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, the force compensation mechanism is provided with a second rotating shaft capable of independently rotating relative to the first rotating shaft, and the second rotating shaft is configured to be connected with a second position of the load through a connecting piece so as to balance the gravity of the load together with the constant force mechanism; and the limiting mechanism is arranged on the supporting mechanism, and the limiting mechanism is configured to be connected with the second rotating shaft so as to at least apply resistance to rotation of the second rotating shaft for loosening the connecting piece. According to the balance assembly, the vertical shaft and the surgical robot, the second rotating shaft of the force compensation mechanism can be limited, the situation that under the condition that the force compensation mechanism is powered off, the second rotating shaft rotates is avoided, the connecting piece can be kept in the tensioning state, and the surgical preparation efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, specifically to a component, a vertical axis, and a surgical robot. Background Technology

[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 pain for patients. Minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational 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. A typical minimally invasive surgical robot, specifically a laparoscopic surgical robot, includes a surgeon's console (master end), a patient surgical platform (slave end), and an imaging platform. The surgeon's console collects the surgeon's operation signals, which are then used by the control system to generate control signals for the patient surgical platform, which in turn executes the surgical operations via the surgical arms. Typically, in the configuration of the patient surgical platform of a laparoscopic surgical robot, one of the adjustable joints, the vertical axis, can move up and down to adjust the position of the surgical arm. Since the surgical arm is relatively heavy, a gravity balancing mechanism is required to facilitate position adjustment.

[0003] In related technologies, for example, Chinese invention patent CN118217023A discloses a gravity balancing component. By setting a force compensation mechanism on the support mechanism, the force compensation mechanism has a second rotating shaft that rotates independently relative to the first rotating shaft. The second rotating shaft is connected to the second position of the load through a connector. The second position is misaligned with the first position. In this way, the force compensation mechanism can provide a compensating torque of the constant force mechanism to compensate for the excess gravity of the load through the flexible connector.

[0004] However, in related technologies, when the force compensation mechanism is de-energized, the flexible connector is in a relaxed state, which may lead to it falling off or becoming tangled. Utility Model Content

[0005] This application provides a balancing component, a vertical shaft, and a surgical robot, which can limit the second rotating shaft of the force compensation mechanism to prevent the second rotating shaft from rotating when the force compensation mechanism is de-energized, thus keeping the connecting parts in a taut state and improving surgical preparation efficiency and equipment safety.

[0006] On one hand, embodiments of this application provide a balancing component, including:

[0007] Supporting institutions;

[0008] A constant force mechanism has a first rotating shaft that can rotate relative to a support mechanism, and the first rotating shaft is configured to be connected to a first position of the load;

[0009] A force compensation mechanism is connected to a support mechanism. The force compensation mechanism has 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 via a connector to balance the weight of the load together with the constant force mechanism.

[0010] A limiting mechanism, provided in the support mechanism, is configured to be connected to a second rotating shaft to apply resistance to at least the rotation of the connecting member on the second rotating shaft.

[0011] In one implementation, the limiting mechanism includes:

[0012] An extension shaft is coaxially connected to the second rotating shaft, and the extension shaft extends along the axial direction of the second rotating shaft toward the support mechanism;

[0013] A limiting element, located in the support mechanism, is configured to connect with an extension shaft to apply resistance via the extension shaft to a second rotating shaft.

[0014] In one implementation, the limiting member includes an elastic member, one end of which is connected to the support mechanism, and the other end of which is connected to the extension shaft.

[0015] In one implementation, the elastic element includes a coil spring sleeved on the outer periphery of the extension shaft. When the second rotating shaft rotates toward the direction of the loosening connector, the extension shaft drives the coil spring to store force, so as to apply a force to prevent the loosening connector through the extension shaft to the second rotating shaft.

[0016] In one implementation, the elastic element includes a spring sheet disposed on the support mechanism and abutting against the peripheral wall of the extension shaft.

[0017] In one implementation, the spring includes multiple springs, which are arranged circumferentially at intervals along the extension axis.

[0018] In one implementation, the limiting mechanism further includes:

[0019] The mounting cover is fitted onto the extension shaft and is located on the side of the limiting member facing away from the second rotating shaft. The mounting cover is configured to axially limit the limiting member along the second rotating shaft.

[0020] In one implementation, the mounting cover is fixed to the support mechanism, and the balancing assembly also includes a sensor for measuring the rotational position of the second shaft;

[0021] One part of the sensor is located on the extension shaft, and the other part of the sensor is located on the mounting cover.

[0022] In one implementation, the connector includes a flexible connector; one end of the second rotating shaft is provided with a rotating wheel, and the flexible connector is connected to the rotating wheel. When the second rotating shaft rotates, the flexible connector is wound up or unwound on the rotating wheel.

[0023] The limiting mechanism is located at the other end of the second rotating shaft opposite to the rotating wheel.

[0024] On the other hand, embodiments of this application provide a vertical axis, including:

[0025] The balancing component provided in the foregoing embodiments of this application;

[0026] The movable cylinder is configured to connect to the load, and the constant force mechanism of the balancing component is connected to the first position of the movable cylinder; the second rotating shaft of the balancing component is connected to the second position of the movable cylinder via a connector.

[0027] Furthermore, embodiments of this application provide a surgical robot, comprising:

[0028] Suspension adjustment components;

[0029] The vertical shaft provided in the foregoing embodiments of this application is connected to the suspension adjustment assembly;

[0030] The manipulator arm is connected to one end of the vertical axis opposite to the suspension adjustment assembly, and is configured to connect to the end effector.

[0031] According to the balancing component, vertical axis, and surgical robot provided in the embodiments of this application, by connecting a constant force mechanism to a support mechanism, 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; thus, the constant force mechanism can provide a constant balancing force to balance the gravity of the load; by providing a force compensation mechanism, the force compensation mechanism has a second rotating shaft that rotates independently relative to the first rotating shaft, and the second rotating shaft is connected to a second position of the load through a connector, the second position being offset from the first position; thus, the force compensation mechanism can provide a compensating torque of the constant force mechanism to compensate for the excess gravity of the load through the connector; because the second position is offset from the first position, the compensating torque provided by the connector to the load can reduce or eliminate the overturning torque of the load, thereby reducing the frictional force received when the load moves and improving the smoothness of the vertical axis movement adjustment.

[0032] In addition, by setting a limiting mechanism in the support mechanism, the limiting mechanism is configured to be connected to the second rotating shaft to apply resistance to the rotation of the loosening connector of the second rotating shaft. In this way, after the position of the load is adjusted and the position of the load is braked and positioned, the limiting mechanism can limit the second rotating shaft, which can keep the connector between the second rotating shaft and the load in a taut state at all times. This avoids the second rotating shaft from rotating and causing the connector to loosen when the force compensation mechanism is de-energized, and can prevent the connector from falling off or getting tangled, thus improving the safety of the surgical robot.

[0033] In addition, by setting a limiting mechanism in the support mechanism, the limiting mechanism is configured to be connected to the second rotating shaft to limit the rotation of the second rotating shaft. In this way, after power failure or completion of load position adjustment, the second rotating shaft can be prevented from rotating by the limiting mechanism, so that the position of the second rotating shaft remains consistent when the machine is stopped and started, that is, the encoder position is consistent. This can avoid encoder position detection errors when the machine is started again, and can improve the efficiency of preoperative preparation. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the structure of the surgical robot provided in some embodiments of this application, showing the cooperation between the slave end manipulator and the vertical axis;

[0036] Figure 2 This is a schematic diagram of the vertical axis structure in a surgical robot provided in some embodiments of this application;

[0037] Figure 3 This is a schematic diagram of a surgical robot provided in some embodiments of this application after the cover is removed from the vertical axis;

[0038] Figure 4 This is a schematic diagram of another structure of the surgical robot provided in some embodiments of this application after the cover is removed from the vertical axis;

[0039] Figure 5 It is along Figure 4 Sectional view of line AA in the middle;

[0040] Figure 6 yes Figure 5 A magnified view of a portion of point B in the middle;

[0041] Figure 7 This is a simplified structural diagram of a surgical robot provided in some embodiments of this application, showing the cooperation between the second rotating shaft and the limiting member;

[0042] Figure 8 This is a simplified diagram of another structure of the surgical robot provided in some embodiments of this application, showing the cooperation between the second rotating shaft and the limiting member.

[0043] Explanation of reference numerals in the attached figures:

[0044] 10 - Vertical axis; 20 - Operating arm;

[0045] 100 - Balancing component; 200 - Moving cylinder; 300 - Mounting plate; 400 - Lifting frame; 500 - Guide structure; 600 - Cover;

[0046] 101-Support mechanism; 102-Constant force mechanism; 103-Force compensation mechanism; 104-Limiting mechanism; 105-Sensor;

[0047] 1021-First rotating shaft; 1022-Constant force spring; 1023-First position; 1031-Second rotating shaft; 1032-Connector; 1033-Second position; 1034-Rotating wheel; 1041-Extension shaft; 1042-Limiting component; 1043-Mounting cover; 1051-Rotary encoder stator; 1052-Rotary encoder rotor. Detailed Implementation

[0048] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0049] This specification contains numerous specific technical details. However, it should be understood that embodiments of this application can be implemented without these specific technical details. Such detailed descriptions should not be construed as limiting, and the scope of protection of this application is defined only by the claims. Elsewhere, well-known structures, circuits, and other details have not been shown in detail to avoid misleading the public about the essence of this application.

[0050] In this specification, the accompanying drawings illustrate schematic diagrams of several embodiments of the present application. However, the drawings are merely illustrative, and it should be understood that other embodiments or combinations may be used, and changes in mechanical structure, physical composition, electrical aspects, and procedures may be made without departing from the spirit and scope of the present application.

[0051] The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Spatial relative terms, such as “below,” “lower,” “above,” “upper,” etc., are used for ease of explanation to describe the relationship between one element or feature illustrated in the figures and another element or feature. It should be understood that spatial relative terms are intended to cover different orientations of the device in use or operation other than those depicted in the figures. For example, if the device in the figures is flipped over, then an element described as “below” other elements or features will become “above” other elements or features. Thus, the exemplary term “below” can cover both above and below orientations. The device may be oriented in other ways (e.g., rotated 90° or otherwise), and the spatial relative descriptors used herein will be interpreted accordingly.

[0052] As used herein, “several,” the singular form “one,” and “the” are intended to include the plural form as well, unless the context otherwise indicates. It should be further understood that the terms “comprising” and / or “including” specify the presence of the stated feature, step, operation, element, and / or component without excluding the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0053] 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" are used interchangeably.

[0054] The terms “instrument,” “surgical instrument,” and “surgical device” are used herein to describe medical devices configured for insertion into a patient and for performing surgical or diagnostic procedures, including end effectors. End effectors can be surgical tools associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clamp applicators, anastomosis devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of this application further provide articulated supports (sometimes referred to as “wrists”) for the surgical tool, allowing the position and orientation of the end effector to be manipulated relative to the instrument axis with one or more mechanical degrees of freedom. 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. Instruments may also contain permanent or updatable stored information (e.g., on a PCBA board within the instrument). Accordingly, the system can provide one-way or two-way communication between the instrument and one or more system components.

[0055] The term "mate" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mate objects to operate in combination with each other. It should be noted that a mate does not require a direct connection (e.g., a direct physical or electrical connection), but rather that many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. Furthermore, the terms "detachably connected" or "detachably mate" can be interpreted as meaning a non-permanent connection or mate between two or more objects. This means that detachably connected objects can be unconnected and separated, allowing them to operate without being physically joined.

[0056] Finally, the terms “or” and “and / or” as used herein should be interpreted inclusively, meaning either one or any combination thereof. Therefore, “A, B, or C” or “A, B, and / or C” means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. Exceptions to this definition will only occur when the combination of elements, functions, steps, or actions is inherently mutually exclusive in some way.

[0057] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robots

[0058] Laparoscopic surgical robots typically consist of a surgeon control platform, a patient operating platform, and an imaging platform. The surgeon sits on the surgeon control platform, viewing two-dimensional or three-dimensional images of the surgical area transmitted by a laparoscope placed inside the patient's body. They also control the movement of the robotic arm on the patient operating platform, as well as the surgical instruments or laparoscopes attached to that arm. The robotic arm essentially simulates a human arm, and the surgical instruments simulate a human hand; together, they provide the surgeon with a range of movements mimicking the human wrist while filtering out hand tremors.

[0059] The patient surgical platform includes a chassis, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. Surgical instruments and / or endoscopes are detachably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or endoscopes operating at the surgical site within the patient's body. The associated surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the associated 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 point where the surgical instrument enters the body, and this center of motion is referred to as the "discentus point."

[0060] An imaging platform typically includes a video image capture function (commonly an endoscope) and one or more video displays for showing surgical instruments in the captured images. In some laparoscopic surgical robots, the endoscope includes optics that transmit images from the patient's body to the distal end of the endoscope via one or more imaging sensors (e.g., CCD or CMOS sensors). The video images are then transmitted to the main unit of the imaging platform through photoelectric conversion and other steps. Subsequently, image processing is performed, and the processed images are displayed on the video displays for the assistant to observe.

[0061] The surgeon control platform can be located at a single location within a surgical system comprised of laparoscopic surgical robots, or it can be distributed across two or more locations within the system. Remote master / slave operation can be performed according to a preset level of control. In some embodiments, the surgeon control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, power and gravity-compensated manipulators, etc. These input devices acquire the surgeon's operating signals, which are processed by the control system to generate control signals for the robotic arms and surgical instrument manipulators, thereby controlling the remote-controlled motors on the surgical instrument manipulators, which in turn control the movement of the surgical instruments.

[0062] Typically, the force generated by the remote-controlled motor is transmitted via a drive system to the end effector of the surgical instrument. In some remote surgical embodiments, the input device for controlling the manipulator can be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with remote manipulation, remote control, and remote presentation surgery will understand such a system and its components.

[0063] Figure 1 This is a schematic diagram of the structure of the surgical robot provided in some embodiments of this application, showing the cooperation between the slave end manipulator and the vertical axis.

[0064] In some examples, the surgical robot may include a master control unit.

[0065] In some examples, refer to Figure 1 As shown, the surgical robot may include a slave device. The slave device can receive control signals from the master controller and perform surgical operations.

[0066] In some examples, the slave end may include a trolley base (not shown in the figure).

[0067] In some examples, the slave end may include a suspension adjustment component (not shown in the figure).

[0068] In some examples, the slave end may include a vertical axis 10 (in some examples, it may also be referred to as a moving axis). The vertical axis 10 may be connected to the suspension adjustment assembly.

[0069] In some examples, the vertical axis 10 can be configured to be positioned before surgery.

[0070] In some examples, the vertical axis 10 can be configured to control the vertical movement of structures attached to the vertical axis 10 during surgery to achieve initial adjustment of the vertical position.

[0071] In some examples, the slave end may include an operating arm 20 (in some examples, it may also be referred to as a surgical arm). The operating arm 20 may be connected to the vertical axis 10.

[0072] In some examples, the manipulator 20 may be connected to one end of the vertical axis 10 facing away from the suspension adjustment assembly.

[0073] In some examples, the manipulator 20 can be configured to control the position of the end-effector during surgery.

[0074] In some examples, the manipulator 20 can be configured to control the orientation of the end-effector during surgery. This facilitates free movement of the end-effector within the surgical field.

[0075] In some examples, the vertical axis 10 can be configured to adjust the up and down movement of the manipulator 20 to achieve an initial adjustment of the position of the manipulator 20.

[0076] Figure 2 This is a schematic diagram of the vertical axis structure in a surgical robot provided in some embodiments of this application. Figure 3 This is a schematic diagram of a surgical robot provided in some embodiments of this application after the cover is removed from the vertical axis.

[0077] Understandably, in some examples, the manipulator 20 has a certain weight. The end effector mounted on the manipulator 20 also has a certain weight. Typically, the manipulator 20 is relatively heavy (generally, the weight of the manipulator 20 is between 10kg and 25kg). To facilitate vertical adjustment of the manipulator 20, a balancing assembly 100 is usually required to balance the weight of the manipulator 20.

[0078] Reference Figure 3 As shown, in some examples of embodiments of this application, the vertical axis 10 may include a balancing component 100. The balancing component 100 may be connected to the suspension adjustment component described in detail in the foregoing embodiments of this application.

[0079] In some examples, the vertical axis 10 may include a movable cylinder 200. The movable cylinder 200 may be connected to a load.

[0080] In some examples, the load may include the manipulator 20 described in detail in the foregoing embodiments of this application.

[0081] In some examples, the payload may include the end effector described in detail in the foregoing embodiments of this application.

[0082] In some examples, the movable cylinder 200 can be connected to the end effector via the manipulator arm 20.

[0083] In some examples, the balancing component 100 can balance the weight of the moving cylinder 200, the manipulator 20, and the end effector.

[0084] In some examples, the movable cylinder 200 can move up and down along the vertical axis 10 to move the manipulator 20 and the end effector up and down. This facilitates the adjustment of the vertical position of the manipulator 20 and the end effector.

[0085] Figure 4 This is a schematic diagram of another structure of the surgical robot provided in some embodiments of this application after the cover is removed from the vertical axis. Figure 5 It is along Figure 4 A cross-sectional view along line AA in the middle.

[0086] In some examples, to balance the weight of the moving cylinder 200, the manipulator 20, and the end effector, it is convenient to make up-and-down reciprocating adjustments to the heavier manipulator 20. (See reference...) Figure 4 and Figure 5 As shown, the balancing component 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 this application.

[0087] In some examples, the support mechanism 101 may be fixedly connected to the suspension adjustment platform.

[0088] In some examples, the support mechanism 101 can be detachably connected to the suspension adjustment platform.

[0089] In some examples, the balancing component 100 may include a constant force mechanism 102. The constant force mechanism 102 may be connected to the support mechanism 101.

[0090] In some examples, the constant force mechanism 102 can be directly connected to the support mechanism 101.

[0091] In some examples, the constant force mechanism 102 may be indirectly connected to the support mechanism 101.

[0092] In some examples, the constant force mechanism 102 may have a first pivot 1021. The first pivot 1021 may rotate relative to the support mechanism 101.

[0093] In some examples, the axis of rotation of the first rotating shaft 1021 may extend in a horizontal or approximately horizontal direction.

[0094] In some examples, the first pivot 1021 can be a hollow pivot.

[0095] In some examples, the constant force mechanism 102 may include a constant force spring 1022. The constant force spring 1022 may be connected to the first rotating shaft 1021.

[0096] In some examples, the constant force spring 1022 may have a fixed end. The fixed end may be connected to the first rotating shaft 1021.

[0097] In some examples, the constant force spring 1022 may have a free end. The free end can be pulled out from the first pivot 1021.

[0098] In some examples, the constant force spring 1022 may be wound around the first rotating shaft 1021. Alternatively, the constant force spring 1022 may be unwound from the first rotating shaft 1021.

[0099] In some examples, to balance the weight of the moving cylinder 200, the manipulator 20, and the end effector, refer to Figure 4 As shown, the free end of the constant force spring 1022 can be connected to the movable cylinder 200.

[0100] In some examples, the movable cylinder 200 can be configured to move relative to the support mechanism 101 in the direction in which the constant force spring 1022 provides a constant force to the movable cylinder 200. For example, the movable cylinder 200 can move along the extension direction of the constant force spring 1022.

[0101] In some examples, the free end of the constant force spring 1022 can be connected to the first position 1023 of the movable cylinder 200.

[0102] In some examples, to reduce the space required by the first rotating shaft 1021 and the moving cylinder 200, the axis of the moving cylinder 200 and the axis of rotation of the first rotating shaft 1021 can be arranged in the same plane or approximately in the same plane in the vertical plane. Therefore, since the constant force spring 1022 is wound around the outer wall of the first rotating shaft 1021, the first position 1023 where the free end of the constant force spring 1022 connects to the moving cylinder 200 can be offset from the axis of the moving cylinder 200.

[0103] In some examples, the first position 1023 can be the side of one side of the movable cylinder 200.

[0104] In some examples, to facilitate the connection between the constant force spring 1022 and the movable cylinder 200, the first position 1023 can be the side of the movable cylinder 200 facing away from the mounting plate 300.

[0105] In some examples, the constant force spring 1022 may experience some elastic fatigue after prolonged use, causing the balancing force that the constant force spring 1022 can provide to weaken over time.

[0106] In some examples, the weight of different types of end devices may vary, which may cause the load on the vertical axis 10 to change, and the required balancing force to also change.

[0107] Therefore, in some examples of embodiments of this application, the balancing component 100 may include a force compensation mechanism 103.

[0108] In some examples, the force compensation mechanism 103 may have a second shaft 1031 that rotates independently of the first shaft 1021. That is, the rotation of the second shaft 1031 is decoupled from the first shaft 1021. The rotation of the second shaft 1031 does not affect the rotation of the first shaft 1021, and the rotation of the first shaft 1021 does not affect the rotation of the second shaft 1031.

[0109] In some examples, the second pivot 1031 may be configured to be connected to the second position 1033 of the movable cylinder 200 via a connector 1032.

[0110] In some examples, the second pivot 1031 can provide a balancing force through the connectors 1032 and 1042 and the constant force spring 1022. This balancing force can be opposite to the direction of gravity of the moving cylinder 200, the operating arm 20, and the end effector. Thus, the second pivot 1031 of the force compensation mechanism 103 can provide a compensating torque to compensate for the balancing force of the constant force spring 1022, ensuring that even if the end effector changes or the constant force spring 1022 weakens over time, it still provides a constant balancing force corresponding to the load gravity, thereby improving the accuracy and smoothness of vertical adjustment of the operating arm 20.

[0111] In addition, the second rotating shaft 1031 of the force compensation mechanism 103 and the first rotating shaft 1021 of the constant force mechanism 102 rotate independently of each other, so that there is no dependent connection between the second rotating shaft 1031 and the first rotating shaft 1021; thus, when the constant force mechanism 102 needs to be disassembled and replaced, it can be disassembled and replaced separately, which facilitates the replacement and maintenance of the constant force mechanism 102 and reduces the maintenance cost of replacing and maintaining the constant force mechanism 102.

[0112] In some examples, the first position 1023 and the second position 1033 can be misaligned.

[0113] In some examples, the first position 1023 can be the side of the movable cylinder 200 facing away from the mounting plate 300. The second position 1033 can be any other side of the movable cylinder 200 other than the first position 1023.

[0114] In some examples, since the first position 1023 is the side of the movable cylinder 200 facing away from the mounting plate 300, the balancing force provided by the constant force spring 1022 to the movable cylinder 200 is not collinear with the weight of the movable cylinder 200. This causes the movable cylinder 200 to tend to tilt towards the mounting plate 300, i.e., there is an overturning moment for the movable cylinder 200, the operating arm 20, and the end effector. This results in a component of the weight of the movable cylinder 200, the operating arm 20, and the end effector moving towards the mounting plate 300, leading to a larger sliding friction force when the lifting frame 400 slides relative to the guide structure 500.

[0115] In some examples of embodiments of this application, the second position 1033 where the connector 1032 connected to the second rotating shaft 1031 connects to the moving cylinder 200 is set to be offset from the first position 1023. Thus, the compensating torque provided by the connector 1032 can reduce the overturning torque of the loads such as the moving cylinder 200, the operating arm 20, and the instrument end, thereby reducing the sliding friction between the lifting frame 400 and the guide structure 500 during relative sliding; facilitating smooth adjustment of the vertical shaft 10.

[0116] Figure 6 yes Figure 5A magnified view of a portion of point B in the middle.

[0117] In some examples, after the position adjustment of the manipulator 20 is completed, the load is positioned vertically by braking. At this time, if the force compensation mechanism 103 loses power, or if a power outage occurs during the transport and transfer of the surgical robot, the second shaft 1031 can rotate freely. If the second shaft 1031 rotates, the connector 1032 wound on the second shaft 1031 will unwind, that is, the distance between the connector 1032 and the load will increase. However, since the position of the load remains unchanged, the lengthened connector 1032 may fall off the second shaft 1031, resulting in risks such as tangling and knotting.

[0118] In addition, if the force compensation mechanism 103 loses power, or if the power is lost during the transport and transfer of the surgical robot, the second rotating shaft 1031 may rotate due to the influence of external forces, gravity, and elastic deformation forces after the connecting member is wound, since the force compensation mechanism 103 and the connecting member 1032 are in a free and relaxed state. The rotation of the second rotating shaft 1031 may cause the encoder detection position to change. After power is turned on again, the encoder position will be different from the position before the power failure, resulting in inaccurate detection position of the force compensation mechanism 103 when power is turned on. The cause needs to be investigated and resolved, which affects the efficiency of preoperative preparation.

[0119] In view of this, refer to Figure 6 As shown, in some examples of embodiments of this application, the balancing component 100 may include a limiting mechanism 104. The limiting mechanism 104 may be disposed on the support mechanism 101.

[0120] In some examples, the limiting mechanism 104 may be configured to connect to the second pivot 1031 to apply resistance to at least the rotation of the second pivot 1031 releasing the connector 1032.

[0121] In some examples, the limiting mechanism 104 can apply resistance to the rotation of the second pivot 1031 and the release connector 1032.

[0122] In some examples, the limiting mechanism 104 can apply resistance to the rotation of the winding connector 1032 on the second rotating shaft 1031.

[0123] In some examples, the limiting mechanism 104 may be connected to the second rotating shaft 1031 after the load position adjustment is completed, thereby limiting the rotation of the second rotating shaft 1031. For example, before surgery, the position of the operating arm 20 can be adjusted by the vertical shaft 10. After the adjustment is completed, the position of the operating arm 20 can be positioned by the brake in the vertical shaft 10. At this time, since there is no need to adjust the position of the operating arm 20 again, the limiting mechanism 104 can limit the second rotating shaft 1031.

[0124] In this embodiment, by providing a limiting mechanism 104 in the support mechanism 101, the limiting mechanism 104 is configured to be connected to the second rotating shaft 1031 to at least apply resistance to the rotation of the loosening connector 1032 of the second rotating shaft 1031. Thus, after the position of the load is adjusted and the position of the load is braked and positioned, the limiting mechanism 104 can limit the second rotating shaft 1031, keeping the connector 1032 between the second rotating shaft 1031 and the load always in a taut state. This prevents the second rotating shaft 1031 from rotating when the force compensation mechanism 103 is de-energized, which would cause the connector 1032 to loosen. This also prevents the connector 1032 from falling off or becoming tangled, thus improving the safety of using the surgical robot.

[0125] In addition, by setting a limiting mechanism 104 in the support mechanism 101, the limiting mechanism 104 is configured to be connected to the second rotating shaft 1031 to limit the rotation of the second rotating shaft 1031. In this way, after power failure or completion of load position adjustment, the limiting mechanism 104 can be used to align the second rotating shaft 1031, preventing the second rotating shaft 1031 from rotating. This ensures that the position of the second rotating shaft 1031 remains consistent when the machine is stopped and started, i.e., the encoder position is consistent. This can prevent encoder position detection errors during the next startup, improve the efficiency of preoperative preparation, and enhance the safety of using the surgical robot.

[0126] In some examples, refer to Figure 5 and Figure 6 As shown, the limiting mechanism 104 may include an extension shaft 1041. The extension shaft 1041 may be coaxially connected to the second rotating shaft 1031.

[0127] In some examples, the extension shaft 1041 may be fixedly connected to the second rotating shaft 1031.

[0128] In some examples, the extension shaft 1041 may extend axially toward the support mechanism 101 along the second pivot shaft 1031.

[0129] In some examples, the extension shaft 1041 may be located at one end of the second shaft 1031.

[0130] In some examples, the limiting mechanism 104 may include a limiting element 1042. The limiting element 1042 may be provided on the support mechanism 101.

[0131] In some examples, the limiting member 1042 may be configured to connect to the extension shaft 1041 to apply resistance to the second rotating shaft 1031 via the extension shaft 1041.

[0132] In some examples, the limiting member 1042 can be separated from the extension shaft 1041 when the position of the load needs to be adjusted. In this way, the second rotating shaft 1031 can be easily driven to rotate.

[0133] In some examples, the limiting member 1042 can be connected to the extension shaft 1041 without adjusting the position of the load, thereby limiting the rotation of the second rotating shaft 1031 via the extension shaft 1041.

[0134] In some examples, the extension shaft 1041 may be fixed to the axial end of the second shaft 1031.

[0135] In some examples of embodiments of this application, by providing an extension shaft 1041 on the second rotating shaft 1031, the extension shaft 1041 can extend along the axial direction of the second rotating shaft 1031 toward the support mechanism 101, which facilitates the connection between the limiting member 1042 and the extension shaft 1041, thereby applying resistance to the second rotating shaft 1031 through the extension shaft 1041, which facilitates the setting of the limiting mechanism 104.

[0136] In some examples, connector 1032 may include a flexible connector.

[0137] In some examples, refer to Figure 4 As shown, a rotating wheel 1034 may be provided on the second rotating shaft 1031. A flexible connector may be connected to the rotating wheel 1034.

[0138] In some examples, the flexible connector may include a cable.

[0139] In some examples, the flexible connector may include a steel wire rope.

[0140] In some examples, the flexible connector may include braided tape.

[0141] In some examples, the flexible connector may include a chain.

[0142] In some examples, the flexible connector may have a fixed end. The fixed end may be attached to the rotating wheel 1034.

[0143] In some examples, the flexible connector may have a free end. The free end may be connected to the second position 1033 of the movable cylinder 200. This facilitates the assembly and maintenance of the flexible connector.

[0144] In some examples, the rotating wheel 1034 may be fixedly connected to the second rotating shaft 1031.

[0145] In some examples, the peripheral wall of the rotating wheel 1034 may be provided with a groove (not labeled in the figure), and the flexible connector may be provided in the groove.

[0146] In some examples, the flexible connector can be rolled up into the groove when the second rotating shaft 1031 rotates. In this way, the flexible connector can be limited by the groove on the peripheral wall of the rotating wheel 1034, which can improve the stability of the lifting and lowering of the moving cylinder 200.

[0147] In some examples, when the second shaft 1031 rotates, the flexible connector can be unwound from the groove.

[0148] In some examples, the movable cylinder 200 moves vertically relative to the mounting plate 300 or the support mechanism 101, and the movable cylinder 200 may have a vertical axis of movement. A first position 1023 is offset from this axis of movement.

[0149] In some examples, the first position 1023 may be located on the side of the moving axis facing away from the mounting plate 300.

[0150] In some examples, the second shaft 1031 may be concentric with the first shaft 1021.

[0151] In some examples, the first shaft 1021 can be a hollow shaft. The second shaft 1031 can be located inside the first shaft 1021.

[0152] In some examples, the diameter of the rotating wheel 1034 may be smaller than the diameter of the first rotating shaft 1021.

[0153] In some examples, the limiting mechanism 104 can be located at the opposite end of the second rotating shaft 1031 and the rotating wheel 1034. That is, the rotating wheel 1034 can be located at one end of the second rotating shaft 1031, and the limiting mechanism 104 can be located at the other end of the second rotating shaft 1031. This facilitates the arrangement of the rotating wheel 1034 and the limiting mechanism 104, and reduces the manufacturing difficulty of the balancing assembly 100.

[0154] In some examples, the limiting element 1042 may include an elastic element.

[0155] In some examples, one end of the elastic element may be connected to the support mechanism 101. The other end of the elastic element may be connected to the extension shaft 1041.

[0156] In some examples, the elastic element can be a compression spring, one end of which can abut against the support mechanism 101. The other end of the compression spring can abut against the peripheral wall of the extension shaft 1041. For example, a bearing can be provided at the end of the compression spring facing the extension shaft 1041, abutting against the peripheral wall of the extension shaft 1041. Thus, when the second rotating shaft 1031 rotates, the second rotating shaft 1031 drives the extension shaft 1041 to rotate. Since the compression spring abuts the bearing against the peripheral wall of the extension shaft 1041, the compression spring causes a positive pressure on the peripheral wall of the extension shaft 1041, resulting in friction between the bearing and the peripheral wall of the extension shaft 1041. This friction can prevent the extension shaft 1041 from rotating, thereby preventing the second rotating shaft 1031 from rotating.

[0157] In some examples, when the position of the load needs to be adjusted, the drive motor of the force compensation mechanism 103 can drive the second rotating shaft 1031 to rotate against the frictional force of the bearing on the extension shaft 1041. When the position of the load does not need to be adjusted, or when the drive motor of the force compensation mechanism 103 is de-energized, the compression spring prevents the extension shaft 1041 and the second rotating shaft 1031 from rotating through the frictional force of the bearing on the extension shaft 1041, thereby keeping the length of the connector 1032 between the second rotating shaft 1031 and the load constant, that is, keeping the connector 1032 taut, which can prevent the connector 1032 from falling off or getting tangled.

[0158] In some examples of embodiments of this application, one end of the elastic member is connected to the support mechanism 101, and the other end of the elastic member is connected to the extension shaft 1041. In this way, the elastic member can limit the rotation of the second rotating shaft 1031 through the extension shaft 1041, so that the connector 1032 can always be kept in a taut state, avoiding the situation where the connector 1032 falls off, and improving the safety of the surgical robot.

[0159] Furthermore, the rotation of the second rotating shaft 1031 is limited by the frictional force exerted on the extension shaft 1041 by the elastic element. This restricts the free rotation of the second rotating shaft 1031, ensuring its position remains unchanged during surgical robot shutdown and transfer. Upon restarting, the current position of the second rotating shaft 1031 can be quickly determined, saving pre-operative preparation time and improving surgical preparation efficiency. When manual adjustment of the load position is required, the operator must apply a certain force to overcome the frictional force exerted on the extension shaft 1041 by the elastic element, facilitating load position adjustment.

[0160] In some examples, the elastic element may include a coil spring. The coil spring may be sleeved around the outer periphery of the extension shaft 1041. One end of the coil spring may be connected to the extension shaft 1041, and the other end of the coil spring may be connected to the support mechanism 101.

[0161] In some examples, when the second shaft 1031 rotates in the direction of the loosening connector 1032, the second shaft 1031 can drive the extension shaft 1041 to rotate. The rotation of the extension shaft 1041 can cause the coil spring to store force.

[0162] In some examples, rotation of the extension shaft 1041 can cause the coil spring to coil. The inner diameter of the coil spring decreases, thereby causing the coil spring to generate a torque in the opposite direction to the rotation of the extension shaft 1041.

[0163] In some examples, the extension shaft 1041 can drive the coil spring to wind when the second rotating shaft 1031 unwinds the connector 1032, thereby reducing the inner diameter of the coil spring and generating a rotational torque opposite to the unwinding direction of the connector 1032. This results in the extension shaft 1041 applying a force to the second rotating shaft 1031 to prevent the unwinding of the connector 1032.

[0164] In some examples, during power outages or shutdowns, the distance between the load and the second rotating shaft 1031 remains constant because the load is braked to a stop. The second rotating shaft 1031 cannot rotate in the direction of winding the connector 1032. In some examples of embodiments of this application, by sleeved with a coil spring around the outer periphery of the extension shaft 1041, when the second rotating shaft 1031 rotates in the direction of unwinding the connector 1032, the coil spring can store force, generating a torque opposite to the rotation direction of the extension shaft 1041. This prevents the second rotating shaft 1031 from rotating in the direction of unwinding the connector 1032. In other words, the coil spring limits the rotation of the second rotating shaft 1031, keeping the connector 1032 always taut, preventing it from detaching, ensuring the position of the second rotating shaft 1031 remains unchanged, and improving the efficiency of pre-operative preparation after the next startup.

[0165] In some examples, the force exerted by the coil spring on the second shaft 1031 varies as the inner diameter decreases. To maintain the balance of the load on the vertical shaft 10, the force compensation mechanism 103 needs to be calibrated to accommodate the change in the inner diameter of the coil spring, thereby ensuring that the load remains in force balance on the vertical shaft 10.

[0166] In some examples, the constant force spring 1022 can provide a constant tension. The constant tension provided by the constant force spring 1022 can be F1.

[0167] In some examples, the manipulator 20 can be suspended on the moving cylinder 200. The mass of the manipulator 20 (which may also be a load in some examples) is greater than the tension F1 provided by the constant force spring 1022. Under the action of the weight G of the manipulator 20, the manipulator 20 will descend without the aid of other external forces. In order to balance the weight of the manipulator 20, the force compensation mechanism 103 can provide an external force to balance and compensate for the excess weight of the manipulator 20.

[0168] In some examples, the force compensation mechanism 103 drives the second rotating shaft 1031, which in turn drives the rotating wheel 1034 to rotate, thereby causing the rotating wheel 1034 to move up and down around the connector 1032, converting the torque of the rotation of the second rotating shaft 1031 into an upward pulling force F2 on the connector 1032.

[0169] In some examples, the upward pulling force F2 of the connector 1032 can be equal to the weight G of the operating arm 20 minus the constant pulling force F1 provided by the constant force spring 1022. At this time, the operating arm 20 is in a state of force equilibrium and remains stationary. The operator only needs to add a small upward or downward external force to adjust the up and down movement of the operating arm 20, which makes it convenient for the doctor to adjust the closed position of the operating arm.

[0170] In some examples, after the support mechanism 101 is equipped with a limiting mechanism 104, the coil spring of the limiting mechanism 104 will also provide force to the connector 1032 through the extension shaft 1041 and the second rotating shaft 1031. The force provided by the coil spring can be F3.

[0171] In some examples, the upward pulling force F2 of the connector 1032 is actually the sum of the torque provided by the rotation of the second shaft 1031 and the force F3 provided by the coil spring. Therefore, the sum F2 of the torque of the rotation of the second shaft 1031 and the force F3 provided by the coil spring is equal to the weight G of the operating arm 20 due to the pulling force F1 provided by the constant force spring 1022.

[0172] In some examples, the force F3 provided by the coil spring increases as the inner diameter decreases. The relationship between the force F3 provided by the coil spring and the rotation angle of the second rotating shaft 1031 can be calibrated before use. The force compensation mechanism 103 can adjust the rotational torque provided by the second rotating shaft 1031 according to the calibrated correspondence to maintain the sum of F2 and F1 in balance with the gravity of the operating arm 20.

[0173] In some examples, the mass of the manipulator 20 varies depending on whether an end effector is installed or the type of end effector installed. Therefore, the weight G of the manipulator 20 will also vary.

[0174] In some examples, the gravity G of the manipulator 20 can be determined by reading different types of end effectors and confirming whether end effectors are installed through the information reading system on the surgical robot. Based on the determined gravity G of the manipulator 20, the torque provided by the second rotating shaft 1031 when rotating is adjusted to ensure that the sum of F2 and F1 is balanced with the gravity of the manipulator 20.

[0175] Figure 7 This is a simplified structural diagram of a surgical robot provided in some embodiments of this application, showing the cooperation between the second rotating shaft and the limiting member. Figure 8 This is a simplified diagram of another structure of the surgical robot provided in some embodiments of this application, showing the cooperation between the second rotating shaft and the limiting member.

[0176] In some examples, refer to Figure 7 and Figure 8 As shown, the elastic element may include a spring sheet. The spring sheet may be disposed on the support mechanism 101. The spring sheet may abut against the peripheral wall of the extension shaft 1041.

[0177] In some examples, refer to Figure 7 As shown, the normal force applied by the spring sheet to the peripheral wall of the extension shaft 1041 can be along the radial direction of the extension shaft 1041. This allows the extension shaft 1041 to experience a more uniform force, improving the rotational stability of the second rotating shaft 1031. When there is a normal force between the spring sheet and the peripheral wall of the extension shaft 1041, the rotation of the extension shaft 1041 will create friction with the spring sheet. The spring sheet can use this friction to prevent the extension shaft 1041 from rotating, thereby preventing the second rotating shaft 1031 from rotating.

[0178] In some examples, refer to Figure 8 As shown, the normal force exerted by the spring on the peripheral wall of the extension shaft 1041 can deviate from the radial direction of the extension shaft 1041. Figure 8 The direction shown is illustrated as an example. When the extension shaft 1041 rotates counterclockwise, since the rotation direction of the extension shaft 1041 is the same as the eccentric direction of the spring, the frictional force of the spring on the extension shaft 1041 is small, which facilitates the rotation of the extension shaft 1041; it can be... Figure 8 The counterclockwise rotation direction of the central extension shaft 1041 is set as the rotation direction for winding the connecting member 1032, that is, the direction in which the load moves upward along the vertical shaft 10.

[0179] Continue with Figure 8 The direction shown is illustrated as an example. When the extension shaft 1041 rotates clockwise, since the rotation direction of the extension shaft 1041 is opposite to the eccentric direction of the spring, the resistance of the spring to the extension shaft 1041 is greater, making it easier for the spring to stop the extension shaft 1041 from rotating. This can be... Figure 8 The clockwise direction is set as the rotation direction for relaxing the connector 1032, that is, the direction in which the load moves downward along the vertical axis 10.

[0180] In some examples of embodiments of this application, the rotation of the second rotating shaft 1031 is limited by the spring abutting against the extension shaft 1041, which simplifies the setting of the elastic element and the structure of the limiting mechanism 104.

[0181] In some examples, multiple springs can be provided. Multiple springs can be arranged at circumferential intervals along the extension axis 1041.

[0182] In some examples, multiple spring clips can be arranged at uniform intervals along the circumference of the extension axis 1041.

[0183] In some examples of embodiments of this application, multiple spring pieces are arranged at circumferential intervals along the extension shaft 1041. In this way, the multiple spring pieces can provide uniform positive pressure on the extension shaft 1041, so that the extension shaft 1041 can maintain balance. When the second rotating shaft 1031 needs to rotate, the stability of the rotation of the second rotating shaft 1031 can be improved.

[0184] In some examples, refer to Figure 5 and Figure 6 As shown, the limiting mechanism 104 may include a mounting cover 1043. The mounting cover 1043 may be sleeved on the extension shaft 1041.

[0185] In some examples, the mounting cover 1043 may be fixedly connected to the support mechanism 101. In some examples, the mounting cover 1043 may be located on the side of the limiting member 1042 facing away from the second rotating shaft 1031. That is, the limiting member 1042 may be located between the mounting cover 1043 and the second rotating shaft 1031.

[0186] In some examples, the mounting cover 1043 can be configured to limit the limiting member 1042 along the axial direction of the second pivot 1031.

[0187] In some examples of embodiments of this application, a mounting cover 1043 is fitted onto the extension shaft 1041, with the mounting cover 1043 located on the side of the limiting member 1042 facing away from the second rotating shaft 1031. In this way, the mounting cover 1043 can limit the limiting member 1042 along the axial direction of the extension shaft 1041, preventing the limiting member 1042 from transmitting along the axial direction of the extension shaft 1041 and improving the stability of the limiting member 1042's limitation of the extension shaft 1041 and the second rotating shaft 1031. Furthermore, when installing the limiting member 1042, the mounting cover 1043 can be used to first limit the limiting member 1042 onto the extension shaft 1041, and then the force compensation mechanism 103, the extension shaft 1041, the limiting member 1042, and the mounting cover 1043 can be installed onto the support mechanism 101. This facilitates the installation of the limiting member 1042 and improves the installation efficiency of the limiting member 1042.

[0188] In some examples, refer to Figure 6 As shown, the balancing assembly 100 may include a sensor 105. The sensor 105 can be used to measure the rotational position of the second rotating shaft 1031.

[0189] In some examples, sensor 105 may include a motor encoder.

[0190] In some examples, part of sensor 105 may be located on extension shaft 1041, and another part of sensor 105 may be located on mounting cover 1043.

[0191] In some examples, sensor 105 can detect the rotation angle of the second rotating shaft 1031, thereby determining the position of the moving cylinder 200 in vertical movement on the vertical axis 10. In this way, the surgical robot can provide feedback on the distance the manipulator 20 moves vertically, thus preventing the manipulator 20 from colliding with the upper and lower limits of the vertical axis 10 during vertical movement, and improving the stability of the manipulator 20's vertical movement adjustment.

[0192] In some examples, sensor 105 may include a rotary encoder rotor 1052. The rotary encoder rotor 1052 may be located on an extension shaft 1041.

[0193] In some examples, sensor 105 may include a rotary encoder stator 1051. The rotary encoder stator 1051 may be located on mounting cover 1043.

[0194] In some examples, the rotary encoder stator 1051 and the rotary encoder rotor 1052 may be coaxial.

[0195] In some examples, the rotary encoder rotor 1052 may include a coaxial angle detection magnet. The rotary encoder stator 1051 may include a coaxial angle detection magnetic encoder. When the second shaft 1031 rotates, it drives the coaxial angle detection magnet to rotate. The coaxial angle detection magnetic encoder can read the angle of rotation of the coaxial angle detection magnet, thereby determining the angle of rotation of the second shaft 1031; the angle of rotation of the second shaft 1031 and the radius of the rotating wheel 1034 can then determine the winding or unwinding length of the flexible connector, i.e., the displacement of the moving cylinder 200.

[0196] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions 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 this application.

Claims

1. A counterbalance assembly, characterized by, The application relates to a balancing assembly, 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 with a first position of a load; a force compensation mechanism connected to the support mechanism, the force compensation mechanism having a second rotating shaft rotatable independently relative to the first rotating shaft, the second rotating shaft being configured to be connected with a second position of the load through a connecting member to balance the gravity of the load together with the constant force mechanism; a limiting mechanism arranged on the support mechanism, the limiting mechanism being configured to be connected with the second rotating shaft to at least relax the resistance of the connecting member to the rotation of the second rotating shaft.

2. The counterbalance assembly of claim 1, wherein, The limiting mechanism comprises: an extension shaft coaxially connected with the second rotating shaft, the extension shaft extending along the axial direction of the second rotating shaft towards the support mechanism; a limiting member arranged on the support mechanism, the limiting member being configured to be connected with the extension shaft to apply the resistance to the second rotating shaft through the extension shaft.

3. The counterbalance assembly of claim 2, wherein, The limiting member comprises an elastic member, one end of the elastic member being connected with the support mechanism, and the other end of the elastic member being connected with the extension shaft.

4. The counterbalance assembly of claim 3, wherein, The elastic member comprises a coil spring, the coil spring being sleeved on the outer periphery of the extension shaft, in the case that the second rotating shaft rotates in the direction of relaxing the connecting member, the extension shaft drives the coil spring to store energy, so as to apply the force resisting the relaxation of the connecting member to the second rotating shaft through the extension shaft.

5. The counterbalance assembly of claim 3, wherein, The elastic member comprises a plurality of elastic sheets, the elastic sheets being arranged on the support mechanism and abutting against the circumferential wall of the extension shaft.

6. The counterbalance assembly of claim 5, wherein, The elastic sheets are arranged in the circumferential direction of the extension shaft.

7. A counterbalance assembly according to any one of claims 2 to 6, wherein, The limiting mechanism further comprises: a mounting cover sleeved on the extension shaft, the mounting cover being located on the side of the limiting member away from the second rotating shaft, the mounting cover being configured to limit the limiting member in the axial direction of the second rotating shaft.

8. The counterbalance assembly of claim 7, wherein, The mounting cover is fixedly connected with the support mechanism, and the balancing assembly further comprises a sensor for measuring the rotating position of the second rotating shaft; part of the sensor is arranged on the extension shaft, and the other part of the sensor is arranged on the mounting cover.

9. The counterbalance assembly of any of claims 1-6, wherein, The connecting member comprises a flexible connecting member, one end of the flexible connecting member being provided with a rotating wheel on the second rotating shaft, the flexible connecting member being connected with the rotating wheel, and being wound or unwound on the rotating wheel when the second rotating shaft rotates. The limiting mechanism is located on the other end of the second rotating shaft opposite to the rotating wheel.

10. A vertical shaft characterized by, The application further relates to a balancing assembly, comprising: the balancing assembly according to any one of claims 1-9; a moving cylinder configured to be connected with a load, the constant force mechanism of the balancing assembly being connected with a first position of the moving cylinder, and the second rotating shaft of the balancing assembly being connected with a second position of the moving cylinder through a connecting member.

11. A surgical robot, characterized by The application further relates to a suspension adjusting assembly, comprising: the vertical shaft according to claim 10, the vertical shaft being connected with the suspension adjusting assembly; an operating arm connected with one end of the vertical shaft away from the suspension adjusting assembly, the operating arm being configured to be connected with an end instrument. ​

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