Balancing device, image platform and surgical robot system

Abstract

The present disclosure relates to the field of medical devices, and discloses a balancing device, an image platform and a surgical robot system. The balancing device comprises a base, a rotating rod assembly, a proximal end of which is used for connecting a load, and a distal end of which is rotatably connected with the base, a guide rod, the guide rod being telescopic, a first end of the guide rod being rotatably connected with the rotating rod assembly, and a second end of the guide rod being rotatably connected with the base, and a first elastic member, which is sleeved on the guide rod in a compressed state, and is used for applying force to the rotating rod assembly to balance the gravity of the load. The balancing device can balance the gravity of the load, and realize the stop of the load.

Description

Technical Field

[0001] This disclosure relates to the field of medical devices, and more particularly to a balancing device, an imaging platform, and a surgical robot system. Background Technology

[0002] Laparoscopic surgery is a surgical procedure that has gradually developed and been widely used in recent years. It has advantages such as smaller incisions, which greatly reduces patients' recovery time, discomfort, and postoperative side effects. Performing laparoscopic surgery using surgical robots, especially single-port laparoscopic surgery, allows for optimization of the surgical procedure through remote computer control technology.

[0003] When performing laparoscopic surgery using a surgical robot, the surgeon can view the surgical field image on the near-eye monitor of the main control unit and perform the surgical procedure. Other users (e.g., other medical staff) can view the surgical field image on the imaging platform's monitor to facilitate timely auxiliary operations or to learn surgical procedures.

[0004] However, the monitors on imaging platforms are typically positioned at a fixed angle on top of the platform, making it difficult to meet users' needs for viewing images from different angles. Utility Model Content

[0005] In some embodiments, this disclosure provides a balancing device, comprising: Base; The rotating rod assembly has a proximal end for connecting to the load and a distal end that is rotatably connected to the base; The guide rod is telescopic, with its first end rotatably connected to the rotating rod assembly and its second end rotatably connected to the base; and The first elastic element, in a compressed state, is fitted onto the guide rod to apply force to the rotating rod assembly to balance the weight of the load.

[0006] In some embodiments, the rotating rod assembly includes a first rotating rod and a second rotating rod arranged parallel to each other, the distal ends of the first rotating rod and the second rotating rod being rotatably connected to the base, respectively.

[0007] In some embodiments, the first rotating rod or the second rotating rod includes: Rotating rod body; The distal end of the rotating rod, located at the distal end of the rotating rod body, includes a pair of symmetrically arranged rotating connecting portions along the transverse direction and a first receiving space located between the pair of rotating connecting portions; and The distal shaft is disposed within the first accommodating space. Both ends of the distal shaft are rotatably connected to a pair of rotating connecting parts and a base, respectively. The pair of rotating connecting parts are rotatably connected to the base via the distal shaft.

[0008] In some embodiments, the guide rod includes: The guide rod body, the first elastic element is sleeved on the guide rod body; and The guide rod connecting part is located at the second end of the guide rod body and includes a through hole through which the distal shaft of the first rotating rod passes.

[0009] In some embodiments, the base includes a groove with the groove opening toward the rotating rod assembly, and the distal end of the rotating rod of the first rotating rod extends into the groove and is rotatably connected to the opposite sides of the groove.

[0010] In some embodiments, the balancing device further includes: The support rod assembly is arranged parallel to the base and is rotatably connected to the first rotating rod and the second rotating rod; The guide block is rotatably connected to the support rod assembly; A movable rod, with its first end rotatably connected to a second rotating rod and slidably connected to a guide block, forms a triangle with the movable rod, the support rod assembly, and the second rotating rod; and The second elastic element is sleeved on the moving rod in a compressed state, with its first end connected to the guide block and its second end connected to the second end of the moving rod.

[0011] In some embodiments, the guide block is cylindrical, and the moving rod passes through the central cavity of the guide block and is slidably connected to the guide block.

[0012] In some embodiments, the main body of the first rotating rod and the second rotating rod respectively includes a base plate and a pair of side plates symmetrically arranged in the transverse direction. The pair of side plates of the first rotating rod extends from the base plate to the second rotating rod, and the pair of side plates of the second rotating rod extends from the base plate to the first rotating rod. The balancing device also includes a second receiving space, which is formed longitudinally between the base plate of the first rotating rod and the base plate of the second rotating rod, and transversely between a pair of side plates of the first rotating rod and the second rotating rod. The support rod assembly, guide block, moving rod, and second elastic element are disposed within the second receiving space.

[0013] In some embodiments, the support rod assembly includes: The first support rod and the second support rod are rotatably connected at both ends to the first rotating rod and the second rotating rod, respectively. The guide block includes: A pair of guide block shafts are symmetrically arranged on both sides of the guide block, and the pair of guide block shafts are rotatably connected to the first support rod and the second support rod, respectively.

[0014] In some embodiments, the balancing device further includes: The movable rod has a rotating component, with the first end of the movable rod fixedly connected to the rotating component, and the two transverse ends of the rotating component rotatably connected to a pair of side plates of the rotating rod body of the second rotating rod.

[0015] In some embodiments, the first end of the guide rod is rotatably connected to the moving rod rotator.

[0016] In some embodiments, the balancing device further includes: A load support is disposed near the first rotating rod and the second rotating rod, which are rotatably connected to the load support.

[0017] In some embodiments, the balancing device further includes: At least one damping block is disposed at the rotational connection between the first rotating rod and the load support and / or at the rotational connection between the second rotating rod and the load support.

[0018] In some embodiments, this disclosure also provides an imaging platform, including: The main body of the imaging platform; The balancing device, as described in any of the embodiments of this disclosure, is disposed on the main body of the imaging platform; and The display is mounted on the balancing device and connected to the proximal end of the rotating rod assembly of the balancing device.

[0019] In some embodiments, this disclosure also provides a surgical robot system, including: Image platforms as described in some embodiments of this disclosure; An operating table, comprising at least one robotic arm and at least one surgical instrument disposed at the distal end of at least one robotic arm; and The main control trolley includes at least one main operator, which is used to receive user operations.

[0020] Some embodiments of this disclosure have one or more of the following technical effects: they can balance the load's gravity, enabling the load to stop at any position in the vertical direction; they can enable the surgical robot's display to stop at any position in the vertical direction, facilitating user viewing of the display; they can achieve stopping and repositioning solely through mechanical structures without the need for motors, which helps simplify the structure and save computing power; they include two sets of triangular gravity balancing mechanisms, which can balance the gravity of large loads and help improve the reliability of gravity balancing; the balancing device can be hidden within the parallelogram mechanism, occupying little space and contributing to the lightweighting of the surgical robot. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0022] Figure 1 A perspective view of a balancing device and a load according to some embodiments of the present disclosure is shown; Figure 2 A side view of a balancing device and a load according to some embodiments of the present disclosure is shown; Figure 3 A side view of a portion of the structure of a balancing device according to some embodiments of the present disclosure is shown at a first angle. Figure 4 A side view of a portion of the structure of a balancing device according to some embodiments of the present disclosure is shown at a second angle. Figure 5 A perspective view showing a portion of the structure of a balancing device according to some embodiments of the present disclosure; Figure 6 A perspective view of the base of a balancing device according to some embodiments of the present disclosure is shown; Figure 7 A perspective view is shown of the guide rod, the first elastic element, and the distal shaft of the balancing device according to some embodiments of the present disclosure; Figure 8 A side view of the balancing device and load according to other embodiments of the present disclosure is shown; Figure 9 A side view of the balancing device according to other embodiments of the present disclosure is shown at another angle; Figure 10 A perspective view showing a portion of the structure of a balancing device according to other embodiments of the present disclosure; Figure 11 A perspective view of the first rotating rod of a balancing device according to some embodiments of the present disclosure is shown; Figure 12 A perspective view showing a portion of the structure and load of the balancing device according to other embodiments of the present disclosure; Figure 13 A side view of a balancing device including a load support and a load, according to some embodiments of the present disclosure, is shown. Figure 14 A schematic diagram of a surgical robot according to some embodiments of the present disclosure is shown.

[0023] List of reference numerals in the attached diagram: 10. Balancing device; 11. Base; 111. Support; 1111. Groove; 1112. Through hole; 1113. Rotating rod connection; 112. Base; 12. Rotating rod assembly; 121. First rotating rod; 1211. Rotating rod body; 1212. Distal end of rotating rod; 12121, 12122. Rotating connection; 1213. Distal shaft; 122. Second rotating rod; 1221. Rotating rod body; 1222. Distal end of rotating rod; 120, 1201, 1202. Rotating connection; 13. Guide rod; 131. Guide rod body; 132. 133. Guide rod connecting part; 134. Guide rod rotating part; 130. Rotating connection; 14. First elastic element; 15. Elastic element limiting element; 20. Balancing device; 201. Second receiving space; 202. Load support; 2021, 2022. Rotating connection; 2023. First connecting part; 2024. Second connecting part; 21. Base; 22. Rotating rod assembly; 221. First rotating rod; 2211. Rotating rod body; 22111. Base plate; 22112. 22113. Side plate; 2213. Proximal end of rotating rod; 222. Second rotating rod; 2221. Rotating rod body; 23. Guide rod; 24. First elastic element; 25. Support rod assembly; 2501, 2502. Rotating connection; 251. First support rod; 252. Second support rod; 253, 254. Rotating shaft; 26. Guide block; 260. Rotary connection; 27. Moving rod; 270. Rotating connection; 28. Second elastic element; 29. ​​Rotating component of the moving rod; 291. Rotating connection part; 292. Moving rod connection part; 30. Load; 100. Imaging platform; 110. Imaging platform main body; 120. Monitor; 200. Operating table cart; 210. Robotic arm; 220. Surgical instruments; 300. Main control cart; 310. Main operator; 1000. Surgical robots. Detailed Implementation

[0024] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0025] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0027] In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal or rear end, or rear end, and the end opposite to the proximal end, proximal or rear end, or rear end is defined as the distal end, distal or front end, or front end. Alternatively, the end closer to the person being operated on (e.g., a surgical patient) is defined as the distal end, distal or front end, or front end, and the end opposite to the distal end, distal or front end, or front end is defined as the proximal end, proximal or rear end, or rear end. Those skilled in the art will understand that embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0028] Some embodiments of this disclosure provide a balancing device 10. Figure 1 A perspective view of a balancing device 10 and a load 30 according to some embodiments of the present disclosure is shown. In some embodiments, the balancing device 10 can be used to balance the gravity of the load 30. In some embodiments, the load 30 can be any suitable device such as a display or input device. In some embodiments, the balancing device 10 can be used in a surgical robot system, such as any suitable surgical robot system such as a laparoscopic surgical robot system. For example, the balancing device 10 can be used to balance the gravity of the display of a surgical robot system, enabling the display to stop at any position in the vertical direction, so as to facilitate user viewing of the display.

[0029] Figure 2 A side view of the balancing device 10 and the load 30 according to some embodiments of the present disclosure is shown. Those skilled in the art will understand that... Figure 2 The outer casing of the balancing device 10 is partially concealed to allow for the visualization of its internal structure. For example... Figure 2As shown, the balancing device 10 may include a base 11, a rotating rod assembly 12, a guide rod 13, and a first elastic element 14. In some embodiments, the base 11 may be arranged vertically. In some embodiments, the base 11 may be fixedly mounted on a platform, for example, on top of the imaging platform of a surgical robot, so that the balancing device 10 is fixedly mounted on the platform. In some embodiments, the base 11 may be fixedly mounted by a fastening structure (e.g., bolts, etc.) or by any suitable method such as welding.

[0030] like Figure 2 As shown, the proximal end of the rotating rod assembly 12 is used to connect the load 30. The distal end is rotatably connected to the base 11. For example, the distal end of the rotating rod assembly 12 can be rotatably connected to the base 11 at a rotating connection 120.

[0031] Figure 3 A side view of a portion of the structure of a balancing device 10 according to some embodiments of the present disclosure is shown at a first angle. Figure 4 A side view of a portion of the structure of the balancing device 10 according to some embodiments of the present disclosure is shown at a second angle. Those skilled in the art will understand that... Figure 3 and Figure 4 The base 11 is hidden within. (For example...) Figure 3 and Figure 4 As shown, the guide rod 13 is telescopic. Those skilled in the art will understand that the balancing device 10 can move to different angles to move the load in the vertical direction. The guide rod 13 can extend and retract to accommodate the state of the balancing device 10 at different angles. In some embodiments, the guide rod 13 may include a multi-segment telescopic rod, a folding telescopic rod, etc., to achieve telescopicity.

[0032] like Figures 2 to 4 As shown, the first end of the guide rod 13 is rotatably connected to the rotating rod assembly 12. In some embodiments, the first end of the guide rod 13 may be rotatably connected to the rotating rod assembly 12 at a rotating connection 130. The second end of the guide rod 13 may be rotatably connected to the base 11. In some embodiments, the second end of the guide rod 13 may be rotatably connected to the base 11 at a rotating connection 1202.

[0033] like Figures 2 to 4As shown, the first elastic element 14 can be sleeved on the guide rod 13 in a compressed state. The first elastic element 14 can be used to apply a force to the rotating rod assembly 12 to balance the weight of the load. In some embodiments, the first elastic element 14 may include any suitable elastic element such as a coil spring or an air spring. Those skilled in the art will understand that the first elastic element 14 can generate a force along the axial direction of the guide rod 13 and pointing from the first elastic element 14 to the rotating connection 130, the vertical component of which can be used to counteract the weight of the load 30, allowing the load 30 to remain at any position in the vertical direction.

[0034] like Figures 2 to 4 As shown, in some embodiments, the rotating rod assembly 12 may include a first rotating rod 121 and a second rotating rod 122. Both the first rotating rod 121 and the second rotating rod 122 are rod-shaped and can be arranged parallel to each other. The distal ends of the first rotating rod 121 and the second rotating rod 122 can be rotatably connected to the base 11, for example, rotatably connected to the base 11 at rotating connection points 1201 and 1202, respectively. The first end of the guide rod 13 can be rotatably connected to the second rotating rod 122. The second end of the guide rod 13 can be rotatably connected to the base 11 at the rotating connection point 1202 between the first rotating rod 121 and the base 11. Based on this, the base 11, the second rotating rod 122, and the guide rod 13 can form a triangular structure.

[0035] Those skilled in the art will understand that the above are merely examples. In some embodiments, the rotating rod assembly 12 may consist only of the second rotating rod 122. In other embodiments, the second end of the guide rod 13 may be rotatably connected to the base 11 at other locations (e.g., above or below the rotating connection 1202) so that the base 11, the second rotating rod 122, and the guide rod 13 form a triangular mechanism.

[0036] Figure 5 A perspective view of a portion of the structure of a balancing device 10 according to some embodiments of the present disclosure is shown. In some embodiments, the first rotating rod 121 and the second rotating rod 122 are symmetrically arranged and have similar structures. The structure of the first rotating rod 121 and the second rotating rod 122 will be described below using the first rotating rod 121 as an example.

[0037] like Figure 5 As shown, in some embodiments, the first rotating rod 121 may include a rotating rod body 1211, a distal end 1212, and a distal rotating shaft 1213. The rotating rod body 1211 may be rod-shaped. The distal end 1212 is disposed at the distal end of the rotating rod body 1211, for example, by welding, integral molding, or other suitable means to fix it at the distal end of the rotating rod body 1211.

[0038] In this disclosure, such as Figures 2 to 4 As shown, with the height direction of the balancing device 10 as the longitudinal direction, and the width direction of the balancing device 10 as the longitudinal direction, ... Figures 2 to 4 The direction perpendicular to the paper is horizontal. For example... Figure 5 As shown, the distal end 1212 of the rotating rod may include a pair of rotating connecting portions 12121 and 12122 arranged symmetrically in the transverse direction, and a first receiving space located between the pair of rotating connecting portions.

[0039] like Figure 5 As shown, the distal shaft 1213 can be disposed within the first receiving space. Both ends of the distal shaft 1213 can be rotatably connected to a pair of rotating connecting portions 12121 and 12122 and the base 11, respectively. The pair of rotating connecting portions 12121 and 12122 can be rotatably connected to the base 11 via the distal shaft 1213. Those skilled in the art will understand that one end of the distal shaft 1213 can be rotatably connected to one side of the rotating connecting portion 12121 and the base 11, and the other end can be rotatably connected to the other side of the rotating connecting portion 12122 and the base 11.

[0040] Figure 6 A perspective view of the base 11 of the balancing device 10 according to some embodiments of the present disclosure is shown. Figure 6 As shown, in some embodiments, the base 11 may include a groove 1111. The opening of the groove 1111 may face the rotating rod assembly 12. The distal end 1212 of the first rotating rod 121 may extend into the groove 1111 and be rotatably connected to opposite sides of the groove 1111. The groove 1111 may accommodate at least a portion of the distal end 1212 of the rotating rod.

[0041] In some embodiments, the distal end 1212 of the first rotating rod 121 can be rotatably connected to the opposite sides of the groove 1111 via a distal rotating shaft 1213. In some embodiments, the base 11 may further include a pair of through holes 1112 symmetrically arranged and respectively disposed on both sides of the groove 1111, and the two ends of the distal rotating shaft 1213 may be respectively connected to the pair of through holes 1112 to be rotatably connected to the opposite sides of the groove 1111. In some embodiments, the base 11 may further include a pair of bearings (not shown in the figure) symmetrically arranged, and the pair of bearings may be respectively disposed in the pair of through holes 1112 and respectively sleeved on the two ends of the distal rotating shaft 1213. This is beneficial to improving the stability of the rotation of the distal rotating shaft 1213 and helps to reduce the frictional loss between the distal rotating shaft 1213 and the base 11.

[0042] In some embodiments, a pair of rotating connecting portions 12121 and 12122 may each include a pair of symmetrically arranged through holes (not shown in the figure), and both ends of the distal rotating shaft 1213 may pass through the pair of through holes to connect with both sides of the groove 1111 of the base 11. In some embodiments, the balancing device 10 may further include a pair of bearings respectively disposed in the pair of through holes of the rotating connecting portions 12121 and 12122 and sleeved at both ends of the distal rotating shaft 1213. Based on this, it is beneficial to improve the rotational stability of the distal rotating shaft 1213 and to reduce the frictional loss between the distal rotating shaft 1213 and the distal end 1212 of the rotating rod.

[0043] like Figure 5 As shown, in some embodiments, the lateral dimension of the rotating rod body 1211 of the first rotating rod 121 can be larger than the distal end 1212 of the rotating rod. Based on this, the distal end 1212 of the rotating rod can extend into the groove 1111 of the base 11, while the rotating rod body 1211 cannot extend into the groove 1111. In some embodiments, the distal edge of the rotating rod body 1211 may include a longitudinal portion 12111 and an oblique portion 12112. In such... Figure 2 In the shown state, the longitudinal portion 12111 of the distal edge can abut against the edge of the groove 1111 of the base 11. This limits the position that the rotating rod assembly 20 can reach by rotating downwards. Figure 4 In the state shown, the oblique portion 12112 at the distal edge can abut against the edge of the groove 1111 of the base 11, thereby limiting the position that the rotating rod assembly 20 can reach by rotating upward.

[0044] like Figure 6 As shown, in some embodiments, the base 11 may include a support 111 and a base 112. The base 112 may be disposed at the bottom of the support 111. The support 111 and the base 112 may be fixedly connected by a suitable method such as welding, integral molding, or fastener connection. The base 112 may be used to connect to a platform (e.g., an imaging platform of a surgical robot system). The support 111 may be used to connect to other parts of the balancing device 10 (e.g., the rotating rod assembly 12, the guide rod 13, etc.). A groove 1111 and a pair of through holes 1112 may be provided on the support 111.

[0045] like Figure 5As shown, the second rotating rod 122 may include a rotating rod body 1221, a distal end 1222 of the rotating rod, and a distal shaft (not shown in the figure). The rotating rod body 1221 is rod-shaped and can be arranged parallel to the rotating rod body 1211 of the first rotating rod 121. The distal end 1222 of the rotating rod can be located at the distal end of the rotating rod body 1221, for example, by welding, integral molding, or other suitable methods. The second rotating rod 122 can be rotatably connected to the base 11 via the distal shaft.

[0046] In some embodiments, the distal end 1222 of the rotating rod may include through holes symmetrically arranged on both sides and a distal rotating shaft located between the two through holes. The two ends of the distal rotating shaft may extend out of the two through holes respectively for connection to the base. Figure 6 As shown, in some embodiments, the support base 111 may further include a pair of symmetrically arranged rotating rod connecting portions 1113. The pair of rotating rod connecting portions 1113 are disposed on the top of the support base 111. The pair of rotating rod connecting portions 1113 can connect with the distal end 1222 of the rotating rod of the second rotating rod 122 (see...). Figure 5 Rotary connection. In some embodiments, the two ends of the distal shaft of the second rotating rod 122 can extend out of the two sides of the distal end 1222 of the rotating rod and be rotatably connected to the rotating rod connection portion 1113. The two ends of the shaft can be connected to a pair of rotating rod connection portions 1113 respectively.

[0047] In other embodiments, the distal end 1221 of the rotating rod can be rotatably connected to the rotating rod connection portion 1113 by a pair of symmetrically arranged pins (not shown in the figure), and the pair of pins can be connected to one side of the distal end 1221 of the rotating rod and one side of the rotating rod connection portion 1113, respectively.

[0048] Figure 7 A perspective view is shown of the guide rod 13, the first elastic element 14, and the distal pivot 1213 of the balancing device 10 according to some embodiments of the present disclosure. Figure 7 As shown, in some embodiments, the guide rod 13 may include a guide rod body 131 and a guide rod connecting portion 132. The guide rod body 131 may be rod-shaped, and the first elastic member 14 may be sleeved on the guide rod body 131. The guide rod connecting portion 132 may be disposed at the second end of the guide rod 13. In some embodiments, the guide rod connecting portion 132 may be fixedly disposed at the second end of the guide rod body 131 by a suitable method such as welding or integral molding. The guide rod connecting portion 132 may include a through hole (not shown in the figure), which may extend laterally along the balancing device 10. The distal shaft 1213 of the first rotating rod 121 may pass through the through hole of the guide rod connecting portion 132 to be rotatably connected to the guide rod connecting portion 132.

[0049] like Figure 7As shown, in some embodiments, the guide rod 13 may further include a guide rod connecting portion 133 and a guide rod rotating member 134. The guide rod connecting portion 133 may be disposed at the first end of the guide rod body 131, for example, by welding, integral molding, or other suitable means to fix it at the first end of the guide rod body 131. The guide rod connecting portion 133 may be rotatably connected to the second rotating rod 122 via the guide rod rotating member 134. The guide rod rotating member 134 may extend laterally along the balancing device 10, and both ends of the guide rod rotating member 134 may be rotatably connected to the second rotating rod 122. In some embodiments, the guide rod connecting portion 133 may include a through hole extending laterally, through which at least a portion of the guide rod rotating member 134 may pass to be rotatably connected to the guide rod 13.

[0050] like Figure 7 As shown, in some embodiments, the balancing device 10 may further include a pair of elastic limiting members 15. The pair of elastic limiting members 15 may be sleeved on the guide rod body 131 and are capable of sliding relative to the guide rod body 131. A first elastic member 14 may be disposed between the pair of elastic limiting members 15. Those skilled in the art will understand that, when the guide rod 131 extends or retracts, under the action of the first elastic member 14, the pair of elastic limiting members 15 can always remain in contact with the distal rotating shaft 1213 and the rotating member 1222, respectively. This prevents the first elastic member 14 from abutting against the distal rotating shaft 1213 or the rotating member 1222 and thus hindering the rotation of the rotating rod assembly 12.

[0051] Other embodiments of this disclosure provide a balancing device 20. Figure 8 A side view of the balancing device 20 and the load 30 according to other embodiments of this disclosure is shown. Figure 8 As shown, the balancing device 20 may include a base 21, a rotating rod assembly 22, a guide rod 23, and a first elastic element 24. Those skilled in the art will understand that the base 21, rotating rod assembly 22, guide rod 23, and first elastic element 24 of the balancing device 20 are similar to the corresponding parts of the balancing device 10, and will not be described again here to avoid repetition.

[0052] like Figure 8 As shown, in some embodiments, the balancing device 20 may further include a support rod assembly 25, a guide block 26, a moving rod 27, and a second elastic element 28. The support rod assembly 25 may be arranged parallel to the base 11, and the support rod assembly 25 may be rotatably connected to the first rotating rod 221 and the second rotating rod 222. For example, it may be rotatably connected to the first rotating rod 221 at a rotating connection 2501 and to the second rotating rod 222 at a rotating connection 2502.

[0053] Those skilled in the art will understand that the support rod assembly 25, the base 21, the first rotating rod 221, and the second rotating rod 222 can form a parallelogram structure. Figure 9 A side view of the balancing device 20 according to other embodiments of the present disclosure is shown at another angle. (See also...) Figure 8 and Figure 9 As shown, when the rotating rod assembly 22 rotates, the support rod assembly 25 can always remain along the longitudinal direction of the balancing device 20.

[0054] like Figure 8 As shown, the guide block 26 can be rotatably connected to the support rod assembly 25. For example, they can be rotatably connected at a rotatable connection 260. The first end of the movable rod 27 can be rotatably connected to the second rotating rod 222, for example, at a rotatable connection 270. The movable rod 27 can be slidably connected to the guide block 26. The movable rod 27, the support rod assembly 25, and the second rotating rod 222 can form a triangular structure.

[0055] like Figure 8 As shown, the second elastic element 28 can be sleeved on the moving rod 27 in a compressed state. A first end of the second elastic element 28 can be connected to the guide block 26, and a second end can be connected to the second end of the moving rod 27. In some embodiments, the first end of the second elastic element 28 can be fixedly connected to the guide block 26 (e.g., by adhesive, welding, etc.), detachably connected, or abutting against it. In some embodiments, the moving rod 27 may also include a blocking member (not shown) disposed at its second end. One end of the second elastic element 28 can be fixedly connected to or abut against this blocking member to prevent the second elastic element 28 from slipping off the moving rod 27. In some embodiments, the second elastic element 28 may include any suitable elastic element such as a coil spring or an air spring.

[0056] Those skilled in the art will understand that the second elastic element 28 can generate a force along the axial direction of the moving rod 27, the vertical component of which can be used to counteract the gravity of the load 30, allowing the load 30 to remain at any position in the vertical direction. In the balancing device 20, the forces generated by the first elastic element 24 and the second elastic element 28 can both be used to counteract the gravity of the load 30. Therefore, this improves the reliability of the balancing device 20 and helps it balance loads with greater gravity.

[0057] Figure 10 A perspective view showing a portion of the structure of the balancing device 20 according to other embodiments of the present disclosure is provided. Figure 10As shown, in some embodiments, the guide block 26 may be cylindrical. The moving rod 27 may pass through the central cavity of the guide block 26 and be slidably connected to the guide block 26. In some embodiments, the balancing device 20 may further include a bushing (not shown), which may be sleeved on the moving rod 27 and disposed within the central cavity of the guide block 26 to reduce frictional loss between the moving rod 27 and the guide block 26.

[0058] Figure 11 A perspective view of a first rotating rod 221 of a balancing device 20 according to some embodiments of the present disclosure is shown. In some embodiments, a second rotating rod 222 is symmetrically arranged with respect to the first rotating rod 221 and has a similar structure. The structure of the first rotating rod 221 and the second rotating rod 222 will be described below using the first rotating rod 221 as an example.

[0059] In this disclosure, such as Figure 8 and Figure 9 As shown, with the height direction of the balancing device 20 as the longitudinal direction, and the width direction of the balancing device 20 as the longitudinal direction, ... Figure 8 and Figure 9 The direction perpendicular to the paper is horizontal. For example... Figure 11 As shown, in some embodiments, the main body 2211 of the first rotating rod 221 may include a base plate 22111 and a pair of side plates 22112 and 22113 arranged symmetrically in the transverse direction. The pair of side plates 22112 and 22113 of the first rotating rod 221 extend from the base toward the second rotating rod 221. Those skilled in the art will understand that the pair of side plates of the second rotating rod 222 extend from the base toward the first rotating rod 221.

[0060] Figure 12 A perspective view showing a portion of the structure and load of the balancing device 20 according to other embodiments of the present disclosure is provided. Figure 12 As shown, the balancing device 20 may further include a second receiving space 201. The second receiving space 201 is formed longitudinally on the base plate 22111 of the first rotating rod 221 (see...). Figure 11 Between the base plate 22211 of the first rotating rod 221 and the second rotating rod 222. Between a pair of side plates formed laterally between the first rotating rod 221 and the second rotating rod 222.

[0061] like Figure 12 As shown, the support rod assembly 25, guide block 26, moving rod 27, and second elastic member 28 can be disposed within the second receiving space 201. In some embodiments, the guide rod 23 and the first elastic member 24 can be disposed within the second receiving space 201. This helps to save space occupied by the balancing device 20 and improves its aesthetics.

[0062] like Figure 10As shown, in some embodiments, the support rod assembly 25 may include a first support rod 251 and a second support rod 252. The first support rod 251 and the second support rod 252 may be arranged symmetrically in the transverse direction. The two ends of the first support rod 251 and the second support rod 252 may be rotatably connected to a first rotating rod 221 and a second rotating rod 222, respectively. Figure 10 As shown, the first ends of the first support rod 251 and the second support rod 252 are rotatably connected to the first rotating rod 221 via a pivot 253. The pivot 253 can be located between a pair of side plates of the first rotating rod 221. The second ends of the first support rod 251 and the second support rod 252 are rotatably connected to the second rotating rod 222 via a pivot 254. The pivot 254 can be located between a pair of side plates of the second rotating rod 222.

[0063] In some embodiments, the guide block 26 may include a pair of guide block shafts (not shown in the figure). The pair of guide block shafts may be symmetrically arranged on both sides of the guide block 26. The pair of guide block shafts may be rotatably connected to the first support rod 251 and the second support rod 252, respectively. In some embodiments, the first support rod 251 and the second support rod 252 may each include a pair of symmetrically arranged through holes. The pair of guide block shafts may extend laterally toward the first support rod 251 and the second support rod 252, respectively, and extend out of the pair of through holes. In some embodiments, both ends of the pair of guide block shafts may be fixedly connected to locking members (not shown in the figure). The radial dimension of the locking member is larger than the radial dimension of the through hole, and the locking member can be used to prevent the pair of guide block shafts from slipping off the support rod assembly 25.

[0064] In some embodiments, such as Figure 10 As shown, the balancing device 20 may further include a movable rod rotating member 29. The first end of the movable rod 27 can be fixedly connected to the movable rod rotating member 29, for example, by welding, bonding, thermoplasticizing, or other suitable methods. The two lateral ends of the movable rod rotating member 29 can be rotatably connected to a pair of side plates of the rotating rod body 2221 of the second rotating rod 222, respectively. Based on this, the movable rod 27 can be rotatably connected to the second rotating rod 222 via the movable rod rotating member 29.

[0065] like Figure 10 As shown, the movable rod rotating member 29 may include a rotating connecting portion 291 and a movable rod connecting portion 292. The rotating connecting portion 291 may extend laterally, and its two lateral ends may be rotatably connected to a pair of side plates of the second rotating rod 222, respectively. The movable rod connecting portion 292 may extend from the rotating connecting portion 291 toward the movable rod 27 to connect with the first end of the movable rod 27.

[0066] like Figure 10As shown, in some embodiments, the first end of the guide rod 23 can be rotatably connected to the moving rod rotating member 29. Those skilled in the art will understand that this helps to simplify the structure of the balancing device 20. Those skilled in the art will understand that the above are merely examples, and the first end of the guide rod 23 can be rotatably connected to the rotating rod assembly 22 at other locations using other structures. For example, the first end of the guide rod 23 can be rotatably connected to the second rotating rod 222 at the distal end of the moving rod rotating member 29 via a pivot.

[0067] In some embodiments, the movable rod rotating member 29 may further include a pivot (not shown) extending laterally through the rotatable connecting portion 291, and the first end of the guide rod 23 may include a through hole (not shown) extending laterally, through which the pivot can pass to be rotatably connected. Those skilled in the art will understand that the above are merely examples, and the movable rod rotating member 29 may be rotatably connected to the first end of the guide rod 23 by any other suitable structure. For example, the movable rod rotating member 29 may include a connecting portion (not shown) located at a laterally intermediate position and with a reduced radial dimension, through which the connecting portion can pass to be rotatably connected to the guide rod 23 by passing through the through hole at the first end of the guide rod 23.

[0068] Figure 13 A side view of a balancing device 20 including a load support 202 and a load 30 according to some embodiments of the present disclosure is shown. Those skilled in the art will understand that... Figure 13 The housing of the load holder 202 is concealed to facilitate its visualization. (See image.) Figure 13 As shown, in some embodiments, the balancing device 20 may further include a load support 202. The load support 202 may be disposed near the proximal ends of the first rotating rod 221 and the second rotating rod 222. The first rotating rod 221 and the second rotating rod 222 may be rotatably connected to the load support 202, respectively. The first rotating rod 221 may be rotatably connected to the load support 202 at a rotating connection 2021, and the second rotating rod 222 may be rotatably connected to the load support 202 at a rotating connection 2022.

[0069] In some embodiments, the load support 202 may be arranged longitudinally. The load support 202, the first rotating rod 221, the second rotating rod 222, and the base 21 may form a parallelogram mechanism. Based on this, the load support 202 can always remain longitudinally aligned when the balancing device 20 rotates.

[0070] like Figure 11 As shown, the first rotating rod 221 may include a proximal end 2213 of the rotating rod. (As...) Figure 13As shown, the load support 202 may include a first connecting portion 2023 extending distally, which is rotatably connected to the proximal end portion 2213 of the first rotating rod 221. In some embodiments, the first connecting portion 2023 may include two laterally arranged parts (not shown in the figure), and the proximal end portion 2213 of the rotating rod may extend between the two parts of the first connecting portion 2023 to connect with the first connecting portion 2023. The proximal end portion 2213 of the rotating rod and the first connecting portion 2023 may be rotatably connected by a pivot axis extending laterally through both. In some embodiments, the load support 202 may further include a second connecting portion 2024 extending distally, which is rotatably connected to the proximal end of the second rotating rod 222. The connection between the two is similar to the connection between the first connecting portion 2023 and the proximal end of the first rotating rod 221, and will not be described again for the sake of simplicity.

[0071] In some embodiments, the balancing device 20 may further include at least one damping block (not shown in the figure). At least one damping block may be disposed at the rotational connection 2021 between the first rotating rod 221 and the load support 202 (see [reference]). Figure 13 ) and / or the rotatable connection 2022 between the second rotating rod 222 and the load support 202 (see Figure 13 In some embodiments, at least one damping block may include a pair of damping blocks symmetrically arranged on opposite sides of the rotational connection 2021 along the lateral direction, and / or a pair of damping blocks symmetrically arranged on opposite sides of the rotational connection 2022 along the lateral direction.

[0072] Those skilled in the art will understand that the damping block can apply force to impede the relative rotation between the rotating rod assembly 22 and the load support 202, thereby counteracting the gravity of the load 30, helping to achieve the vertical stop of the load 30, and further helping to improve the smoothness of the rotation of the balancing device 20.

[0073] Taking a damping block disposed at the rotating connection 2021 as an example, in some embodiments, the damping block can be sleeved on the rotating shaft and connected to the rotating shaft and the first rotating rod 221 or the first connecting part 2023 respectively, so as to prevent relative rotation between the rotating shaft and the first rotating rod 221 or the first connecting part 2023. In some embodiments, the damping block can be disposed between the first rotating rod 221 and the first connecting part 2023, and connected to the first rotating rod 221 and the first connecting part 2023 respectively, so as to prevent relative rotation between the first rotating rod 221 and the first connecting part 2023.

[0074] Some embodiments of this disclosure also provide an imaging platform 100. In some embodiments, the imaging platform 100 can be used with a surgical robot system, such as any suitable surgical robot system including a laparoscopic surgical robot system. In some embodiments, the imaging platform 100 can be used to allow a user to view surgical images via the imaging platform 100. Figure 14 A schematic diagram of a surgical robot 1000 according to some embodiments of the present disclosure is shown.

[0075] like Figure 14 As shown, in some embodiments, the imaging platform 100 may include an imaging platform body 110, a display 120, and a balancing device (e.g., balancing device 10 or 20, hereinafter referred to as balancing device 10) as described in any of the embodiments of this disclosure. In some embodiments, the imaging platform body 110 may include a movable trolley to facilitate movement to any suitable position for the user to view surgical images. The balancing device 10 may be disposed on the imaging platform body 110, for example, on a platform at the top of the imaging platform body 110. In some embodiments, the balancing device 10 may be fixedly disposed on the imaging platform body 100 by a fastening structure.

[0076] like Figure 14 As shown, the display 120 can be mounted on the balancing device 10 and connected to the proximal end of the rotating rod assembly 12 of the balancing device 10. In some embodiments, the display 120 can be connected to the load support of the balancing device 10, for example, the display 120 can be fixedly connected to the load support by fasteners, or the display 120 can be mounted in the placement slot of the load support.

[0077] Some embodiments of this disclosure also provide a surgical robot system 1000. For example... Figure 14 As shown, the surgical robot system 1000 may include an imaging platform (e.g., imaging platform 100), an operating table 200, and a master control table 300, as described in any of the embodiments of this disclosure.

[0078] like Figure 14 As shown, in some embodiments, the surgical cart 200 may include at least one robotic arm 210 and at least one surgical instrument 220. The at least one surgical instrument 220 may be located at the distal end of the at least one robotic arm 210. In some embodiments, the at least one surgical instrument 220 may include any suitable surgical instrument such as a needle holder, tissue grasping forceps, curved scissors, an electric hook, or an endoscope. During surgery, the surgical cart 200 may be positioned on the patient side to facilitate surgical procedures on the patient.

[0079] like Figure 14As shown, in some embodiments, the main control carriage 300 may include at least one main operator 310. The at least one main operator 310 may be used to receive user operations. In some embodiments, the at least one main operator 310 may include a left main operator for receiving user left-hand operations and a right main operator for receiving user right-hand operations.

[0080] During surgery, the main control carriage 300 can be located on the user side to receive user commands. In some embodiments, the operating carriage 200 and the main control carriage 300 can communicate via wired or wireless transmission. During surgery, the main operator 310 can be used by the user to issue control commands to control the surgical instruments mounted on the operating carriage 200 to perform operations.

[0081] Those skilled in the art will understand that the surgical robot system 1000 provided in this embodiment can be any suitable surgical robot system, including laparoscopic surgical robot systems.

[0082] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A balancing device, characterized in that, include: Base; A rotating rod assembly, with its proximal end for connecting a load and its distal end rotatably connected to the base; A guide rod, the guide rod being telescopic, a first end of the guide rod being rotatably connected to the rotating rod assembly, and a second end of the guide rod being rotatably connected to the base; and The first elastic element, in a compressed state, is sleeved on the guide rod to apply force to the rotating rod assembly to balance the weight of the load.

2. The balancing device according to claim 1, characterized in that, The rotating rod assembly includes a first rotating rod and a second rotating rod arranged parallel to each other, and the distal ends of the first rotating rod and the second rotating rod are rotatably connected to the base.

3. The balancing device according to claim 2, characterized in that, The first rotating rod or the second rotating rod includes: Rotating rod body; The distal end of the rotating rod, located at the distal end of the main body of the rotating rod, includes a pair of symmetrically arranged rotating connecting portions along the transverse direction and a first receiving space located between the pair of rotating connecting portions; and A distal rotating shaft is disposed within the first accommodating space. Both ends of the distal rotating shaft are rotatably connected to the pair of rotating connecting parts and the base, respectively. The pair of rotating connecting parts are rotatably connected to the base via the distal rotating shaft.

4. The balancing device according to claim 3, characterized in that, The guide rod includes: Guide rod body, the first elastic element sleeved on the guide rod body; and A guide rod connecting part is provided at the second end of the guide rod body and includes a through hole through which the distal shaft of the first rotating rod passes.

5. The balancing device according to claim 3, characterized in that, The base includes a groove with an opening facing the rotating rod assembly, and the distal end of the first rotating rod extends into the groove and is rotatably connected to opposite sides of the groove.

6. The balancing device according to claim 2, characterized in that, Also includes: A support rod assembly is arranged parallel to the base and is rotatably connected to the first rotating rod and the second rotating rod; The guide block is rotatably connected to the support rod assembly; A movable rod, with its first end rotatably connected to the second rotating rod and slidably connected to the guide block, the movable rod, the support rod assembly, and the second rotating rod forming a triangle; and The second elastic element is sleeved on the moving rod in a compressed state, with its first end connected to the guide block and its second end connected to the second end of the moving rod.

7. The balancing device according to claim 6, characterized in that, The guide block is cylindrical, and the moving rod passes through the central cavity of the guide block and is slidably connected to the guide block.

8. The balancing device according to claim 6, characterized in that, The main bodies of the first rotating rod and the second rotating rod each include a base plate and a pair of side plates symmetrically arranged in the transverse direction. The pair of side plates of the first rotating rod extend from the base plate to the second rotating rod, and the pair of side plates of the second rotating rod extend from the base plate to the first rotating rod. The balancing device further includes a second receiving space, which is formed longitudinally between the base plate of the first rotating rod and the base plate of the second rotating rod, and transversely between a pair of side plates of the first rotating rod and the second rotating rod. The support rod assembly, the guide block, the moving rod, and the second elastic element are disposed within the second accommodating space.

9. The balancing device according to claim 8, characterized in that, The support rod assembly includes: A first support rod and a second support rod, wherein the two ends of the first support rod and the second support rod are rotatably connected to the first rotating rod and the second rotating rod, respectively; The guide block includes: A pair of guide block shafts are symmetrically arranged on both sides of the guide block, and the pair of guide block shafts are rotatably connected to the first support rod and the second support rod, respectively.

10. The balancing device according to claim 8, characterized in that, Also includes: A movable rod rotating component, wherein the first end of the movable rod is fixedly connected to the movable rod rotating component, and the two transverse ends of the movable rod rotating component are rotatably connected to a pair of side plates of the rotating rod body of the second rotating rod.

11. The balancing device according to claim 10, characterized in that, The first end of the guide rod is rotatably connected to the moving rod rotating component.

12. The balancing device according to claim 2, characterized in that, Also includes: A load support is disposed near the first rotating rod and the second rotating rod, and the first rotating rod and the second rotating rod are rotatably connected to the load support.

13. The balancing device according to claim 12, characterized in that, Also includes: At least one damping block is disposed at the rotational connection between the first rotating rod and the load support and / or at the rotational connection between the second rotating rod and the load support.

14. An imaging platform, characterized in that, include: The main body of the imaging platform; The balancing device as described in any one of claims 1 to 13 is disposed on the main body of the imaging platform; as well as A display is mounted on the balancing device and connected to the proximal end of the rotating rod assembly of the balancing device.

15. A surgical robot system, characterized in that, include: The imaging platform as described in claim 14; An operating table includes at least one robotic arm and at least one surgical instrument disposed at the distal end of the at least one robotic arm; as well as The main control trolley includes at least one main operator, which is used to receive user operations.

Images