Detection mechanism, mechanical arm, doctor console and surgical robot

Abstract

The utility model relates to the technical field of machinery, in particular to a detection mechanism, a mechanical arm, a doctor console and a surgical robot. The detection mechanism comprises an elastic piece, a transmission piece, a pulley assembly, a rotating piece and a detection device. One end of the elastic piece is connected with the fixing piece, and the other end of the elastic piece is connected with one end of the transmission piece; the other end of the transmission part bypasses the pulley assembly and is connected with the rotating part; the elastic piece transmits elastic force to the mechanical arm through the transmission piece and the rotating piece, so that the mechanical arm is in a balancing state during action; the detection device is arranged between the pulley assembly and the fixing piece and can detect the telescopic state of the elastic piece. According to the detection mechanism provided by the embodiment of the invention, the gravity of a user for operating the mechanical arm can be reduced, and the reliability of the detection mechanism can be ensured based on the detection device.

Description

Technical Field

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

[0002] A surgical robot generally includes a master control arm and a slave control mechanism. The master control arm can be manipulated to control the movement of a handle of the slave control mechanism, thereby assisting medical personnel in performing surgery.

[0003] In the related art, some joints of the main control arm adopt a spring balancing solution, using the tension of the spring to overcome the gravity of the main control arm, making it easier for doctors to operate the robotic arm and reducing doctors' fatigue. However, the above structure still has low reliability and cannot avoid sudden failures during use, thus affecting the progress of the operation and even harming the patient. Utility Model Content

[0004] To solve the above technical problems, the present application discloses, on one hand, a detection mechanism, which is applied to a mechanical arm and includes an elastic member, a transmission member, a pulley assembly, a rotating member and a detection device;

[0005] One end of the elastic member is connected to the fixed member, and the other end of the elastic member is connected to one end of the transmission member; the other end of the transmission member bypasses the pulley assembly and is connected to the rotating member, and the rotating member is connected to the joint of the mechanical arm; the elastic member transmits elastic force to the mechanical arm through the transmission member and the rotating member, so that the mechanical arm is in a balanced state when in motion;

[0006] The detection device is arranged between the pulley assembly and the fixing member, and is used for detecting the telescopic state of the elastic member.

[0007] Optionally, the detection device is a tension sensor;

[0008] The tension sensor is arranged between the pulley assembly and the elastic member, or the tension sensor is arranged between the elastic member and the fixing member.

[0009] Optionally, the detection device includes a blocking member and an optical coupling member;

[0010] The blocking member includes opposing first and second ends;

[0011] The first end is connected to the other end of the elastic member;

[0012] The second end is connected to one end of the transmission member;

[0013] In the natural state of the elastic member, there is a first preset distance between the optical coupler and the second end, and the blocking member cannot block the optical coupler; when the elastic member is in a normal elongated state, the blocking member can block the optical coupler; or, in the natural state of the elastic member, there is a second preset distance between the optical coupler and the first end, and the blocking member can block the optical coupler; when the elastic member is in a normal elongated state, the blocking member cannot block the optical coupler.

[0014] Optionally, the detection device is a distance measuring sensor;

[0015] The distance measuring sensor is located on one side of the elastic member and is used to detect the elongation of the elastic member.

[0016] Optionally, a connecting rod is also included;

[0017] The transmission member is connected to the rotating member through a connecting rod.

[0018] Optionally, the pulley assembly includes a plurality of pulleys;

[0019] Multiple pulleys are arranged at different heights.

[0020] The present application discloses, on the other hand, a mechanical arm, which comprises a housing and the above-mentioned detection mechanism;

[0021] The fixing piece is fixedly connected to the housing.

[0022] Optionally, it also includes at least one articulated arm;

[0023] The rotating member is rotatably connected to the articulated arm;

[0024] A handle is provided at the end of the articulated arm.

[0025] On the other hand, the present application discloses a doctor's console, which includes the above-mentioned robotic arm.

[0026] The present application discloses, in another aspect, a surgical robot, the surgical robot comprising a patient surgical platform and the above-mentioned doctor console, the patient surgical platform comprising surgical instruments;

[0027] The robotic arm is used to control the surgical instrument.

[0028] On the other hand, the present application discloses a surgical robot, which includes the above-mentioned robotic arm.

[0029] Optionally, a controller is also included;

[0030] The controller is communicatively connected with the detection device;

[0031] The controller is used to receive the expansion and contraction state information of the elastic member sent by the detection device, and determine whether to start the system safety response function based on the expansion and contraction state information of the elastic member.

[0032] The detection mechanism provided in the present application includes an elastic member, a transmission member, a pulley assembly, a rotating member and a detection device; one end of the elastic member is connected to the fixed member, and the other end of the elastic member is connected to one end of the transmission member; the other end of the transmission member bypasses the pulley assembly and is connected to the rotating member, and the elastic member transmits elastic force to the robotic arm through the transmission member and the rotating member, so that the robotic arm is in a balanced state when in motion, thereby reducing the gravity of the user operating the robotic arm and reducing the user's fatigue.

[0033] The detection device is arranged between the pulley assembly and the fixing member. The detection device can detect whether the mechanism fails by detecting the telescopic state of the elastic member, thereby improving the reliability of the detection mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1-4 The following are schematic diagrams of the structure of the balancing mechanism under different gravity moments;

[0036] Figure 5 It is a structural schematic diagram of the first detection mechanism provided in the embodiment of the present application;

[0037] Figure 6 is a schematic structural diagram of a mechanical arm using a first detection mechanism provided in an embodiment of the present application;

[0038] Figure 7 is a structural schematic diagram of a second detection mechanism provided in an embodiment of the present application;

[0039] Figure 8 This is a schematic diagram of the structure of the third detection mechanism provided in the embodiment of the present application.

[0040] Fig. 9 is a schematic diagram of the structure of a mechanical arm using a third detection mechanism provided in an embodiment of the present application;

[0041] Fig.10 This is a schematic diagram of the structure of the fourth detection mechanism provided in the embodiment of the present application.

[0042] Fig.11 It is a schematic diagram of the structure of a robotic arm using the fourth detection mechanism provided in an embodiment of the present application.

[0043] The following is a supplementary description of the attached drawings:

[0044] 1-elastic member; 2-transmission member; 3-pulley assembly; 301-pulley; 4-rotating member; 5-detection device; 501-blocking member; 5011-connecting part; 5012-detection part; 502-optical coupling member; 503-measuring member; 6-fixed member; 7-connecting rod; 8-housing; 9-joint arm. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] The "one embodiment" or "embodiment" referred to herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. Moreover, the terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0047] Example 1

[0048] See also Figure 1-4 , which respectively show the structural schematic diagrams of the balancing mechanism under different gravity moments. The balancing mechanism includes an elastic member 1, a transmission member 2, a pulley assembly 3 and a connecting rod 7; one end of the elastic member 1 is connected to a fixed member 6, and the other end of the elastic member 1 is connected to one end of the transmission member 2; the other end of the transmission member 2 bypasses the pulley assembly 3 and is connected to a rotating member 4 through a connecting rod 7, and the rotating member 4 is connected to the joint of the mechanical arm; the balancing mechanism is usually used in a mechanical arm, so that the tension of the elastic member 1 can be used to overcome the gravity of the mechanical arm, so that the user can be lighter when manually operating the mechanical arm, and reduce the user's fatigue. The elastic member 1 here is used to put the mechanical arm in a balancing state. Optionally, the elastic member 1 can be a spring, or other components that can be stretched under the action of an external force and can retract when the external force is removed. Figure 1-4The black blocks connected to the rotating member 4 on the right side in represent loads. Please refer to Figure 1 , when the minimum moment arm length of the load is L1, the telescopic length of the elastic member 1 is the minimum, and it is a1. The connecting rod 7 for balancing and the transmission member 2 passing through the pulley assembly 3 are almost in a straight line. Please refer to Figure 2 and 3 , when facing two different load directions, the corresponding maximum moment arm lengths are L2 and L3 respectively, where L2, L3 > L1. When the length of the moment arm becomes larger, the balancing connecting rod 7 will rotate forward or backward, causing the telescopic amount of the spring to further increase, and at the same time the pulling force of the spring to further increase, thereby realizing the spring balancing function. Among them, a2 and a3 > a1, indicating that the greater the gravitational moment, the greater the balancing pulling force of the elastic member 1, making it easier to operate the main robotic arm; if the balancing mechanism fails (please refer to Figure 4 ), the elastic member 1 will fully retract, and the elongation of the elastic member 1 is a4, where a4 << a1, a2, and a2.

[0049] Applying the above-mentioned balancing mechanism to a robotic arm, specifically, it can be the main control arm of a teleoperation surgical robot (such as natural cavity, neurosurgery, and laparoscopic surgical robots, etc.). The pulling force of the elastic member 1 can be used to overcome the gravity of the main control arm, making it easier for the doctor to operate the robotic arm and reducing the doctor's fatigue. However, based on the above-mentioned balancing mechanism alone, there is still a problem of poor reliability during the use of the robotic arm. For example, when the balancing mechanism fails, it will cause the main control arm to run away, thereby injuring the patient. Therefore, how to improve the reliability of the balancing mechanism has become an urgent problem to be solved.

[0050] Therefore, please refer to Figure 5, which is a schematic diagram of the structure of the first detection mechanism provided by the embodiment of the present application, the detection mechanism includes the above-mentioned balancing mechanism and the detection device 5, specifically, one end of the elastic member 1 is connected to the fixing member 6, and the other end of the elastic member 1 is connected to one end of the transmission member 2; the other end of the transmission member 2 bypasses the pulley assembly 3 and is connected to the rotating member 4, and the rotating member 4 is connected to the joint of the mechanical arm; the elastic member 1 transmits elastic force to the mechanical arm through the transmission member 2 and the rotating member 4, so that the mechanical arm is in a balancing state when it is in motion; the detection device 5 is a tension sensor, and the above-mentioned elastic member 1 is connected to one end of the transmission member 2 through the detection device 5, so that when the rotating member 4 rotates When the balancing mechanism is in motion, the rotation of the rotating member 4 can drive the elastic member 1 to stretch or retract through the transmission member 2. Specifically, the stretching or retraction of the elastic member 1 is achieved based on the external force acting on the rotating member 4. When the external force changes, when the balancing mechanism is not invalid, the elastic force of the elastic member 1 also changes accordingly. At this time, the change in the elastic force of the elastic member 1 can be detected by the detection device 5. However, when the balancing mechanism fails, the elastic force of the elastic member 1 detected by the detection device 5 will also drop sharply. Therefore, by setting a tension sensor between the transmission member 2 and the elastic member 1, it is possible to determine whether the balancing mechanism has failed, thereby improving the reliability of the detection mechanism.

[0051] In the disclosed embodiment, as long as the tension sensor can accurately measure the elastic force change of the elastic member, there is no restriction on its structure, size and performance. Of course, considering the influence of the tension sensor on the weight reduction performance of the balancing mechanism, the size of the tension sensor is as small as possible and the weight is as light as possible.

[0052] In the embodiment of the present disclosure, the transmission member 2 can be a flexible rope of a flexible material, specifically a rope, a steel cable or a chain, etc., which is not limited here. The rotating member 4 can specifically be a pin-type component.

[0053] The detection mechanism provided in the embodiment of the present application is connected through the cooperation of the elastic member 1, the transmission member 2, the pulley assembly 3 and the rotating member 4, so that the elastic member 1 transmits elastic force to the mechanical arm through the transmission member 2 and the rotating member 4, so that the mechanical arm is in a balanced state when it is in action. The tension of the elastic member 1 is used to overcome the gravity of the mechanical arm, so that the user can operate the mechanical arm more lightly when manually, reducing the user's fatigue. A tension sensor is arranged between the transmission member 2 and the elastic member 1. The tension sensor detects the elastic force of the elastic member 1 (when the telescopic state of the elastic member 1 changes, its elastic force will also change) to detect whether the mechanical arm fails during action. Applying the detection mechanism to the mechanical arm can improve the reliability of the mechanical arm.

[0054] See also Figure 6 The embodiment of the present application further provides a robotic arm, which includes a shell 8 and the above-mentioned detection mechanism, and the fixing member 6 is fixedly connected to the shell 8.

[0055] In the embodiment of the present disclosure, the robotic arm also includes at least one articulated arm 9; the rotating member 4 is rotatably connected to the articulated arm 9; a handle is provided at the end of the articulated arm 9, so that the posture of the robotic arm can be controlled by the user through the force applied to the handle and the driving motors at the joints of the robotic arm.

[0056] In the embodiments of this disclosure, please continue to refer to Figure 6 The pulley assembly 3 includes a plurality of pulleys 301; the plurality of pulleys 301 are arranged in a staggered manner, and the number of the pulleys 301 can be set as required, and is not limited here. Optionally, the pulley assembly 3 includes a plurality of pulleys 301, all of which are fixed pulleys.

[0057] An embodiment of the present application also provides a doctor's console, which includes the above-mentioned robotic arm.

[0058] The embodiment of the present application also provides a surgical robot, the surgical robot comprising a patient surgical platform and the above-mentioned doctor console, the patient surgical platform comprising surgical instruments; the robotic arm is used to control the surgical instruments. Optionally, in the event of failure of the balancing mechanism, the elastic force detected by the tension sensor may be zero, at which point the surgical robot safety mechanism responds immediately, the system reports an error and interrupts the master-slave follow-up control to protect the patient.

[0059] Example 2

[0060] The detection mechanism provided in this embodiment is similar to that in embodiment 1. The difference between this embodiment and the detection mechanism in embodiment 1 is only the setting position of the detection device 5. Please refer to Figure 7 The detection device 5 in this embodiment is located between the elastic member 1 and the fixed member 6. The detection device 5 here can be a force sensor. When the rotating member 4 rotates, the rotation of the rotating member 4 can drive the elastic member 1 to stretch or retract through the transmission member 2. Specifically, the stretching or retraction of the elastic member 1 is achieved based on the external force acting on the rotating member 4. When the external force changes, when the balancing mechanism is not invalid, the elastic force of the elastic member 1 also changes accordingly. At this time, the change in the elastic force of the elastic member 1 can be detected by the detection device 5. However, when the balancing mechanism fails, the elastic force of the elastic member 1 detected by the detection device 5 will also drop sharply. Therefore, by setting the tension sensor between the transmission member 2 and the elastic member 1, it can be determined whether the balancing mechanism fails, thereby improving the reliability of the detection mechanism.

[0061] In the disclosed embodiment, as long as the tension sensor can accurately measure the elastic force change of the elastic member, there is no restriction on its structure, size and performance. Of course, considering the influence of the tension sensor on the weight reduction performance of the balancing mechanism, the size of the tension sensor is as small as possible and the weight is as light as possible.

[0062] In the embodiment of the present disclosure, the transmission member 2 can be a flexible rope of a flexible material, specifically a rope, a steel cable or a chain, etc., which is not limited here. The rotating member 4 can specifically be a pin-type component.

[0063] The detection mechanism provided in the embodiment of the present application is connected through the cooperation of the elastic member 1, the transmission member 2, the pulley assembly 3 and the rotating member 4, so that the elastic member 1 transmits elastic force to the mechanical arm through the transmission member 2 and the rotating member 4, so that the mechanical arm is in a balanced state when it is in action. The tension of the elastic member 1 is used to overcome the gravity of the mechanical arm, so that the user can operate the mechanical arm more lightly when manually, reducing the user's fatigue, and a tension sensor is arranged between the transmission fixing member 6 and the elastic member 1. The tension sensor detects the elastic force of the elastic member 1 to detect whether the mechanical arm fails when it is in action. Applying the detection mechanism to the mechanical arm can improve the reliability of the mechanical arm.

[0064] The embodiment of the present application further provides a robotic arm, which includes a shell 8 and the above-mentioned detection mechanism; the fixing member 6 is fixedly connected to the shell 8.

[0065] In the embodiment of the present disclosure, the robotic arm also includes at least one articulated arm 9; the rotating member 4 is rotatably connected to the articulated arm 9; a handle is provided at the end of the articulated arm 9, so that the posture of the robotic arm can be controlled by the user through the force applied to the handle and the driving motors at the joints of the robotic arm.

[0066] In the embodiments of this disclosure, please continue to refer to Figure 6 The pulley assembly 3 includes a plurality of pulleys 301; the plurality of pulleys 301 are arranged in a staggered manner, and the number of the pulleys 301 can be set as required, and is not limited here. Optionally, the pulley assembly 3 includes a plurality of pulleys 301, all of which are fixed pulleys.

[0067] An embodiment of the present application also provides a doctor's console, which includes the above-mentioned robotic arm.

[0068] The embodiment of the present application also provides a surgical robot, the surgical robot comprising a patient surgical platform and the above-mentioned doctor console, the patient surgical platform comprising surgical instruments; the robotic arm is used to control the surgical instruments. Optionally, in the event of failure of the balancing mechanism, the elastic force detected by the tension sensor may be zero, at which point the surgical robot safety mechanism responds immediately, the system reports an error and interrupts the master-slave follow-up control to protect the patient.

[0069] Example 3

[0070] The detection mechanism provided in this embodiment is similar to that in embodiment 1. The difference between this embodiment and the detection mechanism in embodiment 1 is only in the structure of the detection device 5. Please refer to Figure 8The detection device 5 includes a blocking member 501 and an optical coupling member 502. The blocking member 501 includes a first end (close to the bottom of the blocking member 501) and a second end (close to the top of the blocking member 501) opposite to each other. The first end is connected to the other end of the elastic member 1, and the second end is connected to one end of the transmission member 2. In the natural state of the elastic member 1, there is a first preset distance between the optical coupling member 502 and the second end, and the blocking member 501 cannot block the optical coupling member 502. At this time, the optical coupling member 502 is located above the blocking member 501; when the rotating member 4 rotates, the rotation of the rotating member 4 can drive the elastic member 1 to stretch or retract through the transmission member 2. Since the blocking member 501 is located between the transmission member 2 and the elastic member 1, the blocking member 501 will also move up and down. Generally, in normal working state, the elastic member 1 will be in an extended state, which makes the position of the blocking member 501 higher than the position of the blocking member 501 in the natural state of the elastic member 1. At this time, the blocking member 501 will block the optical coupler 502. The level when the optical coupler 502 is blocked can be set to 1, and the level when the optical coupler 502 is not blocked can be set to 0. Therefore, when the balancing mechanism is not invalid, the elastic member 1 will be in an extended state, the optical coupler 502 is blocked, and its level is 1. When the balancing mechanism fails, the elastic member 1 will become a natural state, and the optical coupler 502 is not blocked at this time, and its level is 0. Therefore, when the level of the optical coupler 502 changes, it can be indicated that the balancing mechanism has failed.

[0071] In the embodiment of the present disclosure, the transmission member 2 can be a flexible rope of a flexible material, specifically a rope, a steel cable or a chain, etc., which is not limited here. The rotating member 4 can specifically be a pin-type component.

[0072] In the embodiment of the present disclosure, the optical coupler 502 can be blocked by setting the position of the optical coupler 502 to a position where the blocking member 501 is in the normal working area. When the blocking member 501 is in the normal working area, the elongation range of the elastic member 1 corresponding to the blocking member 501 is [a1, a2 / a3]. Therefore, when the optical coupler 502 detects that the blocking member 501 is in the normal working area, the level change of the optical coupler 502 will not be triggered. If the elastic member 1 retracts to a certain extent less than the minimum gravitational moment elongation, the blocking member 501 will not block the optical coupler 502, which will trigger the level change of the optical coupler 502, indicating that the balancing mechanism has failed.

[0073] In the embodiment of the present disclosure, the shape of the blocking member 501 may be rectangular or may be Figure 8The structure shown, i.e., the blocking member 501 includes a connecting portion 5011 and a detecting portion 5012; wherein, the top of the connecting portion 5011 is connected to the transmission member 2, the bottom of the connecting portion 5011 is connected to the elastic member 1, and the height of the detecting portion 5012 is greater than the height of the connecting portion 5011. Specifically, when the blocking member 501 is in the normal working area, the optical coupling member 502 is blocked by the detecting portion 5012. After the elastic member 1 retracts to a certain extent less than the minimum gravitational moment elongation, the detecting portion 5012 does not block the optical coupling member 502, which will trigger a level change of the optical coupling member 502, indicating that the balancing mechanism has failed.

[0074] In the embodiment of the present disclosure, the relative setting position of the blocking member 501 and the optical coupler 502 can also be as follows: when the elastic member 1 is in the natural state, the optical coupler 502 is at a second preset distance from the first end, and the blocking member 501 can block the optical coupler 502; when the elastic member 1 is in the normal extension state, the blocking member 501 cannot block the optical coupler 502, and the optical coupler 502 is located below the blocking member 501. Based on the same principle as above, when the balancing mechanism fails, the level change of the optical coupler 502 will be triggered, and the system will respond to the safety mechanism. Optionally, it can also be set that when the blocking member 501 is in the normal working area, the optical coupler 502 will not be blocked by the blocking member 501. After the elastic member 1 retracts to a certain extent less than the minimum gravity moment extension, the detection unit 5012 will block the optical coupler 502, and the level change of the optical coupler 502 will be triggered, indicating that the balancing mechanism has failed.

[0075] The detection mechanism provided in the embodiment of the present application is connected by the elastic member 1, the transmission member 2, the pulley assembly 3 and the rotating member 4, so that the elastic member 1 transmits elastic force to the mechanical arm through the transmission member 2 and the rotating member 4, so that the mechanical arm is in a balanced state when it moves, and the tension of the elastic member 1 is used to overcome the gravity of the mechanical arm, so that the user can operate the mechanical arm more lightly when manually, and reduce the fatigue of the user, and the following is set between the transmission member 2 and the elastic member 1: Figure 8 The detection device 5 shown in the figure includes a blocking member 501 and an optical coupler 502. Since the blocking member is arranged between the transmission member 2 and the elastic member 1, when the elastic force of the elastic member 1 changes, that is, its telescopic state changes, the relative position between the blocking member 501 and the optical coupler 502 changes. When the blocking member 501 always blocks the optical coupler 502, the level of the optical coupler 502 does not change. When the blocking member 501 does not block the optical coupler 502, the level of the optical coupler 502 will change, such as from 1 to 0, so that whether the detection mechanism fails can be explained based on the level change of the optical coupler 502, thereby improving the reliability of the detection mechanism.

[0076] See also Fig. 9The embodiment of the present application also provides a robotic arm, which includes a shell 8 and the above-mentioned detection mechanism; the fixing member 6 is fixedly connected to the shell 8.

[0077] In the embodiment of the present disclosure, the robotic arm also includes at least one articulated arm 9; the rotating member 4 is rotatably connected to the articulated arm 9; a handle is provided at the end of the articulated arm 9, so that the posture of the robotic arm can be controlled by the user through the force applied to the handle and the driving motors at the joints of the robotic arm.

[0078] In the embodiments of this disclosure, please continue to refer to Figure 6 The pulley assembly 3 includes a plurality of pulleys 301; the plurality of pulleys 301 are arranged in a staggered manner, and the number of the pulleys 301 can be set as required, and is not limited here. Optionally, the pulley assembly 3 includes a plurality of pulleys 301, all of which are fixed pulleys.

[0079] An embodiment of the present application also provides a doctor's console, which includes the above-mentioned robotic arm.

[0080] The present application also provides a surgical robot, which includes a patient surgical platform and the above-mentioned doctor console, wherein the patient surgical platform includes surgical instruments; and the robotic arm is used to control the surgical instruments. Optionally, in the event of failure of the balancing mechanism, the light-emitting coupling 502 will undergo a level change, at which point the surgical robot safety mechanism responds immediately, the system reports an error and interrupts the master-slave follow-up control to protect the patient.

[0081] Example 4

[0082] The detection mechanism provided in this embodiment is similar to that in embodiment 1. The difference between this embodiment and the detection mechanism in embodiment 1 is only in the structure of the detection device 5. Please refer to Fig.10, the detection device 5 in this embodiment is a distance sensor; the distance sensor is located on one side of the elastic member 1, and is used to detect the elongation of the elastic member 1. The detection device 5 also includes a measuring member 503, which is located between the transmission member 2 and the elastic member 1. The distance sensor is located on one side of the elastic member 1 and is connected to the measuring member 503. When the rotating member 4 rotates, the rotation of the rotating member 4 can drive the elastic member 1 to stretch or retract through the transmission member 2. Since the measuring member 503 is located between the transmission member 2 and the elastic member 1, the measuring member 503 will also move up and down, that is, the change in the elongation of the elastic member 1 is the change in the height of the measuring member 503. The elongation of the elastic member 1 can be obtained by measuring the distance between the distance sensor and the measuring member 503. Because the elastic part 1 has the smallest elongation when the balancing mechanism is at the minimum gravity moment, and the elongation of the elastic part 1 is larger at other positions. Under normal working conditions, the elastic part 1 is always in a stretched state. When the elastic part 1 is at the minimum elongation, it is the minimum gravity moment. The elongation of the elastic part 1 can be measured by a ranging sensor, and the minimum gravity moment elongation can be set as the failure threshold of the balancing mechanism. If it is less than the failure threshold, it means that the spring balancing mechanism has failed.

[0083] In the embodiment of the present disclosure, the transmission member 2 can be a flexible rope of a flexible material, specifically a rope, a steel cable or a chain, etc., which is not limited here. The rotating member 4 can specifically be a pin-type component.

[0084] The detection mechanism provided in the embodiment of the present application is connected through the cooperation of the elastic member 1, the transmission member 2, the pulley assembly 3 and the rotating member 4, so that the elastic member 1 transmits elastic force to the mechanical arm through the transmission member 2 and the rotating member 4, so that the mechanical arm is in a balanced state when it is in action, and the pulling force of the elastic member 1 is used to overcome the gravity of the mechanical arm, so that the user can operate the mechanical arm more lightly when manually, reducing the user's fatigue, and a distance sensor is arranged between the transmission fixing member 6 and the elastic member 1. The distance sensor can detect the elongation of the elastic member 1. Usually, when the elongation of the elastic member 1 is in a natural elongation state, the corresponding elastic force is zero. When the elastic force of the elastic member 1 changes sharply, it indicates that the detection mechanism has failed. The detection mechanism provided in the embodiment of the present application has the characteristics of high reliability.

[0085] See also Fig.11 The embodiment of the present application also provides a robotic arm, which includes a shell 8 and the above-mentioned detection mechanism; the fixing member 6 is fixedly connected to the shell 8.

[0086] In the disclosed embodiment, the robotic arm further includes at least one articulated arm 9; the rotating member 4 is rotatably connected to the articulated arm 9; and a handle is provided at the end of the articulated arm 9.

[0087] In the embodiments of this disclosure, please continue to refer to Figure 6The pulley assembly 3 includes a plurality of pulleys 301; the plurality of pulleys 301 are arranged in a staggered manner, and the number of the pulleys 301 can be set as required, and is not limited here. Optionally, the pulley assembly 3 includes a plurality of pulleys 301, all of which are fixed pulleys.

[0088] An embodiment of the present application also provides a doctor's console, which includes the above-mentioned robotic arm.

[0089] The embodiment of the present application also provides a surgical robot, the surgical robot includes a patient surgical platform and the above-mentioned doctor console, the patient surgical platform includes surgical instruments; the robotic arm is used to control the surgical instruments. Optionally, in the case of failure of the balancing mechanism, the distance between the ranging sensor and the measuring member 503 measured by the ranging sensor is less than the failure threshold, at which time, the surgical robot safety mechanism responds immediately, the system reports an error and interrupts the master-slave following control to protect the patient.

[0090] The detection mechanism provided in the embodiment of the present application, which includes a balancing mechanism and a detection device 5, can detect the failure of all parts in the balancing mechanism, such as the breakage of the transmission member 2, the failure of the elastic member 1, the fall-off of the pulley 301 or the fall-off of the transmission member on the pulley 301, and the failure detection of the connection between the parts, etc. The failure of the above parts can trigger the balancing failure detection device 5. It is applied to the main robot arm of the surgical robot to improve the safety of the surgical robot. For the detection of the balancing mechanism, if the balancing unit fails, the safety mechanism responds, the operation is interrupted and an alarm is issued to ensure that the patient is not injured.

[0091] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A detection mechanism, characterized in that: Applied to a robotic arm, including an elastic member, a transmission member, a pulley assembly, a rotating member and a detection device; One end of the elastic member is connected to the fixed member, and the other end of the elastic member is connected to one end of the transmission member; the other end of the transmission member bypasses the pulley assembly and is connected to the rotating member, and the rotating member is connected to the joint of the mechanical arm; the elastic member transmits elastic force to the mechanical arm through the transmission member and the rotating member, so that the mechanical arm is in a balanced state when in motion; The detection device is arranged between the pulley assembly and the fixing member, and is used to detect the telescopic state of the elastic member.

2. The detection mechanism according to claim 1, characterized in that: The detection device is a tension sensor; The tension sensor is disposed between the pulley assembly and the elastic member, or the tension sensor is disposed between the elastic member and the fixing member.

3. The detection mechanism according to claim 1, characterized in that: The detection device includes a blocking member and an optical coupling member; The blocking member includes opposing first and second ends; The first end is connected to the other end of the elastic member; The second end is connected to one end of the transmission member; In the natural state of the elastic member, there is a first preset distance between the optical coupling member and the second end, and the blocking member cannot block the optical coupling member; When the elastic member is in a normal extended state, the blocking member can shield the optical coupling member; or, In the natural state of the elastic member, there is a second preset distance between the optical coupling member and the first end, and the blocking member can shield the optical coupling member; When the elastic member is in a normal extended state, the blocking member cannot block the optical coupling member.

4. The detection mechanism according to claim 1, characterized in that: The detection device is a distance measuring sensor; The distance measuring sensor is located on one side of the elastic member and is used to detect the elongation of the elastic member.

5. The detection mechanism according to claim 1, characterized in that: Also includes connecting rods; The transmission member is connected to the rotating member through the connecting rod.

6. A robotic arm, characterized in that: It comprises a housing and a detection mechanism as claimed in any one of claims 1 to 5; The fixing member is fixedly connected to the housing.

7. The robotic arm according to claim 6, characterized in that: Also included is at least one articulated arm; The rotating member is rotatably connected to the articulated arm; A handle is provided at the end of the articulated arm.

8. A doctor's console, characterized in that: The doctor's console comprises a robotic arm as claimed in claim 6 or 7.

9. A surgical robot, characterized in that: The surgical robot comprises a patient surgical platform and a doctor's console as claimed in claim 8, wherein the patient surgical platform comprises surgical instruments; The robotic arm is used to control the surgical instrument.

10. The surgical robot according to claim 9, characterized in that: Also includes a controller; The controller is in communication connection with the detection device; The controller is used to receive the expansion and contraction state information of the elastic member sent by the detection device, and determine whether to start the system safety response function based on the expansion and contraction state information of the elastic member.

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