Balancing assembly, vertical shaft and surgical robot

Abstract

The embodiment of the utility model provides a balance assembly, a vertical shaft and a surgical robot. The balancing assembly comprises a supporting mechanism and a balancing mechanism, the constant force mechanism is provided with a first rotating shaft, the first rotating shaft can rotate relative to the supporting mechanism, and the first rotating shaft is configured to be connected with a first position of the load; the force compensation mechanism is connected to the supporting mechanism, and the force compensation mechanism is provided with a second rotating shaft capable of independently rotating relative to the first rotating shaft; the second rotating shaft is configured to be connected with a second position of the load through a connecting piece so as to provide balance force opposite to the gravity direction of the load together with the constant force mechanism to balance the gravity of the load; wherein the second position and the first position are staggered. According to the balance assembly, the vertical shaft and the surgical robot provided by the invention, the overturning moment of the load connected with the constant force spring can be reduced, so that the friction force of up-and-down movement of the load is reduced, and the smoothness of up-and-down movement adjustment of the vertical shaft is improved.

Description

Technical Field

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

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has been increasingly widely used due to its advantages such as small surgical trauma, short rehabilitation period, and less pain for patients. Minimally invasive surgical robots, with their characteristics of high dexterity, high control precision, and intuitive surgical images, can avoid operation limitations, such as filtering hand tremors during operation, and are widely applicable to surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity. In general, a laparoscopic surgical robot in a minimally invasive surgical robot includes a doctor's console (master end), a patient surgical platform (slave end), and an image platform. The operation signals collected by the doctor's console are generated into control signals for the patient surgical platform by the control system, and the surgical arm of the patient surgical platform executes the surgical operation. Usually, in the configuration of the patient surgical platform for laparoscopic surgery, one of the adjustment joints, the vertical axis, can move up and down reciprocally to adjust the position of the surgical arm. Since the surgical arm is relatively heavy, a gravity balance mechanism needs to be set 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 power spring with active bias, including a motor, a constant force spring, a bracket, and several support members; one end of the constant force spring is connected to a load, and the other end is connected to a reel; the rotor of the motor is connected to the reel of the constant force spring to provide an additional pulling force for the constant force spring, so that the force provided by the constant force spring can be increased within a certain range as required, thereby keeping the balance force constant.

[0004] However, in the related art, only the constant force spring is connected to the load and drives the load to move up and down, resulting in relatively large friction when the load moves up and down, poor smoothness of the vertical axis moving up and down, and inconvenience for the replacement and maintenance of the constant force spring. Summary of the Utility Model

[0005] Embodiments of the present application provide a balance assembly, a vertical axis, and a surgical robot, which can reduce the tipping moment of the load connected to the constant force mechanism, thereby reducing the friction when the load moves up and down, improving the smoothness of the vertical axis moving up and down, and facilitating the replacement and maintenance of the constant force mechanism.

[0006] According to the first aspect of the embodiments of the present application, a balance assembly is provided, including:

[0007] A support mechanism;

[0008] A constant force mechanism having a first rotating shaft that is rotatable relative to a support mechanism. The first rotating shaft is configured to be connected to a first position of a load, and the load is configured to move relative to the support mechanism along a direction in which the constant force mechanism provides a constant force to the load.

[0009] A force compensation mechanism is connected to the support mechanism. The force compensation mechanism has a second rotating shaft that is independently rotatable relative to the first rotating shaft. The second rotating shaft is configured to be connected to a second position of the load through a connecting member to jointly provide a balancing force opposite to the direction of the load's gravity with the constant force spring to balance the load's gravity.

[0010] Wherein, the second position is offset from the first position.

[0011] In one implementation, the connecting member includes a flexible connecting member. A rotating wheel is provided on the second rotating shaft, and the flexible connecting member is connected to the rotating wheel. When the second rotating shaft rotates, the flexible connecting member winds or unwinds on the rotating wheel.

[0012] In one implementation, the load has a moving axis along the direction of the constant force provided by the constant force mechanism to the load, and the first position deviates from the moving axis.

[0013] The second position is located on a side of the moving axis opposite to the first position.

[0014] Or,

[0015] The second position is located on a side of the first position facing the moving axis.

[0016] In one implementation, the force compensation mechanism includes:

[0017] A housing fixedly provided on the support mechanism. The second rotating shaft is rotatably provided inside the housing, and a part of the second rotating shaft extends out of the housing to be connected to the connecting member.

[0018] The first rotating shaft is detachably sleeved on the outer periphery of the housing, and the first rotating shaft is configured to be rotatable relative to the housing.

[0019] In one implementation, a first bearing is provided between the housing and the first rotating shaft. The inner ring of the first bearing is fixedly connected to the outer wall of the housing, and the outer ring of the first bearing is fixedly connected to the inner wall of the first rotating shaft.

[0020] In one implementation, the support mechanism includes:

[0021] A fixed seat;

[0022] A first support plate fixedly provided on the fixed seat;

[0023] A second support plate fixedly provided on the fixed seat, and the second support plate is disposed opposite to the first support plate;

[0024] The outer shell is fixedly arranged between the first support plate and the second support plate; a part of the second rotating shaft extends to the outside of any one of the first support plate and the second support plate.

[0025] In one implementation, the balance assembly further includes:

[0026] A first sensor, a part of the first sensor is fixedly arranged relative to the second rotating shaft, and another part of the first sensor rotates relative to the second rotating shaft;

[0027] The first sensor is configured to detect the rotation angle of the second rotating shaft to determine the first displacement of the load moving up and down.

[0028] In one implementation, the first sensor includes:

[0029] A magnet, fixedly arranged relative to one of the second rotating shaft and the outer shell;

[0030] A magnetic encoder, fixedly arranged relative to the other of the second rotating shaft and the outer shell, and the magnetic encoder is configured to read the rotation angle of the magnet to determine the first displacement of the load moving up and down.

[0031] According to the second aspect of the embodiments of the present application, a vertical shaft is provided, including:

[0032] The balance assembly provided by any implementation of the first aspect of the embodiments of the present application;

[0033] A moving cylinder, configured to connect the load; the constant force mechanism of the balance assembly is connected to the first position of the moving cylinder; the second rotating shaft of the balance assembly is connected to the second position of the moving cylinder.

[0034] In one implementation, the vertical shaft further includes:

[0035] A mounting plate, fixedly connected to the support mechanism of the balance assembly, and the mounting plate is located on the lower side of the support mechanism;

[0036] A lifting frame, movably connected to the mounting plate, and the lifting frame is connected to the moving cylinder to drive the moving cylinder to lift relative to the mounting plate.

[0037] In one implementation, a guiding structure is provided on the mounting plate, and the lifting frame is slidably arranged on the guiding structure; the guiding structure is configured to guide the lifting frame.

[0038] In one implementation, the vertical shaft further includes:

[0039] A braking mechanism, a part of the braking mechanism is arranged on the mounting plate, and another part of the braking mechanism is arranged on the lifting frame; the braking mechanism is configured to limit the moving cylinder to keep the moving cylinder and the load at a preset position.

[0040] In one implementation, the braking mechanism has a second sensor configured to detect a second displacement of the moving cylinder moving up and down; the second displacement and the first displacement detected by the first sensor of the balancing assembly are configured to determine whether the vertical axis is damaged.

[0041] According to a third aspect of the embodiments of the present application, a surgical robot is provided, including:

[0042] A suspension adjustment assembly;

[0043] The vertical axis provided by any optional implementation of the second aspect of the embodiments of the present application, the vertical axis is connected to the suspension adjustment assembly;

[0044] An operating arm, connected to one end of the vertical axis facing away from the suspension adjustment assembly, and the operating arm is configured to connect to an end effector.

[0045] According to the balancing assembly, the vertical axis and the surgical robot provided by the embodiments of the present application, the constant force mechanism has a first rotating shaft that can rotate relative to the support mechanism, and the first rotating shaft is configured to be connected to a first position of the load. In this way, the constant force mechanism can provide a constant balancing force to balance the gravity of the load; wherein, the constant force mechanism is connected to the first position of the load; thus, when the load moves along the direction in which the constant force mechanism provides a constant force to the load, the balancing force provided by the constant force mechanism to the load is not collinear with the moving axis of the load, resulting in a certain overturning moment on the load, so that a part of the gravity of the load is loaded on the guiding structure, and there is a frictional force between the load and the guiding structure when the load moves; by providing a force compensation mechanism on the support mechanism, the force compensation mechanism has a second rotating shaft that rotates independently of the first rotating shaft, and the second rotating shaft is connected to a second position of the load through a connecting member; the second position is misaligned with the first position; thus, the force compensation mechanism can provide a compensation moment for the excess gravity of the load through the flexible connecting member to the constant force mechanism; due to the misalignment between the second position and the first position, the compensation moment provided by the connecting member to the load can reduce or eliminate the overturning moment of the load, thereby reducing the frictional force received when the load moves and improving the smoothness of the up and down movement adjustment of the vertical axis.

[0046] In addition, the second rotating shaft of the force compensation mechanism and the first rotating shaft of the constant force mechanism rotate independently of each other, so that there is no dependent connection relationship between the second rotating shaft and the first rotating shaft; in this way, when the constant force mechanism needs to be disassembled and replaced, the constant force mechanism can be disassembled and replaced separately, which is convenient for the replacement and maintenance of the constant force mechanism and reduces the maintenance cost of the replacement and maintenance of the constant force mechanism. Description of the Drawings

[0047] To more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings required for use in the description of the embodiments or the related art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0048] Figure 1 It is a schematic structural diagram of the cooperation between the distal operating arm and the vertical axis in the surgical robot provided by some embodiments of the present application;

[0049] Figure 2 It is a schematic structural diagram of the vertical axis in the surgical robot provided by some embodiments of the present application;

[0050] Figure 3 It is a schematic structural diagram of the vertical axis after removing the housing in the surgical robot provided by some embodiments of the present application;

[0051] Figure 4 It is another schematic structural diagram of the vertical axis after removing the housing in the surgical robot provided by some embodiments of the present application;

[0052] Figure 5 It is along Figure 4 The cross-sectional view taken along the line A-A in

[0053] Figure 6 It is a schematic structural diagram of the balance component in the surgical robot provided by some embodiments of the present application;

[0054] Figure 7 It is a schematic structural diagram of the cooperation between the rotating wheel and the flexible connecting member in the surgical robot provided by some embodiments of the present application;

[0055] Figure 8 It is a schematic topological structural diagram of the cooperation between the rotating wheel, the first rotating shaft, the constant force spring and the flexible connecting member in the surgical robot provided by some embodiments of the present application;

[0056] Figure 9 It is another schematic topological structural diagram of the cooperation between the rotating wheel, the first rotating shaft, the constant force spring and the flexible connecting member in the surgical robot provided by some embodiments of the present application;

[0057] Figure 10 It is Figure 5 The partial enlarged view at B in

[0058] 10 - Vertical axis; 20 - Operating arm;

[0059] 100 - Balance component; 200 - Moving cylinder; 300 - Mounting plate; 400 - Lifting frame; 500 - Guide structure; 600 - Housing;

[0060] 101 - Support mechanism; 102 - First rotating shaft; 103 - Constant force spring; 104 - Force compensation mechanism; 105 - First sensor;

[0061] 1011 - Fixed seat; 1012 - First support plate; 1013 - Second support plate; 1021 - First bearing; 1031 - First position; 1041 - Second rotating shaft; 1042 - Flexible connection member; 1043 - Second position; 1044 - Rotating wheel; 1044a - Groove; 1045 - Outer shell; 1051 - Magnet; 1052 - Magnetic encoder. Detailed implementation manners

[0062] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings in the embodiments of the present application.

[0063] 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 protection scope of the present application is only defined by the claims. In other places, well-known structures, circuits, and other details are not shown in detail to avoid misunderstanding of the key points of the present application by the public.

[0064] In this specification, the accompanying drawings show schematic diagrams of several embodiments of the present application. However, the accompanying drawings are only schematic, and it should be understood that other embodiments or combinations can also be used, and mechanical structures, physical compositions, electrical aspects, and steps can be changed without departing from the spirit and scope of the present application.

[0065] The terms used hereinafter are only for describing specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower part", "above", "upper part", etc., can be used for convenience to describe the relationship between one element or feature illustrated in the figure and another element or feature. It should be understood that the spatially relative terms are intended to cover different orientations of the device in use or operation other than the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover both the upper and lower orientations. And the device can be oriented in other ways (for example, rotated 90° or in other orientations), and the spatially relative descriptive terms used herein are interpreted accordingly.

[0066] As used herein, the terms "a plurality of," the singular forms "a" and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprises" and / or "comprising" specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0067] 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 "piece" may be used interchangeably.

[0068] The terms "instrument," "surgical instrument," and "surgical tool" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, including an end effector. The end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizers or retractors, clip appliers, anastomosis devices, imaging devices (e.g., an endoscope or an ultrasound probe), 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, such 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 information stored permanently or updatable by a surgical system (e.g., on a PCBA board within the instrument). Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0069] The term "coupled" can be broadly understood to mean any situation in which two or more objects are connected in such a way as to allow the coupled objects to operate in conjunction with each other. It should be noted that coupling does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to couple two or more objects. For example, object A and B can be coupled by using object C. In addition, the terms "detachably coupled" or "detachably mated" can be interpreted to mean a non-permanent coupling or mating situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

[0070] 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 of the following: A; B; C; A and B; A and C; B and C; A, B, and C. Exceptions to this definition will only occur when the combination of elements, functions, steps, or acts are inherently mutually exclusive in some way.

[0071] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robot

[0072] Laparoscopic surgical robots generally include a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits at the doctor control platform, views two-dimensional or three-dimensional images of the surgical area transmitted by a laparoscope placed inside the patient, and manipulates the movement of the robotic arms on the patient surgical platform, as well as the surgical instruments or laparoscope attached to the robotic arms. The robotic arms are equivalent to simulating the human arms, and the surgical instruments are equivalent to simulating the human hands. The two provide a series of movements that simulate the human wrist for the surgeon, and at the same time can filter out the tremors of the human hand itself.

[0073] The patient surgical platform includes a chassis, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at the ends of the support assemblies of each robotic arm. The surgical instruments and / or laparoscope are detachably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscope operating at the surgical site inside the patient. Various forms of the relevant surgical instruments can be provided 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 fewer Cartesian degrees of freedom, etc.). Generally, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the relevant surgical instrument about the center of motion on the surgical instrument that remains stationary relative to the patient. This center of motion is usually located at the position where the surgical instrument enters the body, and this center of motion is called the "centroid point".

[0074] The image platform generally includes a device with 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 the optics for transmitting the image from the patient's body to the distal end of the endoscope, and then through steps such as photoelectric conversion, the video image is transmitted to the host of the image platform. Subsequently, through image processing, the processed image is displayed on the video display for the assistant to observe.

[0075] The doctor control platform can be located at a single position in a surgical system composed of laparoscopic surgical robots, or it can be distributed at two or more positions in the system. The remote master / slave operation can be completed according to a preset control level. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, power and gravity compensation manipulators, and so on. These input devices collect the operation signals of the surgeon, and after being processed by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote motor on the surgical instrument manipulator, and this motor further controls the movement of the surgical instrument.

[0076] Generally, the force generated by the remote motor is transmitted via a transmission system to transfer the force from the remote motor to the end effector of the surgical instrument. In some embodiments of remote surgical operations, the input device for controlling the manipulator can be set at a position far from the patient, inside or outside the room where the patient is located, or even in a different city. Then the input signal of the input device is transmitted to the control system. Those familiar with remote manipulation, teleoperation, and telepresence surgery will understand such a system and its components.

[0077] Figure 1 It is a schematic structural diagram of the cooperation between the slave operating arm and the vertical axis in the surgical robot provided by some embodiments of the present application.

[0078] In some examples, the surgical robot can include a master control end.

[0079] In some examples, referring to Figure 1 As shown, the surgical robot can include a slave end. The slave end can receive the control signal from the master control end and perform surgical operations.

[0080] In some examples, the slave end can include a trolley base (not shown in the figure).

[0081] In some examples, the slave end can include a suspension adjustment assembly (not shown in the figure).

[0082] In some examples, the slave end can include a vertical axis 10 (in some examples, it can also be called a moving axis). The vertical axis 10 can be connected to the suspension adjustment assembly.

[0083] In some examples, the vertical axis 10 can be configured to perform pre-operative positioning.

[0084] In some examples, the vertical axis 10 can be configured to control the structure connected to the vertical axis 10 to move up and down during the surgery to achieve a preliminary adjustment of the up and down position.

[0085] In some examples, the slave end can include an operating arm 20 (in some examples, it can also be called a surgical arm). The operating arm 20 can be connected to the vertical axis 10.

[0086] In some examples, the robotic arm 20 may be connected to one end of the vertical shaft 10 facing away from the suspension adjustment assembly.

[0087] In some examples, the robotic arm 20 may be configured to control the position of the end effector during a surgery.

[0088] In some examples, the robotic arm 20 may be configured to control the orientation of the end effector during a surgery. Thus, it is convenient to achieve the free movement of the end effector within the surgical range.

[0089] In some examples, the vertical shaft 10 may be configured to adjust the up-and-down movement of the robotic arm 20 to achieve a preliminary adjustment of the position of the robotic arm 20.

[0090] Figure 2 is a schematic structural diagram of the vertical shaft in the surgical robot provided by some embodiments of the present application, Figure 3 is a schematic structural diagram of the vertical shaft in the surgical robot provided by some embodiments of the present application after removing the housing.

[0091] It can be understood that in some examples, the robotic arm 20 has a certain weight. The end effector mounted on the robotic arm 20 also has a certain weight. Generally, the weight of the robotic arm 20 is relatively large (generally, the weight of the robotic arm 20 is between 10 kg and 25 kg). To facilitate the adjustment of the surgical arm in the vertical direction, a balance assembly 100 is usually provided to balance the gravity of the robotic arm 20.

[0092] Refer to Figure 3 As shown, in some examples of the embodiments of the present application, the vertical shaft 10 may include a balance assembly 100. The balance assembly 100 may be connected to the suspension adjustment assembly described in detail in the foregoing embodiments of the present application.

[0093] In some examples, the vertical shaft 10 may include a moving cylinder 200. The moving cylinder 200 may be connected to a load.

[0094] In some examples, the load may include the robotic arm 20 described in detail in the foregoing embodiments of the present application.

[0095] In some examples, the load may include the end effector described in detail in the foregoing embodiments of the present application.

[0096] In some examples, the moving cylinder 200 may be connected to the end effector through the robotic arm 20.

[0097] In some examples, the balance assembly 100 may balance the gravity of the moving cylinder 200, the robotic arm 20, and the end effector.

[0098] In some examples, the moving cylinder 200 may move up and down along the vertical shaft 10 to drive the robotic arm 20 and the end effector to move up and down. Thus, it is convenient to adjust the up-and-down positions of the robotic arm 20 and the end effector.

[0099] In some examples, to improve the stability of the movement of the moving cylinder 200 up and down along the vertical axis 10, the vertical axis 10 may include a mounting plate 300.

[0100] In some examples, the mounting plate 300 may be connected to the suspension adjustment platform described in detail in the foregoing embodiments of the present application.

[0101] In some examples, the mounting plate 300 may be fixedly connected to the suspension adjustment platform.

[0102] In some examples, the mounting plate 300 may be connected to a support mechanism 101 where the balance assembly 100 is connected to the suspension adjustment assembly.

[0103] In some examples, the mounting plate 300 may be located on the lower side of the support mechanism 101.

[0104] In some examples, the moving cylinder 200 may rise upward along the mounting plate 300 in the vertical direction. Alternatively, the moving cylinder 200 may descend downward along the mounting plate 300 in the vertical direction.

[0105] In some examples, the vertical axis 10 may include a lifting frame 400. The lifting frame 400 may be movably connected to the mounting plate 300.

[0106] In some examples, the lifting frame 400 may be movably connected to the mounting plate 300 in the vertical direction. The lifting frame 400 may move up and down relative to the mounting plate 300 in the vertical direction.

[0107] In some examples, the moving cylinder 200 may be connected to the lifting frame 400. When the lifting frame 400 rises relative to the mounting plate 300, it may drive the moving cylinder 200 to rise relative to the mounting plate 300.

[0108] In some examples, when the lifting frame 400 descends relative to the mounting plate 300, it may drive the moving cylinder 200 to descend relative to the mounting plate 300.

[0109] In some examples of the embodiments of the present application, by movably connecting the lifting frame 400 to the mounting plate 300 and connecting the moving cylinder 200 to the lifting frame 400; by the lifting frame 400 rising relative to the mounting plate 300 to drive the moving cylinder 200 to rise, or by the lifting frame 400 descending relative to the mounting plate 300 to drive the moving cylinder 200 to descend; in this way, during the process of the moving cylinder 200 rising or descending relative to the mounting plate 300, the moving cylinder 200 can move closely to the mounting plate 300 through the lifting frame 400, which can improve the stability of the rising or descending of the moving cylinder 200, thereby improving the stability of the rising or descending of the operating arm 20 connected to the moving cylinder 200.

[0110] In some examples, a guiding structure 500 may be provided on the mounting plate 300. The guiding structure 500 may be arranged on the mounting plate 300 in the vertical direction.

[0111] In some examples, the lifting frame 400 may be slidably arranged on the guiding structure 500. The lifting frame 400 may slide along the guiding structure 500 to move up or down in the vertical direction.

[0112] In some examples of the embodiments of the present application, by providing the guiding structure 500 on the mounting plate 300, the lifting frame 400 is slidably arranged on the guiding structure 500; thus, the guiding structure 500 can guide the lifting or lowering of the lifting frame 400, and can improve the stability of the movement of the moving cylinder 200 in the vertical axis 10.

[0113] In some examples, the guiding structure 500 may include a guide rail. The guide rail may be fixedly connected to the mounting plate 300.

[0114] In some examples, the lifting frame 400 may be slidably arranged on the guide rail. The lifting frame 400 may slide along the guide rail to move up or down in the vertical direction.

[0115] In some examples, there may be two guide rails. The two guide rails may be oppositely arranged on the mounting plate 300.

[0116] In some examples of the embodiments of the present application, by providing two guide rails to guide the lifting frame 400, the stability of the movement of the moving cylinder 200 in the vertical axis 10 is improved, and the stability of the up-and-down movement of the operating arm 20 is improved.

[0117] In some examples, the guiding structure 500 may include a guiding groove (not shown in the figure). The guiding groove may be arranged on the mounting plate 300 in the vertical direction.

[0118] In some examples, a part of the lifting frame 400 may be inserted into the guiding groove. The lifting frame 400 may slide along the guiding groove to move up or down in the vertical direction.

[0119] In some examples, there may be two guiding grooves. The two guiding grooves may be oppositely arranged on the mounting plate 300.

[0120] Figure 4 It is another structural schematic diagram of the vertical axis of the surgical robot provided in some embodiments of the present application after removing the housing. Figure 5 It is along Figure 4 the cross-sectional view taken along line A-A in

[0121] In some examples, to balance the gravity of the moving cylinder 200, the operating arm 20, and the end effector, and to facilitate the up-and-down reciprocating adjustment of the relatively heavy operating arm 20. Referring to Figure 4 and Figure 5As shown, the balance assembly 100 may include a support mechanism 101. The support mechanism 101 may be connected to the suspension adjustment platform described in detail in the foregoing embodiments of the present application.

[0122] In some examples, the support mechanism 101 may be fixedly connected to the suspension adjustment platform.

[0123] In some examples, the support mechanism 101 may be detachably connected to the suspension adjustment platform.

[0124] In some examples, the balance assembly 100 may include a constant force mechanism. The constant force mechanism may be connected to the support mechanism 101.

[0125] In some examples, the constant force mechanism may be directly connected to the support mechanism 101.

[0126] In some examples, the constant force mechanism may be indirectly connected to the support mechanism 101.

[0127] In some examples, the constant force mechanism may have a first rotating shaft 102. The first rotating shaft 102 may rotate relative to the support mechanism 101.

[0128] In some examples, the rotation axis of the first rotating shaft 102 may extend in a horizontal or approximately horizontal direction.

[0129] In some examples, the first rotating shaft 102 may be a hollow rotating shaft.

[0130] In some examples, the constant force mechanism may include a constant force spring 103. The constant force spring 103 may be connected to the first rotating shaft 102.

[0131] In some examples, the constant force spring 103 may have a fixed end. The fixed end may be connected to the first rotating shaft 102.

[0132] In some examples, the constant force spring 103 may have a free end. The free end may be pulled out from the first rotating shaft 102.

[0133] In some examples, the constant force spring 103 may be wound around the first rotating shaft 102. Alternatively, the constant force spring 103 may be unwound from the first rotating shaft 102.

[0134] In some examples, to balance the gravity of the moving cylinder 200, the operating arm 20, and the end effector, referring to Figure 4 As shown, the free end of the constant force spring 103 may be connected to the moving cylinder 200.

[0135] In some examples, the moving cylinder 200 may be configured to move relative to the support mechanism 101 in the direction in which the constant force spring 103 provides a constant force to the moving cylinder. For example, the moving cylinder 200 may move along the extension direction of the constant force spring 103.

[0136] In some examples, the free end of the constant force spring 103 can be connected to the first position 1031 of the moving cylinder 200.

[0137] In some examples, to reduce the space occupied by the first rotating shaft 102 and the moving cylinder 200, the axis of the moving cylinder 200 and the axis of rotation of the first rotating shaft 102 can be arranged in the same plane or approximately in the same plane in the vertical plane. For this reason, since the constant force spring 103 is wound around the outer wall of the first rotating shaft 102, the first position 1031 where the free end of the constant force spring 103 is connected to the moving cylinder 200 can deviate from the axis of the moving cylinder 200.

[0138] In some examples, the first position 1031 can be the side edge of one side of the moving cylinder 200.

[0139] In some examples, to facilitate the connection between the constant force spring 103 and the moving cylinder 200, the first position 1031 can be the side edge of the side of the moving cylinder 200 facing away from the mounting plate 300.

[0140] In some examples, after the constant force spring 103 is used for a long time, there may be a certain amount of elastic fatigue, resulting in the balance force that the constant force spring 103 can provide weakening over time.

[0141] In some examples, the weights of different types of end instruments may be different, resulting in changes in the load on the vertical axis 10 and changes in the required balance force.

[0142] For this reason, in some examples of the embodiments of the present application, the balance assembly 100 can include a force compensation mechanism 104.

[0143] In some examples, the force compensation mechanism 104 can have a second rotating shaft 1041 that rotates independently of the first rotating shaft 102. That is, the rotation of the second rotating shaft 1041 is decoupled from the rotation of the first rotating shaft 102. The rotation of the second rotating shaft 1041 does not affect the rotation of the first rotating shaft 102. The rotation of the first rotating shaft 102 does not affect the rotation of the second rotating shaft 1041.

[0144] In some examples, the second rotating shaft 1041 can be configured to be connected to the second position 1043 of the moving cylinder 200 through a connecting member.

[0145] In some examples, the second rotating shaft 1041 can jointly provide a balancing force through the connecting member 1042 and the constant force spring 103. The balancing force can be opposite to the gravity directions of the moving cylinder 200, the operating arm 20, and the end effector. Thus, a compensation torque can be provided by the second rotating shaft 1041 of the force compensation mechanism 104 to compensate for the balancing force of the constant force spring 103, so that a constant balancing force corresponding to the load gravity can still be provided when the end effector changes or the constant force of the constant force spring 103 decays after long-term use, facilitating the improvement of the accuracy and smoothness of the up-and-down adjustment of the operating arm 20.

[0146] In some examples, the first position 1031 and the second position 1043 can be offset from each other.

[0147] In some examples, the first position 1031 can be the side of the moving cylinder 200 facing away from the mounting plate 300. The second position 1043 can be other sides of the moving cylinder 200 except the first position 1031.

[0148] In some examples, since the first position 1031 is the side of the moving cylinder 200 facing away from the mounting plate 300, the balancing force provided by the constant force spring 103 to the moving cylinder 200 is not collinear with the gravity of the moving cylinder 200, resulting in a tendency for the moving cylinder 200 to tilt towards the mounting plate 300, that is, there is an overturning moment on the moving cylinder 200, the operating arm 20, and the end of the instrument. This causes a component force of the gravity of the moving cylinder 200, the operating arm 20, and the end effector to be directed towards the mounting plate 300, resulting in a relatively large sliding friction force when the lifting frame 400 slides relative to the guiding structure 500.

[0149] In some examples of the embodiments of the present application, the second position 1043 where the connecting member connected to the second rotating shaft 1041 is connected to the moving cylinder 200 is set to be offset from the first position 1031. Thus, the compensation torque provided by the connecting member can reduce the overturning moment of loads such as the moving cylinder 200, the operating arm 20, and the end of the instrument, thereby reducing the sliding friction force when the lifting frame 400 slides relative to the guiding structure 500, facilitating the smooth adjustment of the vertical shaft 10.

[0150] According to some examples provided by embodiments of the present application, for the balance component 100, the constant force mechanism has a first rotating shaft that can rotate relative to the support mechanism. The first rotating shaft is configured to be connected to the first position of the load. In this way, the constant force mechanism can provide a constant balance force to balance the gravity of the load (such as the moving cylinder 200, the operating arm 20, and the end effector). Among them, the constant force mechanism is connected to the first position 1031 of the load. In this way, when the load moves in the vertical direction, the balance force provided by the constant force mechanism to the load is not collinear with the moving axis of the load in the vertical direction, resulting in a moving tipping moment on the load, so that part of the gravity of the load is loaded on the guiding structure 500, and there is a frictional force between the load and the guiding structure 500 when the load moves. By providing a force compensation mechanism 104 on the support mechanism, the second rotating shaft 1041 of the force compensation mechanism 104 can rotate independently relative to the first rotating shaft 102. The second rotating shaft 1041 is connected to the second position 1043 of the load through a connecting member. The second position 1043 is offset from the first position 1031. In this way, the force compensation mechanism 104 can provide a compensation moment for the redundant gravity of the load through the connecting member to compensate for the moment of the constant force mechanism. Since the second position 1043 is offset from the first position 1031, the compensation moment provided by the connecting member to the load can reduce or eliminate the tipping moment of the load, thereby reducing the frictional force received when the load moves up and down, and improving the smoothness of the vertical axis 10 moving up and down.

[0151] In addition, the second rotating shaft of the force compensation mechanism and the first rotating shaft of the constant force mechanism rotate independently of each other, so that there is no dependent connection relationship between the second rotating shaft and the first rotating shaft. In this way, when the constant force mechanism needs to be disassembled and replaced, the constant force mechanism can be disassembled and replaced separately, which is convenient for the replacement and maintenance of the constant force mechanism, and reduces the maintenance cost of the replacement and maintenance of the constant force mechanism.

[0152] Figure 6 It is a schematic structural diagram of a balance component in a surgical robot provided by some embodiments of the present application. Figure 7 It is a schematic structural diagram of the cooperation between a rotating wheel and a flexible connecting member in a surgical robot provided by some embodiments of the present application.

[0153] In some examples, the connecting member may include a flexible connecting member 1042.

[0154] In some examples, referring to Figures 5 - 7 As shown, a rotating wheel 1044 may be provided on the second rotating shaft 1041. The flexible connecting member 1042 may be connected to the rotating wheel 1044.

[0155] In some examples, the flexible connecting member 1042 may include a cable.

[0156] In some examples, the flexible connecting member 1042 may include a wire rope.

[0157] In some examples, the flexible connector 1042 may include a cable.

[0158] In some examples, the flexible connector 1042 may include a braided tape.

[0159] In some examples, the flexible connector 1042 may include a chain.

[0160] In some examples, the flexible connector 1042 may have a fixed end. The fixed end may be connected to the rotating wheel 1044.

[0161] In some examples, the flexible connector 1042 may have a free end. The free end may be connected to the second position 1043 of the moving cylinder 200.

[0162] In some examples, the rotating wheel 1044 may be fixedly connected to the second rotating shaft 1041.

[0163] In some examples, referring to Figure 7 As shown, a groove 1044a may be provided on the circumferential wall of the rotating wheel 1044. The flexible connector 1042 may be disposed within the groove 1044a.

[0164] In some examples, when the second rotating shaft 1041 rotates, the flexible connector 1042 may be wound within the groove 1044a. Thus, the flexible connector 1042 can be limited by the groove 1044a on the circumferential wall of the rotating wheel, improving the stability of the lifting of the moving cylinder 200.

[0165] In some examples, when the second rotating shaft 1041 rotates, the flexible connector 1042 may be unwound from within the groove 1044a.

[0166] In some examples, the moving cylinder 200 moves relative to the mounting plate 300 or the support mechanism 101 in the vertical direction. The moving cylinder 200 may have a moving axis in the vertical direction. The first position 1031 is offset from the moving axis.

[0167] In some examples, the first position 1031 may be located on the side of the moving axis away from the mounting plate 300.

[0168] In some examples, the second rotating shaft 1041 may be concentric with the first rotating shaft 102.

[0169] In some examples, the first rotating shaft 102 may be a hollow rotating shaft. The second rotating shaft 1041 may be located within the first rotating shaft 102.

[0170] In some examples, the diameter of the rotating wheel 1044 may be smaller than the diameter of the first rotating shaft 102.

[0171] Figure 8It is a schematic diagram of a topological structure of the cooperation among a rotating wheel, a first rotating shaft, a constant force spring and a flexible connecting member in a surgical robot provided by some embodiments of the present application.

[0172] In some examples, referring to Figure 8 As shown, the winding direction of the flexible connecting member 1042 on the rotating wheel 1044 may be the same as the winding direction of the constant force spring 103 on the first rotating shaft 102.

[0173] In some examples, the torque direction provided by the first rotating shaft 102 to the constant force spring 103 may be the same as the torque direction provided by the second rotating shaft 1041 to the flexible connecting member 1042.

[0174] In some examples, the constant force spring 103 may provide a balancing force for the moving cylinder 200 along the Figure 8 direction indicated by the arrow a in

[0175] In some examples, the force compensation mechanism 104 may provide a balancing force for the moving cylinder 200 along the Figure 8 direction indicated by the arrow b in

[0176] In some examples, referring to Figure 8 As shown, the second position 1043 may be located on the side of the first position 1031 facing the moving axis.

[0177] In this way, the balancing force provided by the force compensation mechanism 104 to the moving cylinder 200 through the flexible connecting member 1042 can offset part of the tipping moment of the moving cylinder 200, can reduce the tipping moment of the moving cylinder 200, thereby reducing the sliding friction between the moving frame and the guiding structure 500, and improving the smoothness of the adjustment of the vertical shaft 10.

[0178] Figure 9 It is a schematic diagram of another topological structure of the cooperation among a rotating wheel, a first rotating shaft, a constant force spring and a flexible connecting member in a surgical robot provided by some embodiments of the present application.

[0179] In some examples, referring to Figure 9 As shown, the winding direction of the flexible connecting member 1042 on the rotating wheel 1044 may be opposite to the winding direction of the constant force spring 103 on the first rotating shaft 102.

[0180] In some examples, the torque direction provided by the first rotating shaft 102 to the constant force spring 103 may be opposite to the torque direction provided by the second rotating shaft 1041 to the flexible connecting member 1042.

[0181] In some examples, the constant force spring 103 may provide a balancing force for the moving cylinder 200 along the Figure 9 direction indicated by the arrow c in

[0182] In some examples, the force compensation mechanism 104 can provide a balancing force for the moving cylinder 200 in the direction indicated by the arrow d in Figure 9 .

[0183] In some examples, referring to Figure 9 , the first position 1031 and the second position 1043 can be located on opposite sides of the moving axis.

[0184] In some examples, the second position 1043 can be located on the side of the moving axis facing away from the first position 1031.

[0185] In some examples, the diameter of the rotating wheel 1044 can be equal to the diameter of the first rotating shaft 102.

[0186] In some examples, referring to Figure 5 , the force compensation mechanism 104 can include a housing 1045. The housing 1045 can be fixed to the support mechanism 101.

[0187] In some examples, the second rotating shaft 1041 can be rotatably disposed within the housing 1045. A portion of the second rotating shaft 1041 can extend out of the housing 1045 and thus be connected to the flexible connection member 1042.

[0188] In some examples, the rotating wheel 1044 can be disposed on the portion of the second rotating shaft 1041 that extends into the housing 1045.

[0189] In some examples, the force compensation mechanism 104 can include a motor. The second rotating shaft 1041 can be the rotor of the motor.

[0190] In some examples, the force compensation mechanism 104 can include a frameless torque motor.

[0191] In some examples, the first rotating shaft 102 can be a hollow rotating shaft. The first rotating shaft 102 can be detachably sleeved on the outer periphery of the housing 1045.

[0192] In some examples, the first rotating shaft 102 can be configured to rotate relative to the housing 1045.

[0193] In some examples of the embodiments of the present application, the outer shell 1045 is fixed to the support mechanism 101; the second rotating shaft 1041 is rotatably disposed within the outer shell 1045; the first rotating shaft 102 is sleeved on the outer periphery of the outer shell 1045, and the first rotating shaft 102 is rotatable relative to the outer shell 1045; thus, the rotation of the first rotating shaft 102 and the rotation axis of the second rotating shaft 1041 are decoupled and independent of each other. The second rotating shaft 1041 can be connected to a second position 1043 on the moving cylinder 200 different from the first position 1031 through the flexible connecting member 1042, so that the compensating balance force provided by the force compensation mechanism 104 can offset part of the overturning moment of the moving cylinder 200; the overturning moment of the moving cylinder 200 can be reduced, so that the vertical shaft 10 moves up and down more smoothly.

[0194] In addition, the first rotating shaft 102 is sleeved on the outer periphery of the outer shell 1045, and the first rotating shaft 102 is rotatable relative to the outer shell 1045. Thus, during the use of the vertical shaft 10, when the constant force spring 103, that is, the first rotating shaft 102, needs to be replaced (for example, when the constant force spring 103 shows elastic fatigue), only the force compensation mechanism 104 and the first rotating shaft 102 can be disassembled, then the force compensation mechanism 104 can be extracted from the first rotating shaft 102 and installed into the new first rotating shaft 102 to complete the replacement. Compared with the related art, only the constant force spring 103 and the first rotating shaft 102 need to be replaced, without replacing the force compensation mechanism 104, reducing the maintenance difficulty and cost. It is not necessary to disassemble the entire vertical shaft 10, improving the maintenance efficiency.

[0195] In some examples, a first bearing 1021 can be provided between the outer shell 1045 and the first rotating shaft 102.

[0196] In some examples, the inner ring of the first bearing 1021 can be fixedly connected to the peripheral wall of the outer shell 1045.

[0197] In some examples, the inner ring of the first bearing 1021 can be in interference fit with the peripheral wall of the outer shell 1045.

[0198] In some examples, the outer ring of the first bearing 1021 can be fixedly connected to the inner wall of the first rotating shaft 102.

[0199] In some examples, the outer ring of the first bearing 1021 can be in interference fit with the inner wall of the first rotating shaft 102.

[0200] In some examples, the first bearing 1021 can be provided at both axial ends of the first rotating shaft 102. Thus, at both ends of the first rotating shaft 102, the first rotating shaft 102 and the outer shell 1045 are rotatably connected through the first bearing 1021, which can improve the stability of the rotation of the first rotating shaft 102 relative to the outer shell 1045.

[0201] In some examples, for the convenience of installing the force compensation mechanism 104 and the first rotating shaft 102, refer to Figure 5 and Figure 6 As shown, the support mechanism 101 may include a fixed seat 1011. The fixed seat 1011 may be connected to the suspension adjustment assembly described in detail in the foregoing embodiments of the present application.

[0202] In some examples, the fixed seat 1011 may be fixedly connected to the suspension adjustment assembly.

[0203] In some examples, the mounting plate 300 may be fixed to the fixed seat 1011.

[0204] In some examples, the mounting plate 300 may be fixed to the side of the fixed seat 1011 facing away from the suspension adjustment assembly.

[0205] In some examples, the support mechanism 101 may include a first support plate 1012. The first support plate 1012 may be provided on the fixed seat 1011.

[0206] In some examples, the first support plate 1012 may be fixedly connected to the fixed seat 1011.

[0207] In some examples, the first support plate 1012 may be detachably connected to the fixed seat 1011.

[0208] In some examples, the first support plate 1012 may be provided on the side of the fixed seat 1011 facing away from the suspension adjustment assembly.

[0209] In some examples, the support mechanism 101 may include a second support plate 1013. The second support plate 1013 may be provided on the fixed seat 1011.

[0210] In some examples, the second support plate 1013 may be fixedly connected to the fixed seat 1011.

[0211] In some examples, the second support plate 1013 may be detachably connected to the fixed seat 1011.

[0212] In some examples, the second support plate 1013 may be provided on the side of the fixed seat 1011 facing away from the suspension adjustment assembly.

[0213] In some examples, the second support plate 1013 may be disposed opposite to the first support plate 1012.

[0214] In some examples, an installation gap may be left between the second support plate 1013 and the first support plate 1012.

[0215] In some examples, the housing 1045 may be fixed between the first support plate 1012 and the second support plate 1013.

[0216] In some examples, a part of the second rotating shaft 1041 can extend to the side of the first support plate 1012 facing away from the second support plate 1013.

[0217] In some examples, a part of the second rotating shaft 1041 can extend to the side of the second support plate 1013 facing away from the first support plate 1012.

[0218] In this way, it is convenient to install and connect the rotating wheel 1044 to the second rotating shaft 1041, improving the convenience of the installation and connection of the rotating wheel 1044.

[0219] In some examples of the embodiments of the present application, by providing the first support plate 1012 and the second support plate 1013 on the fixed seat 1011 and fixing the housing 1045 between the first support plate 1012 and the second support plate 1013; in this way, when the constant force spring 103 needs to be replaced, any one of the first support plate 1012 and the second support plate 1013 can be disassembled, and then the force compensation mechanism 104 and the constant force spring 103 can be removed, and then the first rotating shaft 102 can be removed from the force compensation mechanism 104 for replacement, reducing the cost of replacing and repairing the constant force spring 103 and improving the efficiency of replacing and repairing the constant force spring 103.

[0220] Figure 10 Yes Figure 5 Partial enlarged view at B in the figure.

[0221] In some examples, referring to Figure 10 As shown, the balance assembly 100 can include a first sensor 105.

[0222] In some examples, the first sensor 105 can include a motor encoder.

[0223] In some examples, a part of the first sensor 105 can be relatively fixed to the second rotating shaft 1041. For example, a part of the first sensor 105 can be arranged on the second rotating shaft 1041 and rotate under the drive of the second rotating shaft 1041.

[0224] In some examples, another part of the first sensor 105 can rotate relative to the second rotating shaft 1041.

[0225] In some examples, another part of the first sensor 105 can be arranged on the housing 1045 so as to rotate relative to the second rotating shaft 1041. In this way, when the second rotating shaft 1041 rotates relative to the housing 1045, the first sensor 105 can detect the rotation angle of the second rotating shaft 1041, thereby determining the first displacement of the moving cylinder 200 moving up and down along the vertical shaft 10. In this way, the surgical robot can prompt the distance of the up-and-down movement of the operating arm 20, thereby avoiding hitting the upper and lower limits of the vertical shaft 10 when the operating arm 20 moves up and down, and improving the smoothness of the up-and-down movement adjustment of the operating arm 20 of the surgical robot.

[0226] In some examples, another part of the first sensor 105 can be arranged on the first support plate 1012.

[0227] In some examples, another part of the first sensor 105 can be arranged on the second support plate 1013.

[0228] In some examples, the first sensor 105 can include a magnet 1051.

[0229] In some examples, the first sensor 105 can include a coaxial angle detection magnet 1051.

[0230] In some examples, the coaxial angle detection magnet 1051 can be arranged on the second rotating shaft 1041.

[0231] In some examples, the first sensor 105 can include a magnetic encoder 1052.

[0232] In some examples, the magnetic encoder 1052 can be arranged on the first support plate 1012.

[0233] In some examples, the magnetic encoder 1052 can be arranged on the second support plate 1013.

[0234] In some examples, when the second rotating shaft 1041 rotates, the second rotating shaft 1041 drives the magnet 1051 to rotate. The magnetic encoder 1052 can read the rotation angle of the magnet 1051, thereby determining the rotation angle of the second rotating shaft 1041; the rotation angle of the second rotating shaft 1041 and the radius of the rotating wheel 1044 can determine the winding or releasing length of the flexible connecting member 1042, that is, the first displacement of the moving cylinder 200.

[0235] In some examples, the constant force spring 103 can provide a constant pulling force of about 12 kg. It can be understood that in some examples of the embodiments of the present application, the specific value of the constant pulling force provided by the constant force spring 103 is only used as an example for illustration and does not limit the specific parameters of the constant force spring 103.

[0236] In some examples, the mass of the robotic arm 20 is greater than the constant pulling force provided by the constant force spring 103.

[0237] In some examples, under the action of gravity and without the aid of other external forces, the robotic arm 20 descends along the vertical axis 10. To balance gravity, external forces need to be applied.

[0238] In some examples, the force compensation mechanism 104 can be configured to provide an external force. The force compensation mechanism 104 provides a torque, and the second rotating shaft 1041 drives the rotating wheel 1044 to rotate. The rotating wheel 1044 winds the flexible connecting member 1042 upward under the drive of the second rotating shaft 1041, thereby converting the torque provided by the force compensation mechanism 104 into an upward pulling force of the flexible connecting member 1042.

[0239] In some examples, the upward pulling force of the flexible connecting member 1042 can be equal to the gravity of the robotic arm 20 minus the constant pulling force provided by the constant force spring 103.

[0240] In some examples, under the combined balancing action of the constant force spring 103 and the force compensation mechanism 104, the lifting frame 400 is in a state of force balance and remains stationary. At this time, only a small external force needs to be applied to the robotic arm 20 to adjust the robotic arm 20.

[0241] In some examples, an operator can apply a small upward external force to easily adjust the robotic arm 20 upward.

[0242] In some examples, an operator can apply a small downward external force to easily adjust the robotic arm 20 downward. In this way, the up and down movement adjustment of the robotic arm 20 is easy and smooth, which is beneficial to the progress of the operation.

[0243] In some examples, after the robotic arm 20 is adjusted to a preset position, the robotic arm 20 needs to be locked.

[0244] In some examples, the vertical axis 10 can include a braking mechanism (not shown in the figure). The braking mechanism can be configured to lock the position of the moving cylinder 200 so that the moving cylinder 200 remains at the preset position.

[0245] In some examples, a part of the braking mechanism can be disposed on the mounting plate 300 and is relatively fixed to the mounting plate 300.

[0246] In some examples, another part of the braking mechanism can be disposed on the lifting frame 400 and is relatively fixed to the lifting frame 400.

[0247] In some examples, the part of the braking mechanism disposed on the mounting plate 300 can cooperate with the part of the braking mechanism disposed on the lifting frame 400 to limit the position of the moving cylinder 200.

[0248] In some examples, the braking mechanism may have a second sensor (not shown in the figure). The second sensor may be configured to detect a second displacement of the moving cylinder 200 moving up and down.

[0249] In some examples, the second sensor may include an encoder.

[0250] In some examples, the second sensor may include a wire rope encoder.

[0251] In some examples, the second sensor may include an infrared detection sensor.

[0252] In some examples, the second sensor may include an ultrasonic radar.

[0253] In some examples, the second sensor may include a millimeter wave radar.

[0254] In some examples, the second sensor may include a lidar.

[0255] In some examples, the second displacement may be cross-checked with the first displacement to determine whether the internal structure of the vertical axis 10 is damaged.

[0256] 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 axis 10 is damaged.

[0257] In some examples of the embodiments of the present application, by providing a second sensor in the braking mechanism. In this way, the second displacement detected by the second sensor can be cross-checked with the first displacement detected by the first sensor 105, and it can be timely discovered and confirmed whether the internal structure of the vertical axis 10 is damaged, which is beneficial to the timely maintenance of the surgical robot.

[0258] In some examples, referring to Figure 2 As shown, the vertical axis 10 may include a housing 600. The housing 600 may be connected to the mounting plate 300. The housing 600 may be configured to protect the balance assembly 100, the lifting frame 400, and the moving cylinder 200.

[0259] 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 them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A balancing component, characterized in that, Comprising: A support mechanism; A constant force mechanism having a first rotating shaft, the first rotating shaft being rotatable relative to the support mechanism, the first rotating shaft being configured to be connected to a first position of the load, the load being configured to move relative to the support mechanism along a direction in which the constant force mechanism provides a constant force to the load; A force compensation mechanism connected to the support mechanism, the force compensation mechanism having a second rotating shaft that can rotate independently relative to the first rotating shaft; the second rotating shaft is configured to be connected to a second position of the load through a connecting member, so as to jointly provide a balancing force opposite to the direction of the gravity of the load with the constant force mechanism to balance the gravity of the load; Wherein, the second position is misaligned with the first position.

2. The balance component according to claim 1, wherein The connecting member includes a flexible connecting member; a rotating wheel is provided on the second rotating shaft, and the flexible connecting member is connected to the rotating wheel. When the second rotating shaft rotates, the flexible connecting member winds or unwinds on the rotating wheel.

3. The balance component according to claim 1, characterized in that The load has a moving axis along the direction of the constant force provided by the constant force mechanism to the load, and the first position deviates from the moving axis; The second position is located on a side of the moving axis facing away from the first position; Or, The second position is located on a side of the first position facing the moving axis.

4. The balance component according to claim 1, characterized in that The force compensation mechanism includes: A housing fixedly provided on the support mechanism; the second rotating shaft is rotatably provided in the housing, and a part of the second rotating shaft extends out of the housing to be connected to the connecting member; The first rotating shaft is detachably sleeved on the outer periphery of the housing, and the first rotating shaft is configured to be rotatable relative to the housing.

5. The balance component according to claim 4, characterized in that A first bearing is provided between the housing and the first rotating shaft, an inner ring of the first bearing is fixedly connected to an outer wall of the housing, and an outer ring of the first bearing is fixedly connected to an inner wall of the first rotating shaft.

6. The balance component according to claim 4, wherein The support mechanism includes: A fixed seat; A first support plate fixedly provided on the fixed seat; A second support plate fixedly provided on the fixed seat, the second support plate being disposed opposite to the first support plate; The housing is fixedly provided between the first support plate and the second support plate; a part of the second rotating shaft extends to the outside of any one of the first support plate and the second support plate.

7. The balance component according to claim 6, wherein The balance assembly further includes: A first sensor, a part of the first sensor being relatively fixed to the second rotating shaft, and another part of the first sensor being relatively rotatable with respect to the second rotating shaft; The first sensor is configured to detect a rotation angle of the second rotating shaft to determine a first displacement of the load moving up and down.

8. The balance component according to claim 7, characterized in that, The first sensor includes: A magnet fixedly provided relative to one of the second rotating shaft and the housing; A magnetic encoder fixedly provided relative to the other of the second rotating shaft and the housing, the magnetic encoder being configured to read a rotation angle relative to the magnet to determine a first displacement of the load moving up and down.

9. A vertical axis, characterized in that, Comprising: The balance assembly according to any one of claims 1-8; A moving cylinder, configured to connect a load; a constant force mechanism of the balance assembly is connected to a first position of the moving cylinder; a second rotating shaft of the balance assembly is connected to a second position of the moving cylinder.

10. The vertical axis according to claim 9, wherein The vertical shaft further includes: A mounting plate, fixedly connected to a support mechanism of the balance assembly, the mounting plate being located below the support mechanism; A lifting frame, movably connected to the mounting plate, the lifting frame being connected to the moving cylinder to drive the moving cylinder to move up and down relative to the mounting plate.

11. The vertical axis according to claim 10, characterized in that, A guiding structure is provided on the mounting plate, and the lifting frame is slidably arranged on the guiding structure; the guiding structure is configured to guide the lifting frame.

12. The vertical axis according to claim 10, characterized in that, The vertical shaft further includes: A braking mechanism, a part of the braking mechanism is arranged on the mounting plate, and another part of the braking mechanism is arranged on the lifting frame; the braking mechanism is configured to limit the moving cylinder so that the moving cylinder and the load are maintained at a preset position.

13. The vertical axis according to claim 12, characterized in that, The braking mechanism has a second sensor, and the second sensor is configured to detect a second displacement of the moving cylinder moving up and down; the second displacement and a first displacement detected by a first sensor of the balance assembly are configured to determine whether the vertical shaft is damaged.

14. A surgical robot, characterized in that, Comprising: A suspension adjustment assembly; The vertical shaft according to any one of claims 9-13, the vertical shaft being connected to the suspension adjustment assembly; An operating arm, connected to an end of the vertical shaft facing away from the suspension adjustment assembly, the operating arm being configured to connect an end effector.

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