Vertical shaft and surgical robot

Abstract

The embodiment of the utility model provides a vertical shaft and a surgical robot. The vertical shaft includes: a mounting plate; the balance assembly is configured to balance the gravity of the operation arm; the first brake part is arranged on the mounting plate in the vertical direction; the second brake part is movably matched with the first brake part in the vertical direction, and the second brake part is configured to be connected with the operation arm; the band-type brake has an open state and a closed state; in the opening state, the second braking part can be driven by the operation arm to move relative to the first braking part in the vertical direction, and the first braking part is configured to limit the second braking part so that the second braking part can rotate; and in the closed state, the band-type brake is configured to be coupled with the second brake part so as to lock rotation of the second brake part, and the second brake part is matched with the first brake part so as to limit the position of the operation arm in the vertical direction. And braking can be conducted in the two vertical directions, and arrangement of a braking assembly is facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical equipment, and in particular to a vertical axis and a surgical robot. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been increasingly widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. Minimally invasive surgical robots can avoid operational limitations with their high dexterity, high control accuracy and intuitive surgical images, such as filtering hand tremors during operation, and are widely used in surgical areas such as the abdomen, pelvis and chest. The laparoscopic surgical robot in the minimally invasive surgical robot generally includes a doctor's console (master end), a patient surgical platform (slave end) and an image platform. The doctor's console collects the doctor's operation signal and generates a control signal for the patient's surgical platform through the control system, and the surgical arm of the patient's surgical platform performs the surgical operation. Usually, in the patient platform configuration of laparoscopic surgery, the vertical axis of one of the adjustment joints can reciprocate up and down to adjust the position of the surgical arm. The weight of the surgical arm is large, so it is necessary to set a gravity balance mechanism for the surgical arm to facilitate the adjustment of the position of the surgical arm.

[0003] In the related art, for example, Chinese patent CN106132343B discloses a constant force spring with active bias, including a motor, a constant force spring, a bracket and a plurality of supporting members; one end of the constant force spring is connected to the load, and the other end is connected to the reel; the rotor of the motor is connected to the reel of the constant force spring, which is used to provide an additional pulling force for the constant force spring, so that the force provided by the constant force spring can be increased to a certain range as needed, so that the balancing force remains constant. In order to reduce the energy consumption and loss of the motor, a brake is added to make the load immobile; at this time, the motor does not need to provide force.

[0004] However, in the related art, the load is easily affected by the upward force and changes its position, which is not conducive to bidirectional braking of the load. Utility Model Content

[0005] The embodiment of the present application provides a vertical axis and a surgical robot; the load can be stably maintained in an adjusted position, and the patient can be effectively protected during surgery; and the braking of the linear motion of the operating arm in the vertical direction is converted into braking of the rotational motion, which is convenient for braking in the upper and lower directions in the vertical direction, and is conducive to the setting of the brake assembly.

[0006] According to a first aspect of an embodiment of the present application, a brake assembly is provided, comprising:

[0007] Mounting plate;

[0008] a balancing assembly configured to balance the weight of the operating arm;

[0009] A first brake member is arranged on the mounting plate along a vertical direction;

[0010] A second brake member is movably matched with the first brake member in a vertical direction, and the second brake member is configured to be connected to the operating arm;

[0011] The brake has an open state and a closed state;

[0012] In the open state, the second brake member can be moved relative to the first brake member in the vertical direction under the drive of the operating arm, and the first brake member is configured to restrict the second brake member so that the second brake member rotates;

[0013] In the closed state, the holding brake is configured to be coupled with the second brake member to lock the rotation of the second brake member, and the second brake member cooperates with the first brake member to limit the position of the operating arm in the vertical direction.

[0014] In one implementation, the first brake member is a linear body, and the second brake member is a rotating body; the side wall of the first brake member is meshed with the peripheral wall of the second brake member;

[0015] When the second brake member moves relative to the first brake member, the first brake member drives the second brake member to rotate;

[0016] Furthermore, when the holding brake is coupled to the second braking member, the first braking member limits the second braking member.

[0017] In one implementation, the first brake member includes any one of a rack, a timing belt, a chain, and a worm gear;

[0018] The second braking member includes any one of a gear, a toothed disc or a sprocket, and the second braking member is meshed with the first braking member.

[0019] In one implementation, a rotating shaft is provided on the second brake member, and the rotating shaft passes through the holding brake; in a closed state, the holding brake locks the rotating shaft to lock the rotation of the second brake member.

[0020] In one implementation, the holding brake includes:

[0021] A first resistance member is disposed on the rotating shaft, and along the circumference of the rotating shaft, the first resistance member is configured to rotate with the rotating shaft;

[0022] The second resistance member is separated from the rotating shaft and is configured to be coupled with the first resistance member to lock the rotating shaft.

[0023] In one implementation, the first resistance member includes a first friction plate, the first friction plate has a first shaft hole and a step portion, the step portion is recessed in the hole edge of the first shaft hole, and the cross section of the step portion is a polygon;

[0024] The rotating shaft is inserted into the first shaft hole, and the step portion is configured to cooperate with the peripheral wall of the rotating shaft to fix the first friction plate in the circumferential direction of the rotating shaft;

[0025] The second resistance member comprises a second friction plate, the second friction plate has a second axial hole, the second axial hole is coaxial with the first axial hole, the rotating shaft is passed through the second axial hole, and the rotating shaft can rotate relative to the second friction plate;

[0026] In the closed state, the second friction plate abuts against the first friction plate to lock the rotating shaft.

[0027] In one implementation, the vertical shaft further includes a lifting frame, the lifting frame is movably connected to the mounting plate, and the second brake member is rotatably connected to the lifting frame.

[0028] In one implementation, the vertical axis further includes: a first sensor, which can be moved in the vertical direction under the drive of the second brake member, and the first sensor is configured to detect a first displacement of the second brake member moving in the vertical direction.

[0029] In one implementation, the first sensor includes an encoder;

[0030] The rotating shaft passes through the input shaft of the encoder. When the second brake moves along the vertical direction, the rotating shaft drives the encoder to rotate to detect the first displacement of the second brake moving along the vertical direction.

[0031] In one implementation, the lifting frame is provided with a mounting frame, and the first sensor is mounted on the mounting frame.

[0032] In one implementation, the mounting plate is provided with a guide structure, the lifting frame is movably arranged on the guide structure, and the guide structure is configured to guide the lifting frame.

[0033] In one implementation, the balancing assembly has a second sensor configured to detect a second displacement of the operating arm moving in the vertical direction; the second displacement and the first displacement detected by the first sensor of the brake assembly are configured to determine whether the vertical axis is damaged.

[0034] According to a second aspect of an embodiment of the present application, a surgical robot is provided, comprising:

[0035] Suspension adjustment components;

[0036] The vertical shaft provided in the first aspect of the embodiment of the present application is connected to the suspension adjustment assembly;

[0037] The operating arm is connected to one end of the vertical shaft facing away from the suspension adjustment component, and the operating arm is configured to connect to the end instrument.

[0038] According to the vertical axis and surgical robot provided in the embodiment of the present application, a balancing component is provided to balance the gravity of the operating arm, resulting in that the force balance of the operating arm in the vertical direction is easily disturbed and easily moves up and down; a first brake is provided on the mounting plate along the vertical direction, and the second brake cooperates with the first brake in the vertical direction; in this way, the second brake can be connected to the operating arm of the surgical robot; a brake is provided, and the brake has an open state and a closed state; in the open state, the operating arm can drive the second brake to move relative to the first brake when adjusted in the vertical direction; the second brake can be rotated due to the restriction of the first brake on the second brake; in the closed state, the brake is coupled to the second brake to lock the rotation of the second brake, so that the second brake is relatively fixed to the first brake to limit the position of the operating arm in the vertical direction. In this way, the second brake member moves in the vertical direction relative to the first brake member, and the restriction of the first brake member on the second brake member causes the second brake member to rotate, and the brake brakes the second brake member, thereby converting the linear braking in the vertical direction into braking the rotation of the second brake member. After the brake brakes the second brake member, the second brake member cannot rotate. Due to the restriction of the first brake member on the second brake member, the second brake member cannot move upward or downward relative to the first brake member, thereby achieving braking in two directions (vertically upward and vertically downward) (that is, the operating arm can be braked in both the vertical upward and vertical downward directions at the same time). In addition, by braking the rotation of the second brake member with the brake, the structure of the brake assembly is simplified, which facilitates the installation and setting of the brake assembly in the vertical shaft.

[0039] In addition, after the operating arm is adjusted to a preset position, the brake can be switched to a closed state, and the height position of the operating arm can be locked by the brake; in this way, the force compensation mechanism in the balancing assembly can be stopped, thereby protecting the force compensation mechanism and saving energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a schematic diagram of the structure of the cooperation between the slave end operating arm and the vertical axis in the surgical robot provided in some embodiments of the present application;

[0042] Figure 2 is a schematic structural diagram of a vertical axis in a surgical robot provided in some embodiments of the present application;

[0043] Figure 3 is a schematic diagram of the structure of the surgical robot provided in some embodiments of the present application after the cover is removed from the vertical axis;

[0044] Figure 4 It is a schematic diagram of the structure of the cooperation between the brake assembly and the balance assembly in the surgical robot provided in some embodiments of the present application;

[0045] Figure 5 is a front view of the cooperation between the brake assembly and the moving cylinder in the surgical robot provided in some embodiments of the present application;

[0046] Figure 6 For along Figure 5 Sectional view along line AA;

[0047] Figure 7 A schematic diagram of the structure of the brake in the surgical robot provided in some embodiments of the present application.

[0048] Description of reference numerals:

[0049] 10-vertical axis; 20-operating arm;

[0050] 100-mounting plate; 200-brake assembly; 300-balance assembly; 400-lifting frame; 500-guide structure; 600-moving cylinder; 700-cover body; 800-first sensor;

[0051] 201-first brake member; 202-second brake member; 203-holding brake; 204-rotating shaft; 401-mounting frame;

[0052] 2031 - first resistance member; 2032 - second resistance member; 2031a - first axial hole; 2031b - step portion; 2032a - second axial hole. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0054] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the scope of protection of the present application is limited only by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstandings of the main points of the present application by the public.

[0055] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that other embodiments or combinations may be used, and that mechanical structures, physical components, electrical and step changes may be made without departing from the spirit and scope of the present application.

[0056] The following terms used herein are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", etc., can be used to describe the relationship between an element or feature illustrated in the figure and another element or feature for the convenience of explanation. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation except the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as being "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover the orientation of the top and bottom. And the device can be oriented in other ways (for example, rotated 90 ° or in other orientations), and the spatially relative descriptors used here are interpreted accordingly.

[0057] As used herein, "several", the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components, but do not exclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0058] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part" and "item" are used interchangeably.

[0059] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device, including an end effector, that is configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. An end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool so that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0060] The term "matching" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the matched objects to operate in conjunction with each other. It should be noted that matching does not require a direct connection (e.g., a direct physical or electrical connection), but many objects or components can be used to match two or more objects. For example, objects A and B can be matched using object C. In addition, the terms "removably connected" or "removably matched" can be interpreted as meaning a non-permanent connection or matching situation between two or more objects. This means that the objects that are removably connected can be unconnected and separated so that they no longer operate in conjunction.

[0061] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0062] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robot

[0063] Laparoscopic surgical robots usually include a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits on the doctor control platform to view the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope placed in the patient's body, and to control the movement of the robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering out the tremor of the human hand itself.

[0064] The patient surgical platform includes a chassis, a column, a mechanical arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. Surgical instruments and / or laparoscopes are detachably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is usually located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point".

[0065] The image platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying the surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes an optical device that transmits images from the patient's body to one or more imaging sensors (also called image sensors, such as CCD or CMOS sensors) at the distal end of the endoscope, and then transmits the video image to the host of the image platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on the video display for the assistant to observe.

[0066] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset control degree. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operating signals, and after processing by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0067] Typically, the force generated by the remote motor is transmitted via a transmission system that transmits the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device for controlling the manipulator may be located remotely from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresentation surgery will be familiar with such systems and their components.

[0068] Figure 1It is a schematic diagram of the structure of the cooperation between the slave end operating arm and the vertical axis in the surgical robot provided in some embodiments of the present application.

[0069] In some examples, the surgical robot may include a master control terminal.

[0070] For some examples, refer to Figure 1 As shown, the surgical robot may include a slave terminal. The slave terminal may receive control signals from the master control terminal and perform surgical operations.

[0071] In some examples, the slave end may include a cart base (not shown).

[0072] In some examples, the slave end may include a suspension adjustment assembly (not shown).

[0073] In some examples, the slave end may include a vertical shaft 10 (also referred to as a moving shaft in some examples). The vertical shaft 10 may be connected to the suspension adjustment assembly.

[0074] In some examples, vertical axis 10 may be configured for pre-operative positioning.

[0075] In some examples, the vertical shaft 10 may be configured to control the structure connected to the vertical shaft 10 to move up and down during surgery to achieve preliminary adjustment of the up and down position.

[0076] In some examples, the slave end may include an operating arm 20 (also referred to as a surgical arm in some examples). The operating arm 20 may be connected to the vertical shaft 10 .

[0077] In some examples, the operating arm 20 can be connected to an end of the vertical shaft 10 that is away from the suspension adjustment assembly.

[0078] In some examples, manipulator arm 20 may be configured to control the position of a distal instrument during surgery.

[0079] In some examples, the manipulator arm 20 can be configured to control the direction of the end instrument during surgery, so as to facilitate the free movement of the end instrument within the surgical scope.

[0080] In some examples, the vertical shaft 10 can be configured to adjust the operating arm 20 to move up and down to achieve a preliminary adjustment of the position of the operating arm 20 .

[0081] Figure 2 is a schematic diagram of the structure of the vertical axis in the surgical robot provided in some embodiments of the present application, Figure 3 This is a schematic diagram of the structure of the surgical robot provided in some embodiments of the present application after the cover is removed from the vertical axis.

[0082] It is understood that in some examples, the operating arm 20 has a certain weight. The end instrument installed on the operating arm 20 also has a certain weight. Usually, the weight of the operating arm 20 is relatively large (generally, the weight of the operating arm 20 is 10kg-25kg). In order to facilitate the adjustment of the surgical arm in the vertical direction, it is usually necessary to set a balancing assembly 300 to balance the gravity of the operating arm 20.

[0083] Reference Figure 3 As shown, in some examples of the embodiments of the present application, the vertical shaft 10 may include a balancing assembly 300. The balancing assembly 300 may be connected to the suspension adjustment assembly described in detail in the previous embodiments of the present application.

[0084] In some examples, the vertical shaft 10 may include a moving cylinder 600. The moving cylinder 600 may be connected to a load.

[0085] In some examples, the load may include the operating arm 20 described in detail in the previous embodiments of the present application.

[0086] In some examples, the load may include the end instrument described in detail in the previous embodiments of the present application.

[0087] In some examples, the moving cartridge 600 may be connected to the end instrument via the operating arm 20 .

[0088] In some examples, the balance assembly 300 can balance the weight of the moving barrel 600, the manipulator arm 20, and the end instrument.

[0089] In some examples, the moving cylinder 600 can move up and down along the vertical axis 10 to drive the operating arm 20 and the end instrument to move up and down. In this way, it is convenient to adjust the up and down positions of the operating arm 20 and the end instrument.

[0090] In some examples, in order to improve the stability of the moving drum 600 moving up and down along the vertical shaft 10 , the vertical shaft 10 may include a mounting plate 100 .

[0091] In some examples, the mounting plate 100 can be connected to the suspension adjustment platform described in detail in the previous embodiments of the present application.

[0092] In some examples, the mounting plate 100 may be fixedly connected to the suspension adjustment platform.

[0093] In some examples, the mounting plate 100 may be connected to a support mechanism that connects the balancing assembly 300 to the suspension adjustment assembly.

[0094] In some examples, the mounting plate 100 may be located on the underside of the support mechanism.

[0095] In some examples, the moving cylinder 600 may rise upward along the mounting plate 100 in the vertical direction. Alternatively, the moving cylinder 600 may fall downward along the mounting plate 100 in the vertical direction.

[0096] In some examples, the vertical shaft 10 may include a lifting frame 400. The lifting frame 400 may be movably connected to the mounting plate 100.

[0097] In some examples, the lifting frame 400 can be movably connected to the mounting plate 100 in a vertical direction. The lifting frame 400 can be lifted and lowered relative to the mounting plate 100 in a vertical direction.

[0098] In some examples, the moving cylinder 600 may be connected to the lifting frame 400. When the lifting frame 400 rises relative to the mounting plate 100, the moving cylinder 600 may be driven to rise relative to the mounting plate 100.

[0099] In some examples, when the lifting frame 400 descends relative to the mounting plate 100 , the moving cylinder 600 may be driven to descend relative to the mounting plate 100 .

[0100] In some examples of the embodiments of the present application, a lifting frame 400 is movably connected to the mounting plate 100, and the moving cylinder 600 is connected to the lifting frame 400; the moving cylinder 600 is moved up by the lifting frame 400 relative to the mounting plate 100, or the moving cylinder 600 is moved down by the lifting frame 400 relative to the mounting plate 100; in this way, during the process of the moving cylinder 600 rising or falling relative to the mounting plate 100, the moving cylinder 600 can be moved closely to the mounting plate 100 by the lifting frame 400, which can improve the stability of the rising or falling of the moving cylinder 600, thereby improving the stability of the rising or falling of the operating arm 20 connected to the moving cylinder 600.

[0101] In some examples, a guide structure 500 may be provided on the mounting plate 100. The guide structure 500 may be provided on the mounting plate 100 along a vertical direction.

[0102] In some examples, the lifting frame 400 may be slidably disposed on the guide structure 500. The lifting frame 400 may slide along the guide structure 500 to rise or fall in a vertical direction.

[0103] In some examples of the embodiments of the present application, a guide structure 500 is set on the mounting plate 100, and the lifting frame 400 is slidably set on the guide structure 500; in this way, the guide structure 500 can guide the ascent or descent of the lifting frame 400, and can improve the stability of the moving cylinder 600 moving in the vertical axis 10.

[0104] In some examples, the guide structure 500 may include a guide rail, which may be fixedly connected to the mounting plate 100 .

[0105] In some examples, the lifting frame 400 may be slidably disposed on a guide rail. The lifting frame 400 may slide along the guide rail to rise or fall in a vertical direction.

[0106] In some examples, the guide rail may include two guide rails, and the two guide rails may be disposed on the mounting plate 100 opposite to each other.

[0107] In some examples of the embodiments of the present application, two guide rails are provided to guide the lifting frame 400, thereby improving the stability of the moving cylinder 600 moving in the vertical axis 10 and improving the stability of the operating arm 20 moving up and down.

[0108] In some examples, the guide structure 500 may include a guide groove (not shown in the figure). The guide groove may be disposed on the mounting plate 100 along a vertical direction.

[0109] In some examples, a portion of the lifting frame 400 may be inserted into the guide slot, and the lifting frame 400 may slide along the guide slot to rise or fall in a vertical direction.

[0110] In some examples, the guide groove may include two guide grooves, which may be disposed on the mounting plate 100 opposite to each other.

[0111] Figure 4 It is a structural schematic diagram of the cooperation between the brake assembly and the balance assembly in the surgical robot provided in some embodiments of the present application.

[0112] In some examples, since the balancing assembly 300 balances the gravity of the moving cylinder 600, the operating arm 20 and the end instrument, the forces on the moving cylinder 600, the operating arm 20 and the end of the instrument are balanced; the position of the operating arm 20 can be easily moved under the action of a small external force, which is convenient for the doctor to adjust the position of the operating arm 20 before or during the operation. However, during the operation, the position of the operating arm 20 is also easily disturbed by external forces, resulting in an unstable position of the operating arm 20, which is easy to cause harm to the patient.

[0113] In view of this, refer to Figure 4 As shown, in some examples of the embodiments of the present application, the vertical shaft 10 may include a brake assembly 200 .

[0114] In some examples, the brake assembly 200 may be disposed on the mounting plate 100. After the moving cylinder 600 drives the operating arm 20 to rise to a preset position, the brake assembly 200 may lock the positions of the operating arm 20 and the moving cylinder 600, thereby keeping the operating arm 20 at the adjusted preset position.

[0115] In some examples, after the moving cylinder 600 drives the operating arm 20 to descend to the preset position, the brake assembly 200 can lock the positions of the operating arm 20 and the moving cylinder 600, so that the operating arm 20 remains in the adjusted preset position.

[0116] In some examples, the preset position may be any position within the adjustable travel range of the operating arm 20 in the vertical direction.

[0117] For some examples, refer to Figure 4 As shown, the brake assembly 200 may include a first brake member 201 .

[0118] In some examples, the first brake member 201 may be disposed in a vertical direction.

[0119] In some examples, the first brake member 201 may be disposed in a substantially vertical direction.

[0120] In some examples, the first brake member 201 may be disposed on the mounting plate 100 .

[0121] In some examples, the first brake member 201 may be fixed on the mounting plate 100 .

[0122] In some examples, the brake assembly 200 may include a second brake member 202. The second brake member 202 may be movably matched with the first brake member 201 in the vertical direction.

[0123] In some examples, the second brake member 202 may be configured to be connected to the operating arm 20. Driven by the operating arm 20, the second brake member 202 may move relative to the first brake member 201 in a vertical direction.

[0124] In some examples, the second brake member 202 may be connected to the moving cylinder 600. When the moving cylinder 600 moves in the vertical direction, the moving cylinder 600 may drive the second brake member 202 to move relative to the first brake member 201 in the vertical direction.

[0125] In some examples, when the moving cylinder 600 drives the operating arm 20 to move in the vertical direction, the second braking member 202 may move in the vertical direction relative to the first braking member 201 .

[0126] In some examples, when the second brake member 202 moves in a vertical direction relative to the first brake member 201 , the first brake member 201 may provide a driving force to the second brake member 202 to drive the second brake member 202 to rotate.

[0127] In some examples, the brake assembly 200 may include a holding brake 203 . The holding brake 203 may be configured to be coupled to the second brake member 202 .

[0128] In some examples, the holding brake 203 may have an open state. In the open state, the up and down movement of the operating arm may drive the second brake member 202 , and the second brake member 202 may move relative to the first brake member 201 and rotate under the restriction of the first brake member 201 .

[0129] In some examples, the brake 203 may have a closed state. In the closed state, the brake 203 may be coupled to the second brake member 202 to lock the rotation of the second brake member 202. The first brake member 201 cooperates with the second brake member 202 to define the relative position of the second brake member 202 and the first brake member 201 in the vertical direction, thereby limiting the position of the operating arm 20 in the vertical direction.

[0130] In some examples, the holding brake 203 may include a friction plate.

[0131] In some examples, the holding brake 203 may abut against an end surface of the second braking member 202 , and lock the second braking member 202 through friction between the holding brake 203 and the end surface of the second braking member 202 .

[0132] In some examples, brake 203 may include a caliper.

[0133] In some examples, the holding brake 203 may be clamped on a cross-section of the second brake member 202 , and lock the second brake member 202 through friction between the brake 203 and an end surface of the second brake member 202 .

[0134] According to the vertical axis 10 provided in the embodiment of the present application, the gravity of the operating arm is balanced by setting a balancing component, resulting in that the force balance of the operating arm is easily disturbed in the vertical direction and is easily moved up and down; by setting the first brake 201 on the mounting plate in the vertical direction, the second brake 202 is movably matched with the first brake 201 in the vertical direction; in this way, the second brake 202 can be connected to the operating arm 20 of the surgical robot, and by setting the brake 203, the brake 203 has an open state and a closed state; in the open state, when the operating arm 20 is adjusted in the vertical direction, the second brake 202 can be driven to move relative to the first brake 201; the second brake 202 can be rotated due to the restriction of the first brake 201 on the second brake 202; in the closed state, the brake 203 is coupled to the second brake 202 to lock the rotation of the second brake 202, so that the second brake 202 is relatively fixed to the first brake 201 to limit the position of the operating arm 20 in the vertical direction. In this way, the second brake member 202 moves in the vertical direction relative to the first brake member 201, and the first brake member 201 restricts the second brake member 202 so that the second brake member 202 rotates, and the brake 203 brakes the second brake member 202, thereby converting the linear braking in the vertical direction into braking the rotation of the second brake member 202. After the brake 203 brakes the second brake member 202, the second brake member 202 cannot rotate. Due to the restriction of the first brake member 201 on the second brake member 202, the second brake member 202 cannot move upward or downward relative to the first brake member 201, thereby achieving braking in two directions (vertically upward and vertically downward) (that is, the operating arm can be braked in both the vertical upward and vertically downward directions at the same time). In addition, by braking the rotation of the second brake member 202 by the brake 203, the structure of the brake assembly 200 is simplified, and the installation and setting of the brake assembly 200 in the vertical shaft 10 is facilitated.

[0135] In addition, after the operating arm 20 is adjusted to the preset position, the brake 203 can be switched to a closed state, and the height position of the operating arm 20 can be locked by the brake 203; in this way, the force compensation mechanism in the balancing assembly 300 can be stopped, thereby protecting the force compensation mechanism and saving energy.

[0136] For some examples, refer to Figure 4 As shown, the first brake member 201 may be a straight body.

[0137] In some examples, the first brake member 201 may be a cuboid. The first brake member 201 may be disposed between two guide structures 500 .

[0138] In some examples, the first brake member 201 may include a rack.

[0139] In some examples, the first brake member 201 may include a timing belt.

[0140] In some examples, the first brake member 201 may include a chain.

[0141] In some examples, the first brake gear may include a worm gear.

[0142] In some examples, the second braking member 202 may be a rotating body.

[0143] In some examples, the second brake member 202 may include a gear. The second brake member 202 may be engaged with the first brake member 201 .

[0144] In some examples, during the ascending process of the operating arm 20 , since the first brake member 201 is engaged with the second brake member 202 , the second brake member 202 moves along the first brake member 201 , and the first brake member 201 drives the second brake member 202 to rotate.

[0145] In some examples, the second brake member 202 may include a crankset.

[0146] In some examples, the second brake member 202 may include a sprocket.

[0147] In some examples, when the rotation of the second brake member 202 is locked by the brake 203, due to the engagement of the first brake member 201 with the second brake member 202, the teeth on the first brake member 201 and the teeth on the second brake member 202 form a limiting relationship, thereby limiting the rise or fall of the second brake member 202; in this way, the rise or fall of the moving cylinder 600 and the operating arm 20 connected to the second brake member 202 can be limited, and the operating arm 20 can be stably maintained in the adjusted preset position, thereby improving the safety of the operation.

[0148] Figure 5 This is a front view of the cooperation between the brake assembly and the moving cylinder in the surgical robot provided in some embodiments of the present application. Figure 6 For along Figure 5 Section view along line AA.

[0149] For some examples, refer to Figure 5 and Figure 6 As shown, a rotating shaft 204 may be provided on the second brake member 202. The rotating shaft 204 may pass through the holding brake 203.

[0150] In some examples, the rotating shaft 204 may be rotatably disposed through the lifting frame 400 .

[0151] In some examples, the rotating shaft 204 and the lifting device may be rotatably connected via a bearing.

[0152] In some examples, when the lifting frame 400 rises along the mounting plate 100, the lifting frame 400 drives the rotating shaft 204 to rise, the rotating shaft 204 drives the second brake member 202 to rise, the second brake member 202 moves relative to the first brake member 201, and the first brake member 201 drives the second brake member 202 to rotate, thereby driving the rotating shaft 204 to rotate relative to the lifting frame 400.

[0153] In some examples, when the lifting frame 400 descends along the mounting plate 100, the lifting frame 400 drives the rotating shaft 204 to descend, the rotating shaft 204 drives the second brake member 202 to descend, the second brake member 202 moves relative to the first brake member 201, and the first brake member 201 drives the second brake member 202 to rotate, thereby driving the rotating shaft 204 to rotate relative to the lifting frame 400.

[0154] In some examples, in the closed state, the holding brake 203 can lock the rotating shaft 204 to lock the rotation of the second braking member 202 .

[0155] In some examples, the holding brake 203 may include a three-finger claw. In a closed state, the three-finger claw may abut against a peripheral wall of the rotating shaft 204 to lock the rotating shaft 204.

[0156] In some examples of the embodiments of the present application, a rotating shaft 204 is set on the second brake member 202, and the brake 203 locks the rotating shaft 204, thereby locking the second brake member 202; in this way, the space on the side of the second brake member 202 facing away from the mounting plate 100 can be fully utilized, thereby reducing the space required to be occupied by vehicle-related components and facilitating the setting and installation of the brake assembly 200.

[0157] Figure 7 A schematic diagram of the structure of the brake in the surgical robot provided in some embodiments of the present application.

[0158] For some examples, refer to Figure 6 and Figure 7 As shown, the holding brake 203 may include a first resistance member 2031. The first resistance member 2031 may be disposed on the rotating shaft 204.

[0159] In some examples, the first resistance member 2031 may be a first friction plate.

[0160] For some examples, refer to Figure 7 As shown, the first friction plate may have a first shaft hole 2031a. The rotating shaft 204 may pass through the first shaft hole 2031a.

[0161] For some examples, refer to Figure 7 As shown, the first friction plate may have a step portion 2031b. The step portion 2031b may be recessed in the edge of the first shaft hole 2031a.

[0162] For some examples, refer to Figure 7 As shown, the step portion 2031b is recessed in the end surface of one side of the first friction plate and is coaxial with the first shaft hole 2031a.

[0163] In some examples, the radial dimension of the step portion 2031 b is greater than the radial dimension of the first shaft hole 2031 a , so that the step portion 2031 b is recessed in the edge of the first shaft hole 2031 a .

[0164] In some examples, the radial cross-section of the step portion 2031 b may be a polygon.

[0165] In some examples, the radial cross-section of the step portion 2031b may be triangular.

[0166] In some examples, the radial cross-section of the step portion 2031b may be a quadrilateral.

[0167] In some examples, the radial cross-section of the step portion 2031b may be a pentagon or a hexagon.

[0168] In some examples, the inner wall of the step portion 2031b can cooperate with the peripheral wall of the rotating shaft 204 to limit the circumferential freedom of the first friction plate and the rotating shaft 204, so that when the rotating shaft 204 rotates, the first friction plate is driven to rotate through the cooperation between the step portion 2031b and the peripheral wall of the rotating shaft 204.

[0169] In some examples, the holding brake 203 may include a second resistance member 2032 . The second resistance member 2032 may be separated from the rotating shaft 204 .

[0170] In some examples, the second resistance member 2032 may have a second shaft hole 2032a. The rotating shaft 204 may pass through the second shaft hole 2032a. The second shaft hole 2032a may be coaxial with the first shaft hole 2031a.

[0171] In some examples, the rotating shaft 204 can rotate relative to the second resistance member 2032 .

[0172] In some examples, the second resistance member 2032 may be a second friction plate. The second resistance member 2032 may be coupled to the first resistance member 2031 to lock the rotation of the rotating shaft 204 through the friction force between the second friction plate and the first friction plate.

[0173] In some examples, in the closed state, the second friction plate can abut against the first friction plate. Since the first friction plate and the rotating shaft 204 are relatively fixed in the circumferential direction, the friction force of the second friction plate on the first friction plate causes the first friction plate to stop rotating, thereby stopping the rotating shaft 204 from rotating.

[0174] In some examples, when adjusting the height position of the operating arm 20, the brake 203 can be switched to the open state first. At this time, the first friction plate and the second friction plate are separated, and there is no friction between the first friction plate and the second friction plate; because the balancing component 300 provides a balancing force to the operating arm 20, the operating arm 20 is balanced and remains stationary. The doctor or operator can apply a small external force to the operating arm 20 to break the state of force balance of the operating arm 20, so that the height position of the operating arm 20 can be easily adjusted.

[0175] After the height position of the operating arm 20 is adjusted to the preset position, the brake 203 can be switched to the closed state. At this time, the second friction plate abuts against the second friction plate. Since the balancing assembly 300 provides a balancing force to the operating arm 20, the operating arm 20 is balanced and remains in a static state, and only the positive pressure of the abutment between the first friction plate and the second friction plate exists.

[0176] In some examples, when the operating arm 20 is subjected to an external force, the operating arm 20 has a tendency to move upward or downward, so that the rotating shaft 204 has a tendency to rotate. At this time, due to the friction between the first friction plate and the second friction plate, the rotating shaft 204 can be prevented from rotating, so that the operating arm 20 remains in a preset position.

[0177] In some examples, after the operating arm 20 is adjusted to a preset position, the brake 203 can be switched to a closed state. At this time, the second friction plate abuts against the first friction plate, and the force compensation mechanism in the balancing assembly 300 can be stopped; at this time, the friction between the second friction plate and the first friction plate is equivalent to compensating the gravity of the moving cylinder 600, the operating arm 20, and the end device, which can protect the force compensation mechanism, save energy consumption, and reduce the cost of operation and maintenance.

[0178] In some examples, when adjusting the height position of the operating arm 20, the vertical shaft 10 usually has a certain height adjustment limit. A limiting structure can be set at the height adjustment limit position of the vertical shaft 10 to limit the operating arm 20. In order to improve the stability of the height adjustment of the operating arm 20, the movement of the operating arm 20 can be determined.

[0179] In some examples, the brake assembly 200 may include a first sensor 800. The first sensor 800 may be disposed on the lifting frame 400 described in the previous embodiment of the present application.

[0180] For some examples, refer to Figure 5 As shown, a mounting frame 401 may be provided on the lifting frame 400 , and the first sensor 800 may be installed on the mounting frame 401 and move together with the lifting frame 400 .

[0181] In some examples, the first sensor 800 may be fixed relative to the second brake member 202. For example, when the second brake member 202 rises along the first brake member 201, the first sensor 800 may rise along with the second brake member 202; when the second brake member 202 falls along the first brake member 201, the first sensor 800 may fall along with the second brake member 202.

[0182] In some examples, the first sensor 800 may be configured to detect a first displacement of the second brake member 202 moving in a vertical direction.

[0183] In some examples, since the operating arm 20 is connected to the second brake member 202 via the moving cylinder 600 and the lifting frame 400 , the first displacement may be the displacement of the operating arm 20 .

[0184] In some examples, the first sensor 800 may include an infrared sensor.

[0185] In some examples, the first sensor 800 may include an ultrasonic sensor.

[0186] In some examples, the first sensor 800 may include a millimeter wave radar.

[0187] In some examples, the first sensor 800 may include an ultrasonic radar.

[0188] In some examples, the first sensor 800 can include a draw wire encoder.

[0189] In some examples, the first sensor 800 can include an encoder.

[0190] In some examples, the rotating shaft 204 may be disposed through an output shaft of the encoder.

[0191] In some examples, when the second brake member 202 moves in the vertical direction, the rotating shaft 204 rotates. The rotating shaft 204 can drive the encoder to rotate, thereby detecting the first displacement of the second brake member 202 moving in the vertical direction.

[0192] In some examples, the balancing assembly 300 may have a second sensor (not shown in the figure). The second sensor may be configured to detect a second displacement of the operating arm 20 moving in the vertical direction.

[0193] In some examples, the second sensor may include an encoder.

[0194] In some examples, the second sensor may include a draw wire encoder.

[0195] In some examples, the second sensor may include an infrared detection sensor.

[0196] In some examples, the second sensor may include an ultrasonic radar.

[0197] In some examples, the second sensor may include a millimeter wave radar.

[0198] In some examples, the second range sensor may include a lidar.

[0199] In some examples, the second displacement can be cross-checked with the first displacement to determine whether the internal structure of the vertical shaft 10 is damaged.

[0200] In some examples, when the second displacement is different from the first displacement, or the difference between the second displacement and the first displacement exceeds a preset threshold, it can be determined that the internal structure of the vertical shaft 10 is damaged.

[0201] In some examples of the embodiments of the present application, a second sensor is provided in the balancing assembly 300. In this way, the second displacement detected by the second sensor can be verified with the first displacement detected by the first sensor 800, and whether the internal structural parts of the vertical shaft 10 are damaged can be discovered and confirmed in time, which is conducive to timely maintenance of the surgical robot.

[0202] For some examples, refer to Figure 2 As shown, the vertical shaft 10 may include a cover 700. The cover 700 may be connected to the mounting plate 100. The cover 700 may be configured to protect the balancing assembly 300, the lifting frame 400, and the moving cylinder 600.

[0203] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vertical axis, characterized in that: include: Mounting plate; a balancing assembly configured to balance the weight of the operating arm; A first brake member is disposed on the mounting plate along a vertical direction; a second brake member, movably matched with the first brake member in a vertical direction, and the second brake member is configured to be connected to the operating arm; A holding brake, wherein the holding brake has an open state and a closed state; In the open state, the second brake member can be moved relative to the first brake member in a vertical direction under the drive of the operating arm, and the first brake member is configured to restrict the second brake member so that the second brake member rotates; In the closed state, the holding brake is configured to be coupled with the second brake member to lock the rotation of the second brake member, and the second brake member cooperates with the first brake member to limit the position of the operating arm in the vertical direction.

2. The vertical shaft according to claim 1, characterized in that The first brake member is a linear body, and the second brake member is a rotating body; the side wall of the first brake member is meshed with the peripheral wall of the second brake member; When the second brake member moves relative to the first brake member, the first brake member drives the second brake member to rotate; Furthermore, when the holding brake is coupled to the second braking member, the first braking member limits the second braking member.

3. The vertical shaft according to claim 2, characterized in that The first brake member includes any one of a rack, a timing belt, a chain and a worm; The second braking member includes any one of a gear, a crankset or a sprocket, and the second braking member is meshed with the first braking member.

4. The vertical shaft according to any one of claims 1 to 3, characterized in that: The second brake member is provided with a rotating shaft, and the rotating shaft passes through the holding brake; in the closed state, the holding brake locks the rotating shaft to lock the rotation of the second brake member.

5. The vertical shaft according to claim 4, characterized in that The holding brake comprises: A first resistance member is disposed on the rotating shaft, and along the circumference of the rotating shaft, the first resistance member is configured to rotate with the rotating shaft; The second resistance member is separated from the rotating shaft, and the second resistance member is configured to be coupled with the first resistance member to lock the rotating shaft.

6. The vertical shaft according to claim 5, characterized in that The first resistance member comprises a first friction plate, the first friction plate has a first shaft hole and a step portion, the step portion is recessed in the hole edge of the first shaft hole, and the cross section of the step portion is a polygon; The rotating shaft is inserted into the first shaft hole, and the step portion is configured to cooperate with the peripheral wall of the rotating shaft to fix the first friction plate in the circumferential direction of the rotating shaft; The second resistance member comprises a second friction plate, the second friction plate has a second axial hole, the second axial hole is coaxial with the first axial hole, the rotating shaft is passed through the second axial hole, and the rotating shaft can rotate relative to the second friction plate; In the closed state, the second friction plate abuts against the first friction plate to lock the rotating shaft.

7. The vertical shaft according to claim 4, characterized in that The vertical shaft further comprises a lifting frame, the lifting frame is movably connected to the mounting plate, and the second brake member is rotatably connected to the lifting frame.

8. The vertical shaft according to claim 7, characterized in that The vertical axis further includes a first sensor, which can be moved in a vertical direction driven by the second brake member, and the first sensor is configured to detect a first displacement of the second brake member moving in the vertical direction.

9. The vertical shaft according to claim 8, characterized in that The first sensor includes an encoder; The rotating shaft passes through the input shaft of the encoder. When the second brake member moves along the vertical direction, the rotating shaft drives the encoder to rotate to detect a first displacement of the second brake member moving along the vertical direction.

10. The vertical shaft according to claim 8, characterized in that The lifting frame is provided with a mounting frame, and the first sensor is mounted on the mounting frame.

11. The vertical shaft according to claim 9, characterized in that The mounting plate is provided with a guide structure, the lifting frame is movably arranged on the guide structure, and the guide structure is configured to guide the lifting frame.

12. The vertical shaft according to any one of claims 8 to 11, characterized in that The balancing assembly has a second sensor, and the second sensor is configured to detect a second displacement of the operating arm moving in the vertical direction; the second displacement and the first displacement detected by the first sensor are configured to determine whether the vertical axis is damaged.

13. A surgical robot, characterized in that: include: Suspension adjustment components; The vertical shaft according to any one of claims 1 to 12, wherein the vertical shaft is connected to the suspension adjustment assembly; An operating arm is connected to an end of the vertical shaft facing away from the suspension adjustment assembly, and the operating arm is configured to connect to a terminal instrument.

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