Balancing assembly and surgical robot

Abstract

The embodiment of the utility model provides a balance assembly and a surgical robot. The balance assembly comprises a spring shaft and a constant-force spring, the constant-force spring is arranged on the spring shaft, and the constant-force spring can be wound around the spring shaft or unwound from the spring shaft; the constant force spring is provided with a first part and a second part, the first part is connected with the second part, the first part is located on the spring shaft, and the second part is configured to be connected with a load so as to balance the gravity of the load; wherein the first part is electrically connected with a first electric connection terminal, the second part is electrically connected with a second electric connection terminal, and the first electric connection terminal and the second electric connection terminal are configured to be connected with a detection mechanism so as to construct and form an access for the circulation of a power supply signal through the constant force spring; and determining whether the constant-force spring is damaged based on the electric signal.

Description

Technical Field

[0001] This application relates to the technical field of mechanical equipment, and particularly to a balance assembly 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 recovery time, and less patient pain. Minimally invasive surgical robots, with their characteristics of high dexterity, high control precision, and intuitive surgical images, can avoid operation limitations, such as filtering tremors of the operating hand, and are widely applicable to surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity. Currently, laparoscopic surgical robots in minimally invasive surgical robots generally include 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 processed by the control system to generate control signals for the patient surgical platform, and the surgical arm of the patient surgical platform performs surgical operations. In a common configuration of the patient surgical platform of a laparoscopic surgical robot, one of its adjustment joints, the vertical axis, can move up and down reciprocally under manual or electric drive to adjust the position of the surgical arm. Since the surgical arm is relatively heavy (generally about 10 kg - 25 kg), a gravity balance mechanism needs to be set up to facilitate manual and electric adjustment. A common gravity balance mechanism is to set a constant force spring. The constant force spring is easily broken by the relatively large weight of the surgical arm after long-term use, resulting in dangerous situations.

[0003] In related technologies, for example, Chinese Utility Model Patent CN219549502U discloses a transmission mechanism of a surgical robot manipulator. By setting a trigger switch, the roller of the trigger switch is located in the middle of the steel belt and is pressed by the steel belt during normal operation of the steel belt. The trigger switch is electrically connected to the control board. Whether the steel belt is broken is judged by the signal on / off of the trigger switch.

[0004] However, in related technologies, the situation where the steel belt cannot press the trigger switch easily occurs, resulting in the problem of easy false detection. Summary of the Utility Model

[0005] Embodiments of this application provide a balance assembly and a surgical robot, which can improve the accuracy of detecting damage to the constant force spring and enhance the safety of using the surgical robot.

[0006] On the one hand, embodiments of this application provide a balance assembly, including:

[0007] A spring shaft;

[0008] A constant force spring is provided on a spring shaft. The constant force spring can be wound around the spring shaft or unwound from the spring shaft. The constant force spring has a first part and a second part. The first part and the second part are connected. The first part is located on the spring shaft, and the second part is configured to be connected to a load to balance the gravity of the load.

[0009] Wherein, a first electrical connection terminal is electrically connected to the first part, and a second electrical connection terminal is electrically connected to the second part. The first electrical connection terminal and the second electrical connection terminal are configured to be connected to a detection mechanism to form a path for the supply signal to flow through the constant force spring and determine whether the constant force spring is damaged based on the electrical signal.

[0010] In one implementation, the constant force spring has a fixed end, and the fixed end is fixedly connected to the spring shaft. The first part includes the fixed end. The fixed end is electrically connected to the first electrical connection terminal, and an insulating layer is provided on the surface of the constant force spring.

[0011] The first electrical connection terminal and the second electrical connection terminal are also configured to be connected to a detection mechanism to determine the resistance value between the first part and the second part based on the electrical signal.

[0012] When the resistance value is greater than or equal to a preset threshold, it is determined that the constant force spring is in a damaged state.

[0013] In one implementation, the first electrical connection terminal and the second electrical connection terminal are also configured to be connected to a detection mechanism to monitor the time length during which the resistance value is greater than or equal to the preset threshold when the resistance value is greater than or equal to the preset threshold.

[0014] When the time length is greater than or equal to a preset time length, it is determined that the constant force spring is in a damaged state.

[0015] In one implementation, the spring shaft is a hollow shaft, and a through hole is provided on the spring shaft. The through hole penetrates the inner and outer side walls of the spring shaft along the radial direction of the spring shaft. The fixed end passes through the through hole and extends into the spring shaft.

[0016] In one implementation, the balance assembly further includes a top plate, a first support plate, and a second support plate. The first support plate is provided on one side of the top plate, and the second support plate is provided on the other side of the top plate opposite to the first support plate. The spring shaft is located between the first support plate and the second support plate. The first part is insulated from the top plate.

[0017] In one implementation, the outer periphery of the spring shaft includes an insulator.

[0018] In one implementation, the balance assembly further includes:

[0019] A mounting back plate, which is configured to mount and support the top plate. The second part can move along the mounting back plate.

[0020] The adapter mechanism is arranged on the mounting back plate, and is insulated and connected to the mounting back plate; the adapter mechanism abuts against the first portion and is electrically connected to the first portion; the adapter mechanism is configured to be electrically connected to the first electrical connection terminal.

[0021] In one implementation, the switching mechanism includes a contact piece, which is rotatably connected to the mounting back plate, the contact piece abuts against the first portion and is electrically connected to the first portion; and the first electrical connection terminal is electrically connected to the contact piece.

[0022] In one implementation, a fastener is provided on the contact, and the fastener is configured to fasten a wire electrically connecting the first electrical connection terminal to the contact.

[0023] In one implementation, the transfer mechanism further includes a force providing member, which is located between the contact member and the mounting back plate; the force providing member is configured to provide a force acting on the contact member toward the first portion so that the contact member abuts against the first portion.

[0024] In one implementation, the switching mechanism further includes a rotating shaft, the rotating shaft is connected to the mounting back plate, and the contact member is disposed on the rotating shaft;

[0025] The force providing member comprises a torsion spring which is sleeved on the rotating shaft and configured to provide an acting force to the contact member so that the contact member abuts against the first position.

[0026] In one implementation, the switching mechanism further includes a fixing seat, which is disposed on the mounting back plate, and the contact piece is rotatably disposed on the fixing seat; the fixing seat is an insulator.

[0027] In one implementation, the detection mechanism is further configured to determine that the constant force spring is broken when no electrical signal is obtained.

[0028] On the other hand, an embodiment of the present application provides a surgical robot, comprising:

[0029] Suspension adjustment components;

[0030] The balancing assembly provided in the aforementioned embodiment of the present application is connected to the suspension adjustment assembly;

[0031] The operating arm is connected to the constant force spring of the balancing assembly, and the operating arm is configured to be connected to the end instrument; the constant force spring is configured to balance the gravity of the operating arm and the end instrument.

[0032] A balance component and a surgical robot according to an embodiment of the present application. The balance component includes a spring shaft and a constant force spring. The constant force spring is disposed on the spring shaft and can be wound around the spring shaft or unwound from the spring shaft. The constant force spring has a first portion and a second portion, the first portion and the second portion are connected to each other, the first portion is located on the spring shaft, and the second portion is configured to be connected to a load to balance the gravity of the load. The first portion is electrically connected to a first electrical connection terminal, and the second portion is electrically connected to a second electrical connection terminal. In this way, the first electrical connection terminal and the second electrical connection terminal can be connected to a detection mechanism, and a path for the supply signal to flow is formed by utilizing the conductive property of the constant force spring itself. The detection mechanism can obtain the electrical signal between the first portion and the second portion through the first electrical connection terminal and the second electrical connection terminal, and determine whether the constant force spring is damaged (such as damaged or broken) according to the electrical signal. Thus, compared with the related art, as long as the electrical signal between the first portion and the second portion changes in the embodiment of the present application, it can be clearly determined whether the constant force spring is damaged, which can improve the accuracy of detecting the damage of the constant force spring and enhance the safety of using the surgical robot.

[0033] In addition, in the embodiment of the present application, a first electrical connection terminal is electrically connected to the first portion of the constant force spring, and a second electrical connection terminal is electrically connected to the second portion of the constant force spring. In this way, it is convenient for the detection mechanism to be electrically connected to the first electrical connection terminal and the second electrical connection terminal, so as to obtain the electrical signal between the first portion and the second portion and determine whether the constant force spring is damaged according to the situation of the electrical signal. It can not only determine whether the constant force spring is broken (no electrical signal can be obtained), but also determine that the constant force spring has been damaged when the constant force spring is damaged but not broken, and an early warning prompt can be made, which is convenient for timely replacing the damaged constant force spring, improves the safety of using the surgical robot, and facilitates surgical arrangements. Description of the Drawings

[0034] In order 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, other drawings can be obtained based on these drawings without creative efforts.

[0035] 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;

[0036] Figure 2 It is a schematic internal structural diagram of the vertical axis in the surgical robot provided by some embodiments of the present application;

[0037] Figure 3is a structural schematic diagram of a balancing component in a surgical robot provided in some embodiments of the present application;

[0038] Figure 4 is along Figure 3 Sectional view along line AA;

[0039] Figure 5 It is a schematic diagram of the structure of the back plate installed in the surgical robot provided in some embodiments of the present application and the cooperation of the switching mechanism;

[0040] Figure 6 This is a structural schematic diagram of the cooperation between the transfer mechanism and the constant force spring in the surgical robot provided in some embodiments of the present application;

[0041] Figure 7 This is another structural schematic diagram of the cooperation between the transfer mechanism and the constant force spring in the surgical robot provided in some embodiments of the present application;

[0042] Figure 8 is a schematic diagram of the structure of a transfer mechanism in a surgical robot provided in some embodiments of the present application;

[0043] Figure 9 is another structural schematic diagram of a balancing component in a surgical robot provided in some embodiments of the present application;

[0044] Figure 10 is a cross-sectional view of a balancing assembly in a surgical robot provided in some embodiments of the present application;

[0045] Figure 11 is a flow chart for implementing a constant force spring damage detection method provided in some embodiments of the present application;

[0046] Figure 12 is another implementation flow chart of the constant force spring damage detection method provided in some embodiments of the present application;

[0047] Figure 13 This is another implementation flow chart of the constant force spring damage detection method provided in some embodiments of the present application.

[0048] Description of reference numerals:

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

[0050] 100-balance assembly; 200-moving cylinder; 300-lifting frame; 400-guide structure;

[0051] 110-spring shaft; 120-constant force spring; 130-detection mechanism; 150-mounting back plate; 160-transfer mechanism;

[0052] 121 - First part; 122 - Second part; 131 - First electrical connection terminal; 132 - Second electrical connection terminal; 141 - Top plate; 142 - First support plate; 143 - Second support plate; 161 - Contact member; 162 - Fastening member; 163 - Force providing member; 164 - Fixed seat. Detailed implementation

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

[0054] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be construed in a limiting sense, 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.

[0055] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that other embodiments or combinations 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.

[0056] The terms used hereinbelow are only for describing specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", etc., may be used for convenience in describing the relationship between one element or feature illustrated in the drawings and another element or feature. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation other than the orientation depicted in the drawings. For example, if the device in the drawings is turned over, an element described as "below" other elements or features will become "above" other elements or features. Thus, the exemplary term "below" can cover both upper and lower orientations. The device can be oriented in other ways (e.g., rotated 90° or in other orientations), and the spatially relative descriptive terms used herein are to be interpreted accordingly.

[0057] As used herein, "a plurality of", the singular form of "one", and "the" are also intended to include the plural form unless the context otherwise indicates. It should be further understood that the terms "comprising" and / or "including" specify the presence of the stated features, steps, operations, elements, and / or components, without excluding the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

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

[0059] 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 can be a surgical tool associated with one or more surgical tasks, such as forceps, a needle holder, scissors, a bipolar cautery, a tissue stabilizer or retractor, a clip applier, an anastomosis device, an imaging device (e.g., an endoscope or an ultrasound probe), and so on. 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 can provide one-way or two-way information communication between the instrument and one or more system components.

[0060] 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 direct connection (e.g., direct physical or electrical connection), but rather many objects or components can be used to couple two or more objects. For example, objects A and B can be coupled by using object C. Additionally, 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.

[0061] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means any 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.

[0062] Overview of a master-slave teleoperated laparoscopic surgical robot

[0063] A laparoscopic surgical robot generally includes 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 a human arm, and the surgical instruments are equivalent to simulating a human hand. The two provide a series of movements simulating the human wrist for the surgeon and can also filter out the tremors of the human hand itself.

[0064] 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 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.) are provided for the relevant surgical instruments. Generally, mechanical or software constraints are used to limit each surgical instrument manipulator to rotate the relevant surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient. This center of motion is typically located at the position where the surgical instrument enters the body, and this center of motion is called the "centroid point".

[0065] The image platform generally includes an endoscope with video image capture capabilities (commonly used) and one or more video monitors for displaying the surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes optics that transmit images from the patient's body to the distal end of the endoscope, and then through steps such as photoelectric conversion, the video images are transmitted to the host of the image platform. Subsequently, through image processing, the processed images are displayed on the video monitors for the assistant to observe.

[0066] The doctor control platform can be at a single location in the surgical system composed of the laparoscopic surgical robot, or it can be distributed at two or more locations in the system. 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 control levers, 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 arms and surgical instrument manipulators, thereby controlling the remote motors on the surgical instrument manipulators, and the motors then control the movement of the surgical instruments.

[0067] Generally, the force generated by the remote control motor is transmitted via a transmission system, transferring the force from the remote control motor to the end effector of the surgical instrument. In some embodiments of remote surgery, 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.

[0068] 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.

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

[0070] In some examples, referring to Figure 1 As shown, the surgical robot may include a slave end. The slave end can receive the control signal from the master control terminal and perform surgical operations.

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

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

[0073] In some examples, the slave end may include a vertical axis 10. The vertical axis 10 can be connected to the suspension adjustment assembly.

[0074] In some examples, the vertical axis 10 can be configured to perform pre-surgical positioning.

[0075] 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.

[0076] In some examples, the slave end may 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.

[0077] In some examples, the operating arm 20 can be connected to one end of the vertical axis 10 facing away from the suspension adjustment assembly.

[0078] In some examples, the operating arm 20 can be configured to control the position of the end effector during the surgery.

[0079] In some examples, the operating arm 20 can be configured to control the direction of the end effector during the surgery. In this way, it is convenient to achieve the free movement of the end effector within the surgical range.

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

[0081] Figure 2 It is a schematic diagram of the internal structure of the vertical axis in the surgical robot provided by some embodiments of the present application.

[0082] It can be understood that in some examples, the operating arm 20 has a certain weight. The end effector installed on the operating arm 20 also has a certain weight. Usually, the weight of the operating arm 20 is relatively large (generally, the weight of the operating arm 20 is between 10 kg and 25 kg). To facilitate the adjustment of the operating arm 20 in the vertical direction, a balance assembly 100 is usually provided to balance the gravity of the operating arm 20.

[0083] Referring to Figure 2 As shown, in some examples of the embodiments of the present application, the vertical axis 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.

[0084] In some examples, the vertical axis 10 may include a moving cylinder 200. The moving cylinder 200 may be connected to the load.

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

[0086] In some examples, the load may include the end effector described in the message of the foregoing embodiments of the present application.

[0087] In some examples, the moving cylinder 200 may be connected to the end effector through an early rubbing ratio.

[0088] In some examples, the balance assembly 100 may balance the gravity of the moving cylinder 200, the operating arm 20, and the end effector.

[0089] In some examples, the moving cylinder 200 can move up and down along the vertical axis 10 to drive the operating arm 20 and the end effector to move up and down. In this way, it is convenient to adjust the up and down positions of the operating arm 20 and the end effector for the pre-operative positioning of the surgical robot.

[0090] In some examples, to improve the stability of the moving cylinder 200 moving up and down along the vertical axis 10, the vertical axis 10 may include a mounting backplate 150.

[0091] In some examples, the mounting backplate 150 may be connected to the suspension adjustment assembly described in detail in the foregoing embodiments of the present application.

[0092] In some examples, the mounting backplate 150 may be fixedly connected to the suspension adjustment assembly.

[0093] In some examples, the balance assembly 100 may include a top plate 141. The top plate 141 may be mounted on the mounting backplate 150.

[0094] In some examples, the mounting backplate 150 and the top plate 141 can be installed and fixed together to the suspension adjustment assembly.

[0095] In some examples, the moving cylinder 200 can rise upward along the mounting backplate 150 in the vertical direction. Alternatively, the moving cylinder 200 can descend along the mounting backplate 150 in the vertical direction.

[0096] In some examples, the vertical axis 10 can include a lifting frame 300. The lifting frame 300 can be movably connected to the mounting backplate 150.

[0097] In some examples, the lifting frame 300 can be movably connected to the mounting backplate 150 in the vertical direction. The lifting frame 300 can move up and down relative to the mounting backplate 150 in the vertical direction.

[0098] In some examples, the moving cylinder 200 can be connected to the lifting frame 300. When the lifting frame 300 rises relative to the mounting backplate 150, it can drive the moving cylinder 200 to rise relative to the mounting plate.

[0099] In some examples, when the lifting frame 300 descends relative to the mounting plate, it can drive the moving cylinder 200 to descend relative to the mounting plate.

[0100] In some examples of the embodiments of the present application, by movably connecting the lifting frame 300 to the mounting backplate 150 and connecting the moving cylinder 200 to the lifting frame 300; by the lifting frame 300 rising relative to the mounting backplate 150 to drive the moving cylinder 200 to rise, or by the lifting frame 300 descending relative to the mounting backplate 150 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, the moving cylinder 200 can move closely to the mounting backplate 150 through the lifting frame 300, 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.

[0101] In some examples, a guiding structure 400 can be provided on the mounting backplate 150. The guiding structure 400 can be arranged on the mounting backplate 150 in the vertical direction.

[0102] In some examples, the lifting frame 300 can be slidably arranged on the guiding structure 400. The lifting frame 300 can slide along the guiding structure 400 to rise or descend in the vertical direction.

[0103] In some examples of the embodiments of the present application, by providing the guiding structure 400 on the mounting backplate 150 and the lifting frame 300 is slidably arranged on the guiding structure 400. In this way, the guiding structure 400 can guide the rising or descending of the lifting frame 300, which can improve the stability of the movement of the moving cylinder 200 in the vertical axis 10.

[0104] In some examples, the guiding structure 400 may include guide rails. The guide rails may be fixedly connected to the mounting backplate 150.

[0105] In some examples, the lifting frame 300 may be slidably disposed on the guide rails. The lifting frame 300 may slide along the guide rails to move up or down in the vertical direction.

[0106] In some examples, there may be two guide rails. The two guide rails may be oppositely disposed on the mounting backplate 150.

[0107] In some examples of the embodiments of the present application, by providing two guide rails to guide the lifting frame 300, 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.

[0108] In some examples, the guiding structure 400 may include guiding grooves (not shown in the figure). The guiding grooves may be disposed on the mounting backplate 150 in the vertical direction.

[0109] In some examples, a part of the lifting frame 300 may be inserted into the guiding grooves. The lifting frame 300 may slide along the guiding grooves to move up or down in the vertical direction.

[0110] In some examples, there may be two guiding grooves. The two guiding grooves may be oppositely disposed on the mounting backplate 150.

[0111] Figure 3 It is a schematic structural diagram of a balance component in a surgical robot provided by some embodiments of the present application.

[0112] In some examples, referring to Figure 2 and Figure 3 as shown, to balance the gravity of the moving cylinder 200, the operating arm 20, and the end effector, and facilitate the reciprocating up and down adjustment of the relatively heavy operating arm 20. The balance component 100 may include a top plate 141. The top plate 141 may be connected to the mounting backplate 150. The top plate 141 may be configured to be connected to the suspension adjustment component.

[0113] In some examples, the top plate 141 may be detachably connected to the suspension adjustment component.

[0114] In some examples, the balance component 100 may include a first support plate 142. The first support plate 142 may be connected to the top plate 141. The first support plate 142 may be located on the side of the top plate 141 facing away from the suspension adjustment component.

[0115] In some examples, the balance assembly 100 may include a second support plate 143. The second support plate 143 may be connected to the top plate 141. The second support plate 143 may be located on the side of the top plate 141 facing away from the suspension adjustment assembly. The second support plate 143 may be disposed opposite to the first support plate 142.

[0116] In some examples, the first support plate 142 may be disposed on one side of the top plate 141. The second support plate 143 may be disposed opposite to the first support plate 142 on the other side of the top plate 141.

[0117] In some examples, the balance assembly 100 may include a spring shaft 110. The spring shaft 110 may be disposed between the first support plate 142 and the second support plate 143.

[0118] In some examples, the balance assembly 100 may include a constant force spring 120. The constant force spring 120 may be wound around the spring shaft 110.

[0119] In some examples, the constant force spring 120 may be unwound from the spring shaft 110.

[0120] In some examples, the constant force spring 120 may be connected to a load to balance the gravity of the load.

[0121] In some examples, the constant force spring 120 may be connected to the moving cylinder 200 described in detail in the foregoing embodiments of the present application.

[0122] In some examples, the constant force spring 120 may be connected to the lifting frame 300 described in detail in the foregoing embodiments of the present application.

[0123] In some examples, the constant force spring 120 may be connected to the operating arm 20 through the lifting frame 300 and the moving cylinder 200 to balance the gravity of the lifting frame 300, the moving cylinder 200, the operating arm 20, and the end instrument connected to the operating arm 20.

[0124] In some examples, the constant force spring 120 may have a first portion 121. The first portion 121 may be located on the spring shaft 110.

[0125] In some examples, the constant force spring 120 may have a second portion 122. The second portion 122 may be configured to be connected to a load so that the constant force spring 120 balances the gravity of the load.

[0126] In some examples of the embodiments of the present application, it should be noted that the "first part 121" and / or the "second part 122" do not specifically refer to a certain specific part of the constant force spring 120. In some examples, the "first part 121" and / or the "second part 122" may refer to the end parts at both ends of the constant force spring 120. In other examples, the "first part 121" and / or the "second part 122" may refer to other parts of the constant force spring 120. The "first part 121" and the "second part 122" are intended to distinguish two different parts on the constant force spring 120.

[0127] For example, in some examples, during the process of the constant force spring 120 winding around the spring shaft 110, the part wound around the spring shaft 110 can be called the first part 121. The part not wound around the constant force spring 120 can be called the second part 122.

[0128] In some examples, the second part 122 can be connected to the lifting frame 300, so as to be connected to the operating arm 20 through the lifting frame 300 and the moving cylinder 200.

[0129] In some examples, since the constant force spring 120 provides a force to balance the gravity for loads such as the lifting frame 300, the moving cylinder 200, the operating arm 20, and the end effector, the force on the load is balanced. Doctors or operators only need to provide a relatively small force to conveniently adjust the up and down position of the load, which is convenient for adjusting the position of the operating arm 20.

[0130] In some examples, to improve the safety of using the surgical robot and avoid the constant force spring 120 from breaking after long-term use, or to facilitate timely detection of whether the constant force spring 120 is damaged. The detection mechanism 130 can be used to detect whether the constant force spring 120 is damaged.

[0131] Generally, to protect components such as the constant force spring 120, the moving cylinder 200, and the lifting frame 300, the vertical shaft 10 can include a housing. The housing can cover the outer periphery of the mounting backplate 150, the moving cylinder 200, and the balance assembly 100.

[0132] In some examples, to facilitate the detection mechanism 130 to detect whether the constant force spring 120 is damaged, the first part 121 can be electrically connected to the first electrical connection terminal 131. The first electrical connection terminal 131 can be electrically connected to the outside of the housing.

[0133] In some examples, the second part 122 may be electrically connected to a second electrical connection terminal 132. The second electrical connection terminal 132 may be electrically connected to the outside of the housing. In this way, the first electrical connection terminal 131 and the second electrical connection terminal 132 may be connected to the detection mechanism 130, so as to utilize the electrical conductivity of the constant force spring 120 to construct an electrical signal circulation path among the detection mechanism 130, the first electrical connection terminal 131, the first part 121, the second part 122, and the second electrical connection terminal 132. The detection mechanism 130 may obtain the electrical signal between the first part 121 and the second part 122, so as to determine whether the constant force spring 120 is damaged according to the change of the electrical signal.

[0134] In some examples, the detection mechanism 130 may be disposed within the vertical shaft 10.

[0135] In some examples, the detection mechanism 130 may be disposed outside the vertical shaft 10.

[0136] In some examples, the detection mechanism 130 disposed outside the vertical shaft 10 may include a multimeter. The first electrical connection terminal 131 and the second electrical connection terminal 132 may be electrically connected to the multimeter. The electrical signal may be the current flowing through the constant force spring 120. For example, a constant voltage may be applied between the first part 121 and the second part 122, and the current flowing through the constant force spring 120 may be detected by the multimeter.

[0137] In some examples, the detection mechanism 130 may include an ammeter. The electrical signal may be a current.

[0138] In some examples, when the constant force spring 120 is damaged but not broken, due to the internal and external damage of the constant force spring 120, the atomic structure or the conductive channel of the constant force spring 120 as a conductor may change, resulting in a change in the electrical conductivity of the constant force spring 120. Therefore, the current flowing through the constant force spring 120 changes. It is possible to determine whether the constant force spring 120 is damaged according to the change of the current.

[0139] In some examples, when the constant force spring 120 breaks, the path from the first electrical connection terminal 131 to the second electrical connection terminal 132 is cut off, and the electrical signal cannot continue to flow between the first part 121 and the second part 122 of the constant force spring 120. At this time, the detection mechanism 130 cannot obtain the electrical signal flowing between the first part 121 and the second part 122. Then it can be determined that the constant force spring 120 is broken.

[0140] In some examples of the embodiments of the present application, the balance component 100 is provided. By electrically connecting the first electrical connection terminal 131 to the first part 121 of the constant force spring 120 and the second electrical connection terminal 132 to the second part 122 of the constant force spring 120; in this way, the first electrical connection terminal 131 and the second electrical connection terminal 132 can be connected to the detection mechanism 130, and the conductive property of the constant force spring 120 itself can be utilized to construct a path for the supply signal to flow through; the detection mechanism 130 can be used to obtain the electrical signal between the first part 121 and the second part 122, and determine whether the constant force spring 120 is damaged (such as damaged or broken) according to the electrical signal. In this way, compared with the related art, as long as the electrical signal between the first part 121 and the second part 122 changes in the embodiments of the present application, it can be clearly determined whether the constant force spring 120 is damaged. Compared with the related art, there is no need to use the constant force spring 120 to press the trigger switch, so the situation of mis-triggering of the trigger switch can be avoided. The accuracy of detecting the damage of the constant force spring 120 can be improved, and the safety of using the surgical robot can be enhanced.

[0141] In addition, in the embodiments of the present application, the first electrical connection terminal 131 is electrically connected to the first part 121 of the constant force spring 120, and the second electrical connection terminal 132 is electrically connected to the second part 122 of the constant force spring; in this way, it is convenient for the detection mechanism 130 to be electrically connected to the first electrical connection terminal 131 and the second electrical connection terminal 132, so as to obtain the electrical signal between the first part and the second part, and determine whether the constant force spring 120 is damaged according to the situation of the electrical signal; not only can it be determined whether the constant force spring 120 is broken (no electrical signal can be obtained), but also in the case where the constant force spring 120 is damaged but not broken, it can be determined that the constant force spring 120 has been damaged, and an early warning prompt can be made, which is convenient for timely replacing the damaged constant force spring 120, improving the safety of using the surgical robot and facilitating surgical arrangements.

[0142] Figure 4 is the sectional view along Figure 3 the A-A line in

[0143] In some examples, as Figure 4 described, the first support plate 142 can be provided on one side of the top plate 141. The second support plate 143 can be disposed opposite to the first support plate 142 on the other side of the top plate 141.

[0144] In some examples, the first support plate 142 and the second support plate 143 can be located on the side of the top plate 141 facing away from the suspension adjustment assembly. The first support plate 142 and the second support plate 143 can be detachably connected to the top plate 141. The spring shaft 110 can be located between the first support plate 142 and the second support plate 143.

[0145] It can be understood that in some examples, to ensure the safety of the surgical robot during use, the suspension adjustment assembly usually needs to be grounded. To ensure the support strength of the top plate 141 for the balance assembly 100 and the load, generally, the top plate 141 can be made of a metal material with relatively high strength.

[0146] In some examples, to ensure that the detection mechanism 130 can accurately detect the electrical signal flow between the first part 121 and the second part 122. Insulation can be maintained between the first part 121 and the top plate 141. For example, in some examples, an insulating layer can be provided at the connection positions of the top plate 141 with the first support plate 142 and the second support plate 143.

[0147] In some examples, the insulating layer can be coated on the surface of the top plate 141.

[0148] In some examples, the insulating layer can be coated on the surfaces of the first support member and the second support member.

[0149] In some examples, insulating layers can be coated on the surfaces of the top plate 141, the first support member, and the second support member.

[0150] It can be understood that the mounting back plate 150 described in detail in the foregoing embodiments of the present application is disengaged from the housing of the vertical axis 10 (not shown in the figure). To ensure the safety of the surgical robot during use, generally, the housing of the vertical axis 10 is grounded. That is, the mounting back plate 150 is grounded. In some examples of the embodiments of the present application, insulation is provided between the first part 121 and the top plate 141. The top plate 141 is connected to the mounting back plate 150. In this way, insulation between the first part 121 and the mounting back plate 150 can prevent the electrical signal between the first part 121 and the second part 122 from being directed to the ground. It can ensure the accuracy of the detection mechanism 130 for detecting the electrical signal between the first part 121 and the second part 122, and improve the accuracy of the damage detection of the constant force spring 120.

[0151] In some examples, the outer periphery of the spring shaft 110 can include an insulator.

[0152] In some examples, the spring shaft 110 can be an insulator. For example, the spring shaft 110 can be made of engineering plastics.

[0153] In some examples, the spring shaft 110 can be made of polycarbonate (PC).

[0154] In some examples, the spring shaft 110 can be made of polyamide (PA).

[0155] In some examples, the spring shaft 110 can be made of polyoxymethylene (POM).

[0156] It is understood that in some examples of the embodiments of the present application, the specific material of the spring shaft 110 is only shown as some specific examples, and does not limit the material of the spring shaft 110. The spring shaft 110 can also be made of other insulating materials.

[0157] In some examples of the embodiments of the present application, an insulating material is used as the spring shaft 110. In this way, after the first portion 121 of the constant force spring 120 is disposed on the spring shaft 110, the first portion 121 can be insulated from the first support plate 142 and the second support plate 143 through the spring shaft 110, so that the insulation between the first portion 121 and the top plate 141 and / or the mounting back plate 150 can be easily achieved, which is convenient for the processing and production of the balancing assembly 100.

[0158] Figure 5 It is a structural schematic diagram of the cooperation between the back plate and the switching mechanism installed in the surgical robot provided in some embodiments of the present application. Figure 6 It is a structural schematic diagram of the cooperation between the transfer mechanism and the constant force spring in the surgical robot provided in some embodiments of the present application. Figure 7 This is another structural schematic diagram of the cooperation between the transfer mechanism and the constant force spring in the surgical robot provided in some embodiments of the present application. Figure 8 It is a schematic diagram of the structure of the transfer mechanism in the surgical robot provided in some embodiments of the present application.

[0159] In some examples, the first electrical connection terminal 131 is electrically connected to the first portion 121. Figures 5 - 8 As shown, the balancing assembly 100 may include a switching mechanism 160. The switching mechanism 160 may be disposed on the mounting back plate 150.

[0160] In some examples, the adapter mechanism 160 may be fixedly connected to the mounting back plate 150. The adapter mechanism 160 and the mounting back plate 150 may be insulated.

[0161] In some examples, the switching mechanism 160 may abut against the first portion 121. The switching mechanism 160 may be electrically connected to the first portion 121.

[0162] In some examples, the switching mechanism 160 may be electrically connected to the first electrical connection terminal 131 .

[0163] In some examples, a transfer mechanism 160 is provided on the mounting backplane 150. The transfer mechanism 160 abuts against the first part 121. In this way, during the process of the constant force spring 120 being wound around the spring shaft 110, the transfer mechanism 160 always abuts against the first part 121, which can ensure the stability of the electrical connection between the transfer mechanism 160 and the first part 121. And the first electrical connection terminal 131 is electrically connected to the transfer mechanism 160. In this way, the connection point between the first electrical connection terminal 131 and the transfer mechanism 160 remains unchanged, thereby ensuring the stability of the electrical connection between the first electrical connection terminal 131 and the transfer mechanism 160; improving the stability of the electrical connection between the first electrical connection terminal 131 and the first part 121. In addition, during the process of the constant force spring 120 being unwound from the spring shaft 110, the transfer mechanism 160 always abuts against the first part 121. Improving the stability of the electrical connection between the first electrical connection terminal 131 and the first end.

[0164] In some examples, the transfer mechanism 160 may include a contact member 161. The contact member 161 may be in a strip, plate or rod shape.

[0165] In some examples, the contact member 161 may be rotatably connected to the mounting backplane 150. For example, a rotating shaft may be provided on the side of the mounting backplane 150 facing the constant force spring 120, and the contact member 161 is rotatably connected to the mounting backplane 150 through the rotating shaft.

[0166] In some examples, it is necessary to ensure insulation between the transfer mechanism 160 and the mounting backplane 150. Therefore, the rotating shaft can be an insulator. Thus, the contact member 161 is insulated from the mounting backplane 150.

[0167] In some examples, the contact member 161 may abut against the first part 121 and be electrically connected to the first part 121. The first electrical connection terminal 131 may be electrically connected to the contact member 161. Thus, the electrical connection between the first electrical connection terminal 131 and the first part 121 is realized.

[0168] In some examples, the first electrical connection terminal 131 and the contact member 161 can be connected by a wire.

[0169] In some examples, to improve the stability of the electrical connection between the first electrical connection terminal 131 and the contact member 161, a fastener 162 may be provided on the contact member 161.

[0170] In some examples, the fastener 162 may include a screw, a bolt or a clamping member, etc. The fastener 162 can be configured to fasten the wire for the electrical connection between the first electrical connection terminal 131 and the contact member 161.

[0171] In some examples, refer to Figure 8As shown, in order to improve the stability of the electrical connection between the contact 161 and the first portion 121 , the switching mechanism 160 may include a force providing member 163 . The force providing member 163 may be located between the contact 161 and the mounting back plate 150 .

[0172] In some examples, the force providing member 163 may provide a force acting on the contact member 161 toward the first portion 121 , so that the contact member 161 abuts against the first portion 121 .

[0173] In some examples, the force providing member 163 may be an elastic member. The elastic member is disposed between the contact member 161 and the mounting back plate 150. The elastic member provides a force on the contact member 161 toward the first portion 121. In this way, during the process of the constant force spring 120 being rolled up toward the spring shaft 110, the thickness of the first portion 121 wound on the spring shaft 110 increases, and the first portion 121 may abut against the contact member 161, so that the contact member 161 moves toward the mounting back plate 150, thereby facilitating the rolling of the constant force spring 120. Alternatively, during the process of unwinding the constant force spring 120 from the spring shaft 110, the thickness of the first portion 121 wound on the spring shaft 110 decreases, and the force providing member 163 can apply a force to the contact member 161, so that the contact member 161 moves away from the mounting back plate 150; this can ensure that during the process of winding or unwinding the constant force spring 120, the contact member 161 can always abut against the first portion 121, thereby improving the stability of the electrical connection between the contact member 161 and the first portion 121, thereby improving the accuracy of detecting the electrical signal between the first portion 121 and the second portion 122.

[0174] In some examples, the force providing member 163 may be a magnetic member. For example, a first permanent magnet may be disposed on the mounting back plate 150. A second permanent magnet may be disposed on the contact member 161. The first permanent magnet and the second permanent magnet may be opposite to each other with the same poles. In this way, the repulsive force between the first permanent magnet and the second permanent magnet may cause the contact member 161 to always abut against the first portion 121.

[0175] In some examples, the force providing member 163 may include a torsion spring. The torsion spring may be sleeved on the rotating shaft. The torsion spring may apply a force toward the first portion 121 to the contact member 161, so that the contact member 161 always abuts against the first portion 121.

[0176] In some examples, to facilitate the setting of the switching mechanism 160, refer to Figure 8 As shown, the transfer mechanism 160 may include a fixing seat 164. The fixing seat 164 may be disposed on the mounting back plate 150.

[0177] In some examples, the fixing base 164 is fixedly connected to the mounting back plate 150 .

[0178] In some examples, the fixing base 164 may be an insulator. In this way, the adapter mechanism 160 and the mounting back plate 150 may be insulated and connected through the fixing base 164 of the insulator. This facilitates the insulated connection between the adapter mechanism 160 and the mounting back plate 150.

[0179] In some examples, the contact member 161 may be rotatably disposed on the fixing seat 164 .

[0180] Figure 9 This is another structural schematic diagram of the balancing component in the surgical robot provided in some embodiments of the present application. Figure 10 is a cross-sectional view of a balancing component in a surgical robot provided in some embodiments of the present application.

[0181] In some examples, the first electrical connection terminal 131 and the second electrical connection terminal 132 may be configured to be electrically connected to the detection mechanism 130, so that the detection mechanism 130 determines the resistance value between the first portion 121 and the second portion 122 based on the electrical signal. For example, the detection mechanism 130 may be a multimeter, and the multimeter may detect the resistance value between the first portion 121 and the second portion 122.

[0182] In some examples, in order to accurately detect the resistance value between the first portion 121 and the second portion 122 , it is necessary to ensure that the resistance value between the first portion 121 and the second portion 122 remains unchanged when the constant force spring 120 is normal and not damaged.

[0183] It can be understood that when the constant force spring 120 is wound or unwound on the spring shaft 110, the distance between the second portion 122 and the first portion 121 will change, so that the resistance value between the first portion 121 and the second portion 122 will change. Figure 9 and Figure 10 As shown, the constant force spring 120 may have a fixed end connected to the spring shaft 110 .

[0184] In some examples, the first portion 121 may include a fixed end. The first electrical connection terminal 131 may be electrically connected to the fixed end.

[0185] In some examples, an insulating layer (not shown in the figure) may be provided on the surface of the constant force spring 120. In this way, after the constant force spring 120 is wound around the spring shaft 110, the outer constant force spring 120 and the inner constant force spring 120 are insulated from each other. After the second electrical connection terminal 132 is electrically connected to the second part 122, the electrical signal between the first electrical connection terminal 131 and the second electrical connection terminal 132 can flow through the entire constant force spring 120 along the length of the constant force spring 120. During the winding or unwinding process of the constant force spring 120, the length of the electrical signal flowing through the constant force spring 120 remains unchanged, so that the resistance of the electrical signal flowing through the conductor can be ensured to remain unchanged when the constant force spring 120 is not damaged.

[0186] In some examples, the first electrical connection terminal 131 and the second electrical connection terminal 132 may be configured to be electrically connected to the detection mechanism 130, so that the detection mechanism 130 can determine that the constant force spring 120 is in a damaged state when the resistance value is greater than or equal to a preset threshold.

[0187] As described in detail in the foregoing embodiments of the present application, the resistance of a conductor is the degree of obstruction of the conductor material itself to the passage of current. When the constant force spring 120 is damaged, the inside and outside of the conductor are damaged, and its atomic structure or conductive channels may change, resulting in an increase in the resistance value. Therefore, the detection mechanism 130 can determine that the constant force spring 120 is in a damaged state when the resistance value is greater than or equal to a preset threshold.

[0188] In some examples, the preset threshold can be set according to the actual material of the constant force spring 120, the gravity of the load, etc. The specific value of the preset threshold is not limited in the embodiments of the present application.

[0189] In some examples of the embodiments of the present application, the detection mechanism 130 determines the resistance value between the first part 121 and the second part 122 through an electrical signal, and determines that the constant force spring 120 is in a damaged state when the resistance value is greater than or equal to a preset threshold. In this way, it is possible to detect and judge whether the constant force spring 120 is damaged, which is convenient for timely discovering the damaged state of the constant force spring 120 before the operation, can avoid affecting the operation process, and improves the safety during the operation.

[0190] In some examples, the detection mechanism 130 can detect the resistance value between the first part 121 and the second part 122 in real time after the surgical robot is powered on and started.

[0191] In some examples, the detection mechanism 130 can detect the resistance value between the first part 121 and the second part 122 at intervals of a unit time length after the surgical robot is powered on and started.

[0192] In some examples, to improve the accuracy of the resistance value detection between the first part 121 and the second part 122 by the detection mechanism 130, the detection mechanism 130 can be configured to monitor the time length during which the resistance value is greater than or equal to a preset threshold when the resistance value is greater than or equal to the preset threshold.

[0193] For example, when the detection mechanism 130 determines that the resistance value between the first end and the second end is greater than the preset threshold according to the electrical signal, the detection mechanism 130 can start timing.

[0194] In some examples, within the preset time length, if the resistance value returns to be less than the preset threshold, it may be determined that the resistance value being greater than the preset threshold may be a false detection.

[0195] In some examples, if the resistance value continuously remains greater than or equal to the preset threshold and the duration length exceeds the preset time length, it can be determined that the constant force spring 120 is in a damaged state. At this time, the constant force spring 120 can be replaced.

[0196] Generally, the fixed end of the constant force spring 120 is attached to the peripheral wall of the spring shaft 110. During the winding and unwinding processes of the constant force spring 120, the fixed end is pressed inside by the constant force spring 120 in the outer ring. To facilitate the electrical connection between the fixed end and the first electrical connection terminal 131. Refer to Figure 9 and Figure 10 As shown, the spring shaft 110 can be set as a hollow shaft. Through holes can be provided on the spring shaft 110, and the through holes penetrate the inner and outer side walls of the spring shaft 110 along the radial direction of the spring shaft 110.

[0197] In some examples, the fixed end can pass through the through hole and extend into the spring shaft 110.

[0198] In some examples, it can be that the fixed end is fixed on the outer peripheral wall of the spring shaft 110. A conductive connection member is provided in the through hole, and the conductive connection member is connected to the fixed end. The first electrical connection terminal 131 is electrically connected to the conductive connection member through a wire.

[0199] In some examples of the embodiments of the present application, by setting the spring shaft 110 as a hollow shaft and providing through holes on the spring shaft 110 that penetrate the inner and outer side walls along the radial direction. In this way, it is convenient for the fixed end of the constant force spring 120 to pass through the through hole and extend into the spring shaft 110, thereby facilitating the electrical connection between the first electrical connection terminal 131 and the fixed end.

[0200] Figure 11 It is a flowchart of an implementation of the constant force spring damage detection method provided by some embodiments of the present application.

[0201] Based on the balance assembly 100 described in detail in the foregoing embodiments of the present application, refer to Figure 11As shown, in some examples of the embodiments of the present application, a method for detecting damage to the constant force spring 120 is provided, which is applied to the balance assembly 100 described in detail in the foregoing embodiments of the present application. The balance assembly 100 includes a spring shaft 110 and a constant force spring 120. The constant force spring 120 is disposed on the spring shaft 110 and can be wound around the spring shaft 110 or unwound from the spring shaft 110. The constant force spring 120 has a first portion 121 and a second portion 122. The first portion 121 and the second portion 122 are connected. The first portion 121 is located on the spring shaft 110, and the second portion 122 is configured to be connected to a load to balance the gravity of the load.

[0202] Wherein, a first electrical connection terminal 131 is electrically connected to the first portion 121, and a second electrical connection terminal 132 is electrically connected to the second portion 122. The first electrical connection terminal 131 and the second electrical connection terminal 132 can be configured to be connected to the detection mechanism 130; so as to form a path for the supply signal to flow through the constant force spring 120.

[0203] The method for detecting damage to the constant force spring 120 may include the following steps:

[0204] Step S1101, obtain the electrical signal between the first portion 121 and the second portion 122.

[0205] Step S1102, determine whether the constant force spring 120 is damaged based on the electrical signal.

[0206] In some examples, the detection mechanism 130 may include a controller.

[0207] In some examples, the controller may include a Central Processing Unit (CPU), a Microcontroller Unit (MCU), a Programmable Logic Controller (PLC), or a Field Programmable Gate Array (FPGA), etc.

[0208] In some examples, when the detection mechanism 130 determines that the constant force spring 120 is damaged, an alarm prompt may be issued. For example, an alarm prompt may be sent to the doctor's console to prompt the doctor or operator that the constant force spring 120 needs to be replaced.

[0209] In some examples, when no electrical signal is obtained, it is determined that the constant force spring 120 is broken.

[0210] Figure 12 It is another implementation flowchart of the method for detecting damage to the constant force spring provided in some embodiments of the present application.

[0211] In some examples, the constant force spring 120 has a fixed end, and the fixed end is fixedly connected to the spring shaft 110; the first portion 121 includes the fixed end; the first electrical connection terminal 131 is electrically connected to the fixed end, and an insulating layer is provided on the surface of the constant force spring 120.

[0212] Referring to Figure 12 as shown, the method for detecting damage to the constant force spring 120 may include the following steps:

[0213] Step s1201, obtaining an electrical signal between the first portion 121 and the second portion 122.

[0214] Step s1202, determining a resistance value between the first portion 121 and the second portion 122 based on the electrical signal.

[0215] Step s1203, when the resistance value is greater than or equal to a preset threshold, determining that the constant force spring 120 is in a damaged state.

[0216] Figure 13 is another implementation flowchart of the method for detecting damage to the constant force spring provided in some embodiments of the present application.

[0217] In some examples, referring to Figure 13 as shown, the method for detecting damage to the constant force spring 120 may include the following steps:

[0218] Step s1301, obtaining an electrical signal between the first portion 121 and the second portion 122.

[0219] Step s1302, determining a resistance value between the first portion 121 and the second portion 122 based on the electrical signal.

[0220] Step s1303, when the resistance value is greater than or equal to a preset threshold, monitoring the time length during which the resistance value is greater than or equal to the preset threshold.

[0221] Step s1304, when the time length is greater than or equal to a preset time length, determining that the constant force spring 120 is in a damaged state.

[0222] In some examples, the spring shaft 110 is a hollow shaft, and through holes are provided on the spring shaft 110. The through holes penetrate the inner and outer side walls of the spring shaft 110 along the radial direction of the spring shaft 110; the fixed end passes through the through holes and extends into the spring shaft 110.

[0223] In some examples, the balancing component 100 further includes a top plate 141, a first support plate 142, and a second support plate 143. The first support plate 142 is disposed on one side of the top plate 141, and the second support plate 143 is disposed on the other side of the top plate 141 opposite to the first support plate 142. The spring shaft 110 is located between the first support plate 142 and the second support plate 143. There is insulation between the first portion 121 and the top plate 141.

[0224] In some examples, the outer periphery of the spring shaft 110 may include an insulator.

[0225] In some examples, the balancing component 100 further includes:

[0226] A mounting back plate 150, configured to mount and support the top plate 141; the second portion 122 is movable along the mounting back plate 150;

[0227] A transfer mechanism 160, disposed on the mounting back plate 150, the transfer mechanism 160 is insulated and connected to the mounting back plate 150; the transfer mechanism 160 abuts against the first portion 121 and is electrically connected to the first portion 121; the transfer mechanism 160 is configured to be electrically connected to the first electrical connection terminal 131.

[0228] In some examples, the transfer mechanism 160 includes a contact member 161, the contact member 161 is rotatably connected to the mounting back plate 150, the contact member 161 abuts against the first portion 121 and is electrically connected to the first portion 121; the first electrical connection terminal 131 is electrically connected to the contact member 161.

[0229] In some examples, a fastener 162 is provided on the contact member 161, and the fastener 162 is configured to fasten the wire electrically connecting the first electrical connection terminal 131 and the contact member 161.

[0230] In some examples, the transfer mechanism 160 further includes a force providing member 163, the force providing member 163 is located between the contact member 161 and the mounting back plate 150; the force providing member 163 is configured to provide a force towards the first portion 121 to the contact member 161, so that the contact member 161 abuts against the first portion 121.

[0231] In some examples, the transfer mechanism 160 further includes a rotating shaft, the rotating shaft is connected to the mounting back plate 150, and the contact member 161 is disposed on the rotating shaft;

[0232] The force providing member 163 includes a torsion spring, the torsion spring is sleeved on the rotating shaft, and the torsion spring is configured to provide a force to the contact member 161, so that the contact member 161 abuts against the first portion 121.

[0233] In some examples, the transfer mechanism 160 further includes a fixing base 164, the fixing base 164 is disposed on the mounting back plate 150, and the contact member 161 is rotatably disposed on the fixing base 164; the fixing base 164 is an insulator.

[0234] It can be understood that in some examples of the embodiments of the present application, the damage detection method of the constant force spring 120 has the same or corresponding technical features as the balance assembly 100 described in detail in the foregoing embodiments of the present application; therefore, it has the same or similar technical effects. For details, reference may be made to the detailed description of the foregoing embodiments of the present application, and the embodiments of the present application will not be elaborated herein again.

[0235] 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 cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A balance component, characterized in that, Comprising: A spring shaft (110); A constant force spring (120) provided on the spring shaft (110), the constant force spring (120) being capable of being wound around the spring shaft (110) or unwound from the spring shaft (110); the constant force spring (120) has a first portion (121) and a second portion (122), the first portion (121) and the second portion (122) are connected, the first portion (121) is located on the spring shaft (110), and the second portion (122) is configured to be connected to a load to balance the gravity of the load; Wherein, a first electrical connection terminal (131) is electrically connected to the first portion (121), a second electrical connection terminal (132) is electrically connected to the second portion (122), and the first electrical connection terminal (131) and the second electrical connection terminal (132) are configured to be connected to a detection mechanism (130) to form a path for the supply signal to flow through the constant force spring (120), and determine whether the constant force spring (120) is damaged based on the electrical signal.

2. The balance component according to claim 1, characterized in that, The constant force spring (120) has a fixed end, and the fixed end is fixedly connected to the spring shaft (110); the first portion (121) includes the fixed end; the fixed end is electrically connected to the first electrical connection terminal (131), and an insulating layer is provided on the surface of the constant force spring (120); The first electrical connection terminal (131) and the second electrical connection terminal (132) are further configured to be connected to the detection mechanism (130) to determine the resistance value between the first portion (121) and the second portion (122) based on the electrical signal; When the resistance value is greater than or equal to a preset threshold, it is determined that the constant force spring (120) is in a damaged state.

3. The balance component according to claim 2, wherein The first electrical connection terminal (131) and the second electrical connection terminal (132) are further configured to be connected to the detection mechanism (130) to monitor the time length during which the resistance value is greater than or equal to the preset threshold when the resistance value is greater than or equal to the preset threshold; When the time length is greater than or equal to a preset time length, it is determined that the constant force spring (120) is in a damaged state.

4. The balance component according to claim 2, wherein The spring shaft (110) is a hollow shaft, and a through hole is provided on the spring shaft (110), and the through hole penetrates the inner and outer side walls of the spring shaft (110) along the radial direction of the spring shaft (110); the fixed end passes through the through hole and extends into the spring shaft (110).

5. The balance component according to claim 1, characterized in that The balancing assembly further includes a top plate (141), a first support plate (142) and a second support plate. The first support plate (142) is provided on one side of the top plate (141), and the second support plate is oppositely provided to the first support plate (142) on the other side of the top plate (141); the spring shaft (110) is located between the first support plate (142) and the second support plate; the first portion (121) is insulated from the top plate (141).

6. The balance component according to claim 5, characterized in that, The outer periphery of the spring shaft (110) includes an insulator.

7. The balance component according to claim 5, characterized in that, The balance component further includes: A mounting backplate (150), configured to mount and support the top plate (141); the second part (122) is movable along the mounting backplate (150); A transfer mechanism (160), provided on the mounting backplate (150), the transfer mechanism (160) is insulatedly connected to the mounting backplate (150); the transfer mechanism (160) abuts against the first part (121) and is electrically connected to the first part (121); the transfer mechanism (160) is configured to be electrically connected to the first electrical connection terminal (131).

8. The balance component according to claim 7, wherein The transfer mechanism (160) includes a contact member (161), the contact member (161) is rotatably connected to the mounting backplate (150), the contact member (161) abuts against the first part (121) and is electrically connected to the first part (121); the first electrical connection terminal (131) is electrically connected to the contact member (161).

9. The balance component according to claim 8, characterized in that, A fastener (162) is provided on the contact member (161), and the fastener (162) is configured to fasten the wire electrically connecting the first electrical connection terminal (131) and the contact member (161).

10. The balance component according to claim 8, wherein, The transfer mechanism (160) further includes a force providing member (163), the force providing member (163) is located between the contact member (161) and the mounting backplate (150); the force providing member (163) is configured to provide a force towards the first part (121) to the contact member (161) so that the contact member (161) abuts against the first part (121).

11. The balance component according to claim 10, characterized in that, The transfer mechanism (160) further includes a rotating shaft, the rotating shaft is connected to the mounting backplate (150), and the contact member (161) is provided on the rotating shaft; The force providing member (163) includes a torsion spring, the torsion spring is sleeved on the rotating shaft, and the torsion spring is configured to provide a force to the contact member (161) so that the contact member (161) abuts against the first part (121).

12. The balance component according to claim 8, wherein The transfer mechanism (160) further includes a fixing seat (164), the fixing seat (164) is provided on the mounting backplate (150), and the contact member (161) is rotatably provided on the fixing seat (164); the fixing seat (164) is an insulator.

13. The balance component according to any one of claims 1-12, characterized in that, The detection mechanism (130) is further configured to determine that the constant force spring (120) is broken when the electrical signal is not acquired.

14. A surgical robot, characterized in that, Comprising: A suspension adjustment component; The balance component (100) according to any one of claims 1-13, the balance component (100) is connected to the suspension adjustment component; An operating arm (20), connected to the constant force spring (120) of the balance component (100), the operating arm (20) is configured to connect to an end effector; the constant force spring (120) is configured to balance the gravity of the operating arm (20) and the end effector.

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