm and the first arm segment of the second arm are arranged along the front-to-back direction, and the first end of the first arm segment of the first arm is located on the right side of the first end of the first arm segment of the second arm.

3. The doctor console according to claim 2, characterized in that: The doctor console also includes a mounting member, which is movably connected to the base and can move in a vertical direction relative to the base, and the first end of the first arm segment is connected to the mounting member.

4. The doctor console according to claim 3, characterized in that: The two first arm sections are respectively located at the front and rear sides of the mounting member.

5. The doctor console according to claim 2, characterized in that: The arm mechanism further comprises a first connecting seat, a second rotating shaft is arranged on the first connecting seat, the second arm segment is rotatably connected to the second rotating shaft, and the first connecting seat has a connecting plane, and the connecting plane extends along the front-rear direction; The second ends of the two first arm segments are respectively connected to the two connecting planes, and the axes of the two second rotating shafts are both located in a vertically arranged first plane, and the first plane is perpendicular to the front-rear direction.

6. The doctor console according to claim 5, characterized in that: The first arm section includes a rotating rod and a connecting member, one end of the rotating rod is rotatably connected to the base through the first rotating shaft, the other end of the rotating rod is connected to the connecting member, and the connecting member is connected to the first connecting seat; The first arm segment of the second arm and the connecting member of the first arm are both located on the same side of the first arm segment of the first arm along the front-to-back direction; and / or the first arm segment of the first arm and the connecting member of the second arm are both located on the same side of the first arm segment of the second arm along the front-to-back direction.

7. The doctor console according to any one of claims 1 to 6, characterized in that: The main operating arms are provided with two, and the two arm mechanisms include a first arm and a second arm, one of the first arm and the second arm is located on the left side of the base, and the other is located on the right side of the base; The doctor's console also includes a mounting piece, which is movably connected to the base and can move relative to the base in a vertical direction, and the two arm mechanisms are respectively connected to the left and right sides of the mounting piece; or, the base includes a column, and the columns are provided with two, and the two arm mechanisms are respectively connected to the two columns.

8. The doctor console according to any one of claims 1 to 6, characterized in that: The first balancing mechanism is a counterweight block, and the counterweight block is connected to the first end of the first arm segment; or, The first balancing mechanism is an elastic member, one end of which is connected to the base, and the other end is connected to the first arm segment; or, the first arm segment includes two rotating rods of the same length and arranged in parallel, one end of the rotating rod is rotatably connected to the base through the first rotating shaft, and the other end of the rotating rod is rotatably connected to the first end of the second arm segment through a fourth rotating shaft, and the fourth rotating shaft is arranged parallel to the first rotating shaft. The first balancing mechanism is an elastic member, and both ends of the elastic member are respectively connected to the two rotating rods.

9. The doctor console according to any one of claims 1 to 6, characterized in that: The first arm section includes an intermediate rod and two rotating rods of the same length and arranged in parallel, one end of the rotating rod is rotatably connected to the base via the first rotating shaft, the other end of the rotating rod is rotatably connected to the second arm section via a fourth rotating shaft, both ends of the intermediate rod are rotatably connected to the two rotating rods via a fifth rotating shaft, the first rotating shaft, the fourth rotating shaft and the fifth rotating shaft are arranged in parallel, and the plane where the axes of the two fifth rotating shafts are located is parallel to the plane where the axes of the two first rotating shafts are located.

10. A surgical robot, characterized in that: Comprising a doctor console as described in any one of claims 1-8.

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