Balance assembly, vertical shaft, and surgical robot

Abstract

Provided in the embodiments of the present disclosure are a balance assembly, a vertical shaft, and a surgical robot. The balance assembly comprises: a supporting mechanism; a constant force mechanism, provided with a first rotating shaft, wherein the first rotating shaft can rotate relative to the supporting mechanism and is configured to be connected to a first position of a load; and a force compensation mechanism, connected to the supporting mechanism and provided with a second rotating shaft that can rotate independently relative to the first rotating shaft, wherein the second rotating shaft is configured to be connected to a second position of the load by means of a connecting member so as to provide balance force opposite to a gravity direction of the load together with the constant force mechanism, thereby balancing the gravity of the load. The second position is offset from the first position. According to the balance assembly, the vertical shaft, and the surgical robot provided by the present disclosure, the overturning moment of the load connected to a constant force spring can be reduced, so that the friction force during up-down movement of the load is reduced, thereby improving the smoothness of up-down movement adjustment of the vertical shaft.

Description

Balancing assembly, vertical shaft and surgical robot

[0001] The present disclosure claims priority to the Chinese patent application No. 202410460762.3 filed on April 17, 2024, the Chinese patent application No. 202420795326.7 filed on April 17, 2024, the Chinese patent application No. 202520324163.9 filed on February 27, 2025, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of mechanical equipment, in particular to a balancing assembly, a vertical shaft and a surgical robot. BACKGROUND

[0003] With the continuous development of medical devices, computer technology and control technology, minimally invasive surgery has been more and more widely used for its advantages of small surgical trauma, short rehabilitation time, less pain for patients, etc. The minimally invasive surgical robot can avoid the operation limitations such as hand tremor during filtering operation due to its high dexterity, high control precision and intuitive surgical image, and is widely used in abdominal, pelvic and thoracic surgical areas. The endoscopic surgical robot in the minimally invasive surgical robot generally includes a doctor console (master end), a patient surgery platform (slave end) and an image platform. The operation signal collected by the doctor console is converted into a control signal of the patient surgery platform by the control system, and the surgical operation is executed by the surgical arm of the patient surgery platform. Generally, in the configuration of the patient surgery platform of the endoscopic surgery, the vertical shaft of one of the adjusting joints can reciprocate up and down to adjust the position of the surgical arm. However, the surgical arm is heavy, so a gravity balancing mechanism needs to be provided for the surgical arm to facilitate the adjustment of the position of the surgical arm. SUMMARY

[0004] In a first aspect, a balancing assembly is provided, comprising:

[0005] a support mechanism;

[0006] 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, the load being configured to move relative to the support mechanism along a direction in which the constant force mechanism provides a constant force to the load;

[0007] 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 provide a balancing force opposite to the direction of the gravity of the load together with the constant force spring to balance the gravity of the load;

[0008] wherein the second position is misaligned with the first position.

[0009] In a second aspect, a vertical shaft is provided, comprising:

[0010] The balancing assembly provided in any implementation of the first aspect of the embodiments of the present disclosure;

[0011] The mobile cylinder is configured to connect a load; the constant force mechanism of the balancing assembly is connected to a first position of the mobile cylinder; and the second rotating shaft of the balancing assembly is connected to a second position of the mobile cylinder.

[0012] In a third aspect, a surgical robot is provided, comprising:

[0013] The suspension adjustment assembly;

[0014] The vertical shaft provided in any optional implementation of the second aspect of the embodiments of the present disclosure is connected to the suspension adjustment assembly;

[0015] The operating arm is connected to an end of the vertical shaft away from the suspension adjustment assembly, and the operating arm is configured to connect an end instrument. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0017] FIG. 1 is a structural schematic diagram of the cooperation between the end operating arm and the vertical shaft in the surgical robot provided by some embodiments of the present disclosure;

[0018] FIG. 2 is a structural schematic diagram of the vertical shaft in the surgical robot provided by some embodiments of the present disclosure;

[0019] FIG. 3 is a structural schematic diagram of the vertical shaft without a cover in the surgical robot provided by some embodiments of the present disclosure;

[0020] FIG. 4 is another structural schematic diagram of the vertical shaft without a cover in the surgical robot provided by some embodiments of the present disclosure;

[0021] FIG. 5 is a sectional view along line A-A in FIG. 4;

[0022] FIG. 6 is a structural schematic diagram of the balancing assembly in the surgical robot provided by some embodiments of the present disclosure;

[0023] FIG. 7 is a structural schematic diagram of the cooperation between the rotating wheel and the flexible connecting piece in the surgical robot provided by some embodiments of the present disclosure;

[0024] Fig. 8 is a schematic view of a topology of a rotating wheel, a first rotating shaft, a constant force spring and a flexible connecting member in a surgical robot according to some embodiments of the present disclosure;

[0025] Fig. 9 is a schematic view of another topology of a rotating wheel, a first rotating shaft, a constant force spring and a flexible connecting member in a surgical robot according to some embodiments of the present disclosure;

[0026] Fig. 10 is a partial enlarged view of B in Fig. 5;

[0027] Fig. 11 is another partial enlarged view of B in Fig. 5;

[0028] Fig. 12 is a schematic view of a structure of a second rotating shaft and a limiting member in a surgical robot according to some embodiments of the present disclosure;

[0029] Fig. 13 is another schematic view of a structure of a second rotating shaft and a limiting member in a surgical robot according to some embodiments of the present disclosure. 10-vertical shaft; 20-operating arm; 100-balance assembly; 200-moving cylinder; 300-mounting plate; 400-lifting frame; 500-guiding structure; 600-cover; 101-supporting mechanism; 102-constant force mechanism; 104-force compensation mechanism; 105-first sensor; 106-limiting mechanism; 1011-fixed seat; 1012-first supporting plate; 1013-second supporting plate; 102a-first rotating shaft; 102b-constant force spring; 1021-first bearing; 1031-first position; 1041-second rotating shaft; 1042-connecting member; 1043-second position; 1044-rotating wheel; 1044a-groove; 1045-outer shell; 1051-magnet; 1052-magnetic encoder; 1053-rotary encoder rotor; 1054-rotary encoder stator; 1061-extended shaft; 1062-limiting member; 1063-mounting cover. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present disclosure will be described below in conjunction with the drawings in the embodiments of the present disclosure.

[0031] In this specification, some places explain many specific technical details. However, it should be understood that the embodiments of the present disclosure can be implemented without these specific technical details. Such detailed description should not be considered as limiting, and the protection scope of the present disclosure is only limited by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstanding of the gist of the present disclosure by the public.

[0032] In this specification, the drawings illustrate embodiments of the disclosure that are by way of example only and not limitation. However, it should be understood that other embodiments or combinations of embodiments can be utilized, and that mechanical, physical, and electrical and step changes can be made without departing from the spirit and scope of the disclosure.

[0033] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. Spatially relative terms, such as "under", "below", "lower", "above", "upper", and the like, can be used herein for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device can be otherwise oriented (e.g., rotated 90° or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0034] As used herein, the terms "a number of", "one", and "the" are intended to include both singular and plural unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising", specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0035] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "part", "piece", and "piece" are used interchangeably.

[0036] The terms "instrument," "surgical instrument," and "surgical instruments" are used herein to describe medical devices configured to be inserted into a patient's body and used to perform a surgical or diagnostic procedure, including end effectors. End effectors can be surgical tools related to one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and so on. Some instruments used by embodiments of the present disclosure further provide articulated supports for surgical tools (sometimes referred to as "wrist") so that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument shaft. Further, many end effectors include functional mechanical degrees of freedom, such as opening or closing jaws or a knife translating along a path. Instruments can also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updatable by the surgical system. Accordingly, the system can provide one-way or two-way communication of information between the instrument and one or more system components.

[0037] The term "cooperate" can be broadly interpreted as any situation in which two or more objects are connected in a manner that allows the cooperating objects to operate in conjunction with each other. It should be noted that cooperation does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to cooperate two or more objects. For example, objects A and B can cooperate through the use of object C. Further, the term "removably coupled" or "removably cooperates" can be interpreted to mean a non-permanent coupling or cooperating situation between two or more objects. This means that removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0038] Finally, the terms "or" and "and / or" as used herein, shall be interpreted to be inclusive or to mean any one or any combination of the items in the non-exclusive sense. Thus, "A, B, or C" or "A, B, and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will occur only when two or more elements are in some way mutually exclusive from one another.

[0039] Overview of master-slave teleoperated laparoscopic surgical robot

[0040] Laparoscopic surgical robots typically include a physician control platform where a surgeon sits, a patient surgery platform, and an image platform. The surgeon watches a two- or three-dimensional image of the surgical area transmitted by a laparoscope placed in the patient's body and manipulates the movement of a robotic arm on the patient surgery platform and the surgical instrument or laparoscope attached to it. The robotic arm is equivalent to a simulated human arm and the surgical instrument is equivalent to a simulated human hand, both of which provide the surgeon with a series of movements that simulate the human wrist, while also filtering the tremors of the human hand itself.

[0041] A patient surgery platform includes a base, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at the end of each robotic arm's support assembly. A surgical instrument and / or scope is removably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or scopes that are operated at a surgical site within a patient's body. Various forms can 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 limited 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, which is typically located at the point where the surgical instrument enters the body, and which is referred to as the "telecenter."

[0042] An image platform typically includes a video image capture function (commonly an endoscope) and one or more video displays for displaying the captured images of the surgical instruments. In some laparoscopic surgical robots, the endoscope includes optics that relay images from one or more imaging sensors (also referred to as image sensors, e.g., CCD or CMOS sensors) at the distal end of the endoscope at the patient's body to a host computer of the image platform, via photoelectric conversion and the like. The processed images are then displayed on the video displays for the assistant to view, via image processing.

[0043] A physician control platform can be at a single location in a surgical system composed of a laparoscopic surgical robot or it can be distributed at two or more locations in the system. Teleoperation master / slave operation can be accomplished according to a pre-set degree of control. In some embodiments, the physician control platform includes one or more manually operated input devices, such as control levers, exoskeletal gloves, powered and gravity compensated manipulators, and the like. These input devices pick up the surgeon's operation signals, which are processed by the control system to generate control signals for the robotic arms and surgical instrument manipulators, thereby controlling the teleoperation motors on the surgical instrument manipulators, which in turn control the movement of the surgical instruments.

[0044] Generally, the force generated by the teleoperation motors is transmitted via a transmission system that transfers the force from the teleoperation motors to the end effectors of the surgical instruments. In some teleoperated surgical embodiments, the input devices that control the manipulators can be located remotely from the patient, in the room where the patient is located or outside, even in a different city. The input signals of the input devices are then transmitted to the control system. Those familiar with telemanipulation, teleoperation, and telepresence surgery will appreciate such systems and their components.

[0045] Figure 1 is a schematic diagram of a structure of a slave end operating arm and a vertical shaft in a surgical robot according to some embodiments of the present disclosure.

[0046] In some examples, the surgical robot can comprise a master control end.

[0047] In some examples, referring to Figure 1, the surgical robot can comprise a slave end. The slave end can receive control signals from the master control end and perform surgical operations.

[0048] In some examples, the slave end can comprise a trolley base (not shown in the figure).

[0049] In some examples, the slave end can comprise a suspension adjustment assembly (not shown in the figure).

[0050] In some examples, the slave end can comprise a vertical shaft 10 (may also be referred to as a moving shaft in some examples). The vertical shaft 10 can be connected to the suspension adjustment assembly.

[0051] In some examples, the vertical shaft 10 can be configured to be positioned before surgery.

[0052] In some examples, the vertical shaft 10 can be configured to control the up and down movement of a structure connected to the vertical shaft 10 during surgery to achieve preliminary adjustment of the up and down position.

[0053] In some examples, the slave end can comprise an operating arm 20 (may also be referred to as a surgical arm in some examples). The operating arm 20 can be connected to the vertical shaft 10.

[0054] In some examples, the operating arm 20 can be connected to the vertical shaft 10 at an end away from the suspension adjustment assembly.

[0055] In some examples, the operating arm 20 can be configured to control the position of an end instrument during surgery.

[0056] In some examples, the operating arm 20 can be configured to control the direction of an end instrument during surgery. In this way, it is convenient to achieve free movement of the end instrument within the range of surgery.

[0057] In some examples, the vertical shaft 10 can be configured to adjust the up and down movement of the operating arm 20 to achieve preliminary adjustment of the position of the operating arm 20.

[0058] Figure 2 is a schematic diagram of a structure of a vertical shaft in a surgical robot according to some embodiments of the present disclosure, and Figure 3 is a schematic diagram of a structure of a vertical shaft without a cover according to some embodiments of the present disclosure.

[0059] It can be understood that the operating arm 20 has a certain weight in some examples. The end instrument installed on the operating arm 20 also has a certain weight. Generally, the weight of the operating arm 20 is large (generally, the weight of the operating arm 20 is 10-25 kg). In order to facilitate the adjustment of the surgical arm along the vertical direction, it is generally necessary to set a balance assembly 100 to balance the gravity of the operating arm 20.

[0060] Referring to FIG. 3, in some examples of the embodiments of the present disclosure, the vertical shaft 10 can include a balance assembly 100. The balance assembly 100 can be connected to the suspension adjustment assembly described in detail in the foregoing embodiments of the present disclosure.

[0061] In some examples, the vertical shaft 10 can include a moving cylinder 200. The moving cylinder 200 can be connected with a load.

[0062] In some examples, the load can include the operating arm 20 described in detail in the foregoing embodiments of the present disclosure.

[0063] In some examples, the load can include the end instrument described in detail in the foregoing embodiments of the present disclosure.

[0064] In some examples, the moving cylinder 200 can be connected with the end instrument through the operating arm 20.

[0065] In some examples, the balance assembly 100 can balance the gravity of the moving cylinder 200, the operating arm 20 and the end instrument.

[0066] In some examples, the moving cylinder 200 can move up and down along the vertical shaft 10 to drive the operating arm 20 and the end instrument to move up and down. In this way, the up and down position adjustment of the operating arm 20 and the end instrument is facilitated.

[0067] In some examples, in order to improve the stability of the moving cylinder 200 moving up and down along the vertical shaft 10, the vertical shaft 10 can include a mounting plate 300.

[0068] In some examples, the mounting plate 300 can be connected to the suspension adjustment platform described in detail in the foregoing embodiments of the present disclosure.

[0069] In some examples, the mounting plate 300 can be fixedly connected with the suspension adjustment platform.

[0070] In some examples, the mounting plate 300 can be connected to a support mechanism 101 where the balance assembly 100 is connected to the suspension adjustment assembly.

[0071] In some examples, the mounting plate 300 can be located on the lower side of the support mechanism 101.

[0072] In some examples, the moving cylinder 200 can ascend along the mounting plate 300 in the vertical direction. Alternatively, the moving cylinder 200 can descend along the mounting plate 300 in the vertical direction.

[0073] In some examples, the vertical shaft 10 can include a lifting frame 400. The lifting frame 400 can be movably connected to the mounting plate 300.

[0074] In some examples, the lifting frame 400 can be movably connected to the mounting plate 300 in the vertical direction. The lifting frame 400 can ascend or descend relative to the mounting plate 300 in the vertical direction.

[0075] In some examples, the moving cylinder 200 can be connected to the lifting frame 400. When the lifting frame 400 ascends relative to the mounting plate 300, the moving cylinder 200 can ascend relative to the mounting plate 300.

[0076] In some examples, when the lifting frame 400 descends relative to the mounting plate 300, the moving cylinder 200 can descend relative to the mounting plate 300.

[0077] In some examples of the present disclosure, the lifting frame 400 is movably connected to the mounting plate 300, and the moving cylinder 200 is connected to the lifting frame 400. The moving cylinder 200 ascends or descends relative to the mounting plate 300 by the lifting frame 400 ascending or descending relative to the mounting plate 300. In this way, the moving cylinder 200 can move along the mounting plate 300 through the lifting frame 400 during the ascending or descending of the moving cylinder 200 relative to the mounting plate 300, which can improve the stability of the ascending or descending of the moving cylinder 200, and thus improve the stability of the ascending or descending of the operating arm 20 connected to the moving cylinder 200.

[0078] In some examples, a guide structure 500 can be arranged on the mounting plate 300. The guide structure 500 can be arranged on the mounting plate 300 in the vertical direction.

[0079] In some examples, the lifting frame 400 can be slidably arranged on the guide structure 500. The lifting frame 400 can slide along the guide structure 500 to ascend or descend in the vertical direction.

[0080] In some examples of the present disclosure, the guide structure 500 is arranged on the mounting plate 300, and the lifting frame 400 is slidably arranged on the guide structure 500. In this way, the guide structure 500 can guide the ascending or descending of the lifting frame 400, and thus improve the stability of the moving cylinder 200 moving in the vertical shaft 10.

[0081] In some examples, the guide structure 500 can include a guide rail. The guide rail can be fixedly connected to the mounting plate 300.

[0082] In some examples, the lifting frame 400 can be slidingly arranged on the guide rail. The lifting frame 400 can slide along the guide rail to ascend or descend in the vertical direction.

[0083] In some examples, the guide rail can include two. The two guide rails can be oppositely arranged on the mounting plate 300.

[0084] In some examples of the embodiments of the present disclosure, the lifting frame 400 is guided by the two guide rails, which improves the stability of the movement of the moving cylinder 200 in the vertical shaft 10 and improves the stability of the up-and-down movement of the operating arm 20.

[0085] In some examples, the guide structure 500 can include a guide groove (not shown in the figure). The guide groove can be arranged on the mounting plate 300 in the vertical direction.

[0086] In some examples, part of the lifting frame 400 can be inserted into the guide groove. The lifting frame 400 can slide along the guide groove to ascend or descend in the vertical direction.

[0087] In some examples, the guide groove can include two. The two guide grooves can be oppositely arranged on the mounting plate 300.

[0088] FIG. 4 is another schematic view of the structure of the vertical shaft without the cover in the surgical robot according to some embodiments of the present disclosure, and FIG. 5 is a sectional view along line A-A in FIG. 4.

[0089] In some examples, in order to balance the gravity of the moving cylinder 200, the operating arm 20 and the end instrument, it is convenient to adjust the up-and-down reciprocating movement of the operating arm 20 with a large weight. Referring to FIGS. 4 and 5, the balancing assembly 100 can include a support mechanism 101. The support mechanism 101 can be connected to the suspension adjustment platform described in detail in the foregoing embodiments of the present disclosure.

[0090] In some examples, the support mechanism 101 can be fixedly connected to the suspension adjustment platform.

[0091] In some examples, the support mechanism 101 can be detachably connected to the suspension adjustment platform.

[0092] In some examples, the balancing assembly 100 can include a constant force mechanism 102. The constant force mechanism 102 can be connected to the support mechanism 101.

[0093] In some examples, the constant force mechanism 102 can be directly connected to the support mechanism 101.

[0094] In some examples, the constant force mechanism 102 can be indirectly connected to the support mechanism 101.

[0095] In some examples, the constant force mechanism 102 can have a first rotating shaft 102a. The first rotating shaft 102a can rotate relative to the support mechanism 101.

[0096] In some examples, the rotating axis of the first rotating shaft 102a can extend in a horizontal or approximately horizontal direction.

[0097] In some examples, the first rotating shaft 102a can be a hollow rotating shaft.

[0098] In some examples, the constant force mechanism can include a constant force spring 102b. The constant force spring 102b can be connected to the first rotating shaft 102a.

[0099] In some examples, the constant force spring 102b can have a fixed end. The fixed end can be connected to the first rotating shaft 102a.

[0100] In some examples, the constant force spring 102b can have a free end. The free end can be pulled out from the first rotating shaft 102a.

[0101] In some examples, the constant force spring 102b can be wound on the first rotating shaft 102a. Alternatively, the constant force spring 102b can be unwound from the first rotating shaft 102a.

[0102] In some examples, to balance the gravity of the moving cylinder 200, the operating arm 20 and the end instrument, with reference to FIG. 4, the free end of the constant force spring 102b can be connected to the moving cylinder 200.

[0103] In some examples, the moving cylinder 200 can be configured to move relative to the support mechanism 101 in a direction in which the constant force spring 102b provides a constant force to the moving cylinder. For example, the moving cylinder 200 can move along the extending direction of the constant force spring 102b.

[0104] In some examples, the free end of the constant force spring 102b can be connected to a first position 1031 of the moving cylinder 200.

[0105] In some examples, to reduce the space occupied by the first rotating shaft 102a and the moving cylinder 200, the axis of the moving cylinder 200 and the rotating axis of the first rotating shaft 102a can be arranged in the same plane or approximately in the same plane in a vertical plane. To this end, since the constant force spring 102b is wound on the outer wall of the first rotating shaft 102a, the first position 1031 at which the free end of the constant force spring 102b is connected to the moving cylinder 200 can be offset from the axis of the moving cylinder 200.

[0106] In some examples, the first position 1031 can be a side edge of one side of the moving cylinder 200.

[0107] In some examples, the first position 1031 can be a side edge of the moving cylinder 200 away from the mounting plate 300, so as to facilitate the connection of the constant force spring 102b and the moving cylinder 200.

[0108] In some examples, the constant force spring 102b can have a certain elastic fatigue after long-term use, so that the balance force provided by the constant force spring 102b decreases over time.

[0109] In some examples, the weight of different types of end instruments can be different, so that the load on the vertical shaft 10 can change, and the required balance force also changes.

[0110] To this end, in some examples of the embodiments of the present disclosure, the balance assembly 100 can include a force compensation mechanism 104.

[0111] In some examples, the force compensation mechanism 104 can have a second rotating shaft 1041 that rotates independently relative to the first rotating shaft 102a. That is, the rotation of the second rotating shaft 1041 is decoupled from the first rotating shaft 102a. The rotation of the second rotating shaft 1041 does not affect the rotation of the first rotating shaft 102a. The rotation of the first rotating shaft 102a does not affect the rotation of the second rotating shaft 1041.

[0112] In some examples, the second rotating shaft 1041 can be configured to be connected to a second position 1043 of the moving cylinder 200 through a connecting piece 1042.

[0113] In some examples, the second rotating shaft 1041 can provide a balance force through the connecting piece 1042 and the constant force spring 102b. The balance force can be opposite to the direction of the gravity of the moving cylinder 200, the operating arm 20, and the end instrument. In this way, the balance force of the constant force spring 102b can be compensated by the compensation torque provided by the second rotating shaft 1041 of the force compensation mechanism 104, so that in the case that the end instrument changes or the constant force of the constant force spring 102b decreases after long-term use, a constant balance force corresponding to the load gravity can still be provided, thereby facilitating the accuracy and smoothness of the up and down adjustment of the operating arm 20.

[0114] In some examples, the first position 1031 and the second position 1043 can be misaligned with each other.

[0115] In some examples, the first position 1031 can be a side edge of the moving cylinder 200 away from the mounting plate 300. The second position 1043 can be other side edges of the moving cylinder 200 except the first position 1031.

[0116] In some examples, the first position 1031 is a side of the moving cylinder 200 facing away from the mounting plate 300. The balancing force provided by the constant force spring 102b to the moving cylinder 200 is not collinear with the gravity of the moving cylinder 200, which causes the moving cylinder 200 to have a tendency to tilt towards the mounting plate 300, i.e., the moving cylinder 200, the operating arm 20, and the end instrument have a tilting moment. The gravity of the moving cylinder 200, the operating arm 20, and the end instrument has a component towards the mounting plate 300, which causes the sliding friction between the lifting frame 400 and the guide structure 500 to be large when the lifting frame 400 slides relative to the guide structure 500.

[0117] In some examples of the embodiments of the present disclosure, the second position 1043 at which the connecting member 1042 connected to the second rotating shaft 1041 is connected to the moving cylinder 200 is arranged to be misaligned with the first position 1031. In this way, the compensating moment provided by the connecting member can reduce the tilting moment of the load, such as the moving cylinder 200, the operating arm 20, and the end instrument, so as to reduce the sliding friction between the lifting frame 400 and the guide structure 500 when the lifting frame 400 slides relative to the guide structure 500, facilitating smooth adjustment of the vertical shaft 10.

[0118] According to the balancing assembly 100 provided by some examples of the embodiments of the present disclosure, the constant force mechanism 102 has a first rotating shaft 102a that can rotate relative to the supporting mechanism 101, and the first rotating shaft 102a is configured to be connected to a first position 1031 of a load, such as the moving cylinder 200, the operating arm 20, and the end instrument. In this way, the constant force mechanism 102 can provide a constant balancing force to balance the gravity of the load. The constant force mechanism 102 is connected to the first position 1031 of the load. In this way, when the load moves in the vertical direction, the balancing force provided by the constant force mechanism 102 to the load is not collinear with the vertical direction in which the load moves, which causes the load to have a tilting moment when moving, so that part of the gravity of the load is loaded on the guide structure 500, causing friction between the load and the guide structure 500 when the load moves. By arranging the force compensating mechanism 104 on the supporting mechanism 101, the second rotating shaft 1041 of the force compensating mechanism 104 can rotate independently relative to the first rotating shaft 102, and the second rotating shaft 1041 is connected to a second position 1043 of the load through a connecting member. The second position 1043 is misaligned with the first position 1031. In this way, the force compensating mechanism 104 can provide a compensating moment to the excess gravity of the load through the connecting member to compensate for the constant force mechanism. Since the second position 1043 is misaligned with the first position 1031, the compensating moment provided by the connecting member to the load can reduce or eliminate the tilting moment of the load, so as to reduce the friction when the load moves up and down, and improve the smoothness of the up-and-down adjustment of the vertical shaft 10.

[0119] In addition, the second rotating shaft 1041 of the force compensation mechanism 104 and the first rotating shaft 102a of the constant force mechanism 102 are independently rotatable, and there is no dependent connection relationship between the second rotating shaft 1041 and the first rotating shaft 102a. In this way, when the constant force mechanism 102 needs to be disassembled and replaced, the constant force mechanism 102 can be disassembled and replaced alone, facilitating the replacement and maintenance of the constant force mechanism, and reducing the maintenance cost of the replacement and maintenance of the constant force mechanism 102.

[0120] FIG. 6 is a structural schematic diagram of a balancing assembly in a surgical robot according to some embodiments of the present disclosure, and FIG. 7 is a structural schematic diagram of a rotating wheel and a flexible connecting piece cooperating in a surgical robot according to some embodiments of the present disclosure.

[0121] In some examples, the connecting piece 1042 can include a flexible connecting piece.

[0122] In some examples, as shown in FIGS. 5-7, a rotating wheel 1044 can be arranged on the second rotating shaft 1041. The flexible connecting piece can be connected to the rotating wheel 1044.

[0123] In some examples, the flexible connecting piece can include a cable.

[0124] In some examples, the flexible connecting piece can include a wire rope.

[0125] In some examples, the flexible connecting piece can include a wire cable.

[0126] In some examples, the flexible connecting piece can include a woven belt.

[0127] In some examples, the flexible connecting piece can include a chain.

[0128] In some examples, the flexible connecting piece can have a fixed end. The fixed end can be connected to the rotating wheel 1044.

[0129] In some examples, the flexible connecting piece can have a free end. The free end can be connected to the second position 1043 of the moving cylinder 200.

[0130] In some examples, the rotating wheel 1044 can be fixedly connected to the second rotating shaft 1041.

[0131] In some examples, as shown in FIG. 7, a groove 1044a can be arranged on the peripheral wall of the rotating wheel 1044. The flexible connecting piece can be arranged in the groove 1044a.

[0132] In some examples, when the second rotating shaft 1041 rotates, the flexible connecting piece can be wound in the groove 1044a. In this way, the flexible connecting piece can be limited by the groove 1044a on the peripheral wall of the rotating wheel, and the stability of the lifting of the moving cylinder 200 can be improved.

[0133] In some examples, when the second rotating shaft 1041 rotates, the flexible connection can be unwound from the groove 1044a.

[0134] In some examples, when the moving cylinder 200 moves relative to the mounting plate 300 or the support mechanism 101 in the vertical direction, the moving cylinder 200 can have a moving axis in the vertical direction. The first position 1031 is offset from the moving axis.

[0135] In some examples, the first position 1031 can be located on the side of the moving axis away from the mounting plate 300.

[0136] In some examples, the second rotating shaft 1041 can be concentric with the first rotating shaft 102.

[0137] In some examples, the first rotating shaft 102 can be a hollow rotating shaft. The second rotating shaft 1041 can be located in the first rotating shaft 102.

[0138] In some examples, the diameter of the rotating wheel 1044 can be smaller than the diameter of the first rotating shaft 102.

[0139] FIG. 8 is a schematic diagram of a topology of the rotating wheel, the first rotating shaft, the constant force spring, and the flexible connection in the surgical robot according to some embodiments of the present disclosure.

[0140] In some examples, as shown in FIG. 8, the winding direction of the flexible connection on the rotating wheel 1044 can be the same as the winding direction of the constant force spring 102b on the first rotating shaft 102.

[0141] In some examples, the direction of the torque provided by the first rotating shaft 102 to the constant force spring 102b can be the same as the direction of the torque provided by the second rotating shaft 1041 to the flexible connection.

[0142] In some examples, the constant force spring 102b can provide a balancing force to the moving cylinder 200 in the direction indicated by arrow a in FIG. 8.

[0143] In some examples, the force compensation mechanism 104 can provide a balancing force to the moving cylinder 200 in the direction indicated by arrow b in FIG. 8.

[0144] In some examples, as shown in FIG. 8, the second position 1043 can be located on the side of the first position 1031 facing the moving axis.

[0145] In this way, the balancing force provided by the force compensation mechanism 104 to the moving cylinder 200 through the flexible connection can offset part of the overturning moment of the moving cylinder 200, so as to reduce the overturning moment of the moving cylinder 200, thereby reducing the sliding friction between the moving frame and the guide structure 500, and improving the smoothness of the adjustment of the vertical shaft 10.

[0146] FIG. 9 is a schematic view of another topology of the cooperation of the rotating wheel, the first rotating shaft, the constant force spring, and the flexible connection in the surgical robot according to some embodiments of the present disclosure.

[0147] In some examples, referring to FIG. 9, the winding direction of the flexible connection on the rotating wheel 1044 can be opposite to the winding direction of the constant force spring 102b on the first rotating shaft 102.

[0148] In some examples, the direction of the torque provided by the first rotating shaft 102 to the constant force spring 102b can be opposite to the direction of the torque provided by the second rotating shaft 1041 to the flexible connection.

[0149] In some examples, the constant force spring 102b can provide a counterbalancing force to the moving cylinder 200 in the direction indicated by arrow c in FIG. 9.

[0150] In some examples, the force compensation mechanism 104 can provide a counterbalancing force to the moving cylinder 200 in the direction indicated by arrow d in FIG. 9.

[0151] In some examples, referring to FIG. 9, the first position 1031 and the second position 1043 can be located on opposite sides of the moving axis.

[0152] In some examples, the second position 1043 can be located on the side of the moving axis opposite to the first position 1031.

[0153] In some examples, the diameter of the rotating wheel 1044 can be equal to the diameter of the first rotating shaft 102.

[0154] In some examples, referring to FIG. 5, the force compensation mechanism 104 can include a housing 1045. The housing 1045 can be fixed to the support mechanism 101.

[0155] In some examples, the second rotating shaft 1041 can be rotatably arranged in the housing 1045. Part of the second rotating shaft 1041 can extend out of the housing 1045, so as to be connected to the flexible connection.

[0156] In some examples, the rotating wheel 1044 can be arranged on the part of the second rotating shaft 1041 extending out of the housing 1045.

[0157] In some examples, the force compensation mechanism 104 can include a motor. The second rotating shaft 1041 can be a rotor of the motor.

[0158] In some examples, the force compensation mechanism 104 can include a frameless torque motor.

[0159] In some examples, the first rotating shaft 102 can be a hollow rotating shaft. The first rotating shaft 102 can be detachably sleeved on the outer periphery of the housing 1045.

[0160] In some examples, the first rotating shaft 102 can be configured to rotate relative to the housing 1045.

[0161] In some examples of the embodiments of the present disclosure, the housing 1045 is fixed to the support mechanism 101, the second rotating shaft 1041 is rotatably arranged in the housing 1045, and the first rotating shaft 102 is sleeved on the outer periphery of the housing 1045 and can rotate relative to the housing 1045. In this way, the rotation of the first rotating shaft 102 and the rotation of the second rotating shaft 1041 are decoupled and independent of each other. The second rotating shaft 1041 can be connected to the second position 1043 of the moving cylinder 200 through the flexible connecting member, so that the compensation balance force provided by the force compensation mechanism 104 can offset part of the overturning moment of the moving cylinder 200, and the overturning moment of the moving cylinder 200 can be reduced, so that the up-and-down movement of the vertical shaft 10 is smoother.

[0162] In addition, the first rotating shaft 102 is sleeved on the outer periphery of the housing 1045 and can rotate relative to the housing 1045. In this way, during use of the vertical shaft 10, when the constant force spring 102b, i.e., the first rotating shaft 102, needs to be replaced (for example, when the constant force spring 102b is subject to elastic fatigue), the force compensation mechanism 104 and the first rotating shaft 102 can be only disassembled, the force compensation mechanism 104 is then extracted from the first rotating shaft 102, and is installed in a new first rotating shaft 102, so that the replacement is completed. Compared with the related art, only the constant force spring 102b and the first rotating shaft 102 need to be replaced, and the force compensation mechanism 104 does not need to be replaced, so that the maintenance difficulty and cost are reduced. The entire vertical shaft 10 does not need to be disassembled, and the maintenance efficiency is improved.

[0163] In some examples, a first bearing 1021 can be arranged between the housing 1045 and the first rotating shaft 102.

[0164] In some examples, the inner ring of the first bearing 1021 can be fixedly connected to the peripheral wall of the housing 1045.

[0165] In some examples, the inner ring of the first bearing 1021 can be interference-fitted to the peripheral wall of the housing 1045.

[0166] In some examples, the outer ring of the first bearing 1021 can be fixedly connected to the inner wall of the first rotating shaft 102.

[0167] In some examples, the outer ring of the first bearing 1021 can be interference-fitted to the inner wall of the first rotating shaft 102.

[0168] In some examples, the first bearing 1021 can be arranged at both ends of the first rotating shaft 102 along the axial direction. In this way, the first rotating shaft 102 and the housing 1045 are both rotatably connected by the first bearing 1021 at both ends of the first rotating shaft 102, which can improve the stability of rotation of the first rotating shaft 102 relative to the housing 1045.

[0169] In some examples, in order to facilitate the installation of the force compensation mechanism 104 and the first rotating shaft 102, referring to FIGS. 5 and 6, the support mechanism 101 can include a fixed seat 1011. The fixed seat 1011 can be connected with the suspension adjustment assembly described in detail in the foregoing embodiments of the present disclosure.

[0170] In some examples, the fixed seat 1011 can be fixedly connected with the suspension adjustment assembly.

[0171] In some examples, the mounting plate 300 can be fixed to the fixed seat 1011.

[0172] In some examples, the mounting plate 300 can be fixed to the side of the fixed seat 1011 away from the suspension adjustment assembly.

[0173] In some examples, the support mechanism 101 can include a first support plate 1012. The first support plate 1012 can be arranged on the fixed seat 1011.

[0174] In some examples, the first support plate 1012 can be fixedly connected with the fixed seat 1011.

[0175] In some examples, the first support plate 1012 can be detachably connected with the fixed seat 1011.

[0176] In some examples, the first support plate 1012 can be arranged on the side of the fixed seat 1011 away from the suspension adjustment assembly.

[0177] In some examples, the support mechanism 101 can include a second support plate 1013. The second support plate 1013 can be arranged on the fixed seat 1011.

[0178] In some examples, the second support plate 1013 can be fixedly connected with the fixed seat 1011.

[0179] In some examples, the second support plate 1013 can be detachably connected with the fixed seat 1011.

[0180] In some examples, the second support plate 1013 can be arranged on the side of the fixed seat 1011 away from the suspension adjustment assembly.

[0181] In some examples, the second support plate 1013 can be arranged opposite to the first support plate 1012.

[0182] In some examples, a mounting gap can be left between the second support plate 1013 and the first support plate 1012.

[0183] In some examples, the shell 1045 can be fixed between the first support plate 1012 and the second support plate 1013.

[0184] In some examples, a portion of the second rotating shaft 1041 can extend to a side of the first support plate 1012 away from the second support plate 1013.

[0185] In some examples, a portion of the second rotating shaft 1041 can extend to a side of the second support plate 1013 away from the first support plate 1012.

[0186] In this way, the rotating wheel 1044 is facilitated to be mounted and connected with the second rotating shaft 1041, and the convenience of mounting and connecting the rotating wheel 1044 is improved.

[0187] In some examples of the embodiments of the present disclosure, by arranging the first support plate 1012 and the second support plate 1013 on the fixing seat 1011, and fixing the shell 1045 between the first support plate 1012 and the second support plate 1013, when the constant force spring 102b needs to be replaced, any one of the first support plate 1012 and the second support plate 1013 can be disassembled, the force compensation mechanism 104 and the constant force spring 102b can be removed, and then the first rotating shaft 102 can be removed from the force compensation mechanism 104 for replacement, thereby reducing the cost of replacing and maintaining the constant force spring 102b and improving the efficiency of replacing and maintaining the constant force spring 102b.

[0188] FIG. 10 is a partial enlarged view of B in FIG. 5.

[0189] In some examples, referring to FIG. 10, the balance assembly 100 can include a first sensor 105.

[0190] In some examples, the first sensor 105 can include a motor encoder.

[0191] In some examples, a portion of the first sensor 105 can be fixed relative to the second rotating shaft 1041. For example, the portion of the first sensor 105 can be arranged on the second rotating shaft 1041 and rotate under the driving of the second rotating shaft 1041.

[0192] In some examples, another portion of the first sensor 105 can rotate relative to the second rotating shaft 1041.

[0193] In some examples, another part of the first sensor 105 can be arranged on the housing 1045, so as to rotate relative to the second rotating shaft 1041. In this way, when the second rotating shaft 1041 rotates relative to the housing 1045, the first sensor 105 can detect the rotation angle of the second rotating shaft 1041, so as to determine the first displacement of the moving cylinder 200 in the vertical shaft 10. In this way, the surgical robot can prompt the distance of the operation arm 20 moving up and down, so as to avoid the operation arm 20 from colliding with the upper and lower limits of the vertical shaft 10 when moving up and down, and the stability of the operation arm 20 moving up and down of the surgical robot can be improved.

[0194] In some examples, another part of the first sensor 105 can be arranged on the first support plate 1012.

[0195] In some examples, another part of the first sensor 105 can be arranged on the second support plate 1013.

[0196] In some examples, the first sensor 105 can include a magnet 1051.

[0197] In some examples, the first sensor 105 can include a coaxial angle detection magnet 1051.

[0198] In some examples, the coaxial angle detection magnet 1051 can be arranged on the second rotating shaft 1041.

[0199] In some examples, the first sensor 105 can include a magnetic encoder 1052.

[0200] In some examples, the magnetic encoder 1052 can be arranged on the first support plate 1012.

[0201] In some examples, the magnetic encoder 1052 can be arranged on the second support plate 1013.

[0202] In some examples, when the second rotating shaft 1041 rotates, the second rotating shaft 1041 drives the magnet 1051 to rotate. The magnetic encoder 1052 can read the rotation angle of the magnet 1051, so as to determine the rotation angle of the second rotating shaft 1041; the rotation angle of the second rotating shaft 1041 and the radius of the rotating wheel 1044 can determine the winding or releasing length of the flexible connecting member, i.e., the first displacement of the moving cylinder 200.

[0203] In some examples, the constant force spring 102b can provide a constant pulling force of about 12 kg. It can be understood that, in some examples of the embodiments of the present disclosure, the specific value of the constant pulling force provided by the constant force spring 102b is only used as an example of a distance, and does not limit the specific parameters of the constant force spring 102b.

[0204] In some examples, the mass of the operating arm 20 is greater than the constant pulling force provided by the constant force spring 102b.

[0205] In some examples, the operating arm 20 falls downward along the vertical shaft 10 under the action of gravity without the aid of other external forces. In order to balance the gravity, the aid of external forces is needed.

[0206] In some examples, the force compensation mechanism 104 can be configured to provide the external force. The force compensation mechanism 104 provides a torque, the second rotating shaft 1041 drives the rotating wheel 1044 to rotate, and the rotating wheel 1044 winds the flexible connecting piece upward under the driving of the second rotating shaft 1041, so as to convert the torque provided by the force compensation mechanism 104 into the upward pulling force of the flexible connecting piece.

[0207] In some examples, the upward pulling force of the flexible connecting piece can be equal to the gravity of the operating arm 20 minus the constant pulling force provided by the constant force spring 102b.

[0208] In some examples, under the joint balancing action of the constant force spring 102b and the force compensation mechanism 104, the lifting frame 400 is in a hand balance state and remains stationary. At this time, only a small external force needs to be applied to the operating arm 20 to adjust the operating arm 20.

[0209] In some examples, the operator can easily adjust the operating arm 20 upward by applying a small upward external force.

[0210] In some examples, the operator can easily adjust the operating arm 20 downward by applying a small downward external force. In this way, the up and down movement of the operating arm 20 is easy and smooth, which is conducive to the operation.

[0211] In some examples, after adjusting the operating arm 20 to the preset position, the operating arm 20 needs to be locked.

[0212] In some examples, the vertical shaft 10 can include a brake mechanism (not shown in the figure). The brake mechanism can be configured to lock the position of the moving cylinder 200, so that the moving cylinder 200 remains at the preset position.

[0213] In some examples, part of the brake mechanism can be arranged on the mounting plate 300 and relatively fixed with the mounting plate 300.

[0214] In some examples, another part of the brake mechanism can be arranged on the lifting frame 400 and relatively fixed with the lifting frame 400.

[0215] In some examples, the part of the brake mechanism arranged on the mounting plate 300 can cooperate with the part of the brake mechanism arranged on the lifting frame 400 to limit the position of the moving cylinder 200.

[0216] In some examples, the brake mechanism can have a second sensor (not shown in the figures). The second sensor can be configured to detect a second displacement of the moving cylinder 200 moving up and down.

[0217] In some examples, the second sensor can include an encoder.

[0218] In some examples, the second sensor can include a pull-wire encoder.

[0219] In some examples, the second sensor can include an infrared detection sensor.

[0220] In some examples, the second sensor can include an ultrasonic radar.

[0221] In some examples, the second sensor can include a millimeter wave radar.

[0222] In some examples, the second sensor can include a laser radar.

[0223] In some examples, the second displacement can be cross-checked with the first displacement to determine whether the internal structure of the vertical shaft 10 is damaged.

[0224] In some examples, if the second displacement is different from the first displacement, or the difference between the second displacement and the first displacement exceeds a preset threshold, it can be determined that the internal structure of the vertical shaft 10 is damaged.

[0225] In some examples of the embodiments of the present disclosure, a second sensor is provided in the brake mechanism. In this way, the second displacement detected by the second sensor can be cross-checked with the first displacement detected by the first sensor 105, and whether the internal structure of the vertical shaft 10 is damaged can be found and confirmed in time, which is beneficial to timely maintenance of the surgical robot.

[0226] In some examples, referring to FIG. 2, the vertical shaft 10 can include a cover 600. The cover 600 can be connected with the mounting plate 300. The cover 600 can be configured to protect the balancing assembly 100, the lifting frame 400, and the moving cylinder 200.

[0227] FIG. 11 is another partial enlarged view of B in FIG. 5.

[0228] In some examples, after the position adjustment of the operating arm 20 is completed, the load in the vertical direction is positioned by the brake. At this time, if the power supply of the force compensation mechanism 104 is interrupted, or the power supply is interrupted during the transportation and transfer of the surgical robot, the second rotating shaft 1041 can rotate freely. If the second rotating shaft 1041 rotates, the connecting member 1042 wound on the second rotating shaft 1041 will be unwound, that is, the distance between the second rotating shaft 1041 and the connecting member 1042 will be lengthened. However, since the position of the load is fixed, the lengthened connecting member 1042 may fall off the second rotating shaft 1041, and the risk of winding and knotting may occur.

[0229] In addition, in the case that the power supply of the force compensation mechanism 104 is interrupted, or the power supply is interrupted during the transportation and transfer of the surgical robot, since the force compensation mechanism 104 and the connecting member 1042 are in a free and relaxed state, the second rotating shaft 1041 can rotate under the influence of external force, gravity, and elastic deformation force after winding of the connecting member. The rotation of the second rotating shaft 1041 may cause the position detected by the encoder to change. After power-on and boot-up again, the position of the encoder deviates from the position before power-off, resulting in inaccurate detection position of the force compensation mechanism 104 when power-on, which needs to be investigated and solved, and affects the preparation efficiency before surgery.

[0230] Therefore, as shown in FIG. 11, in some examples of the present application, the balancing assembly 100 can include a limiting mechanism 106. The limiting mechanism 106 can be arranged on the supporting mechanism 101.

[0231] In some examples, the limiting mechanism 106 can be configured to be connected to the second rotating shaft 1041 to at least resist the rotation of the connecting member 1042 relative to the second rotating shaft 1041.

[0232] In some examples, the limiting mechanism 106 can resist the rotation of the connecting member 1042 relative to the second rotating shaft 1041.

[0233] In some examples, the limiting mechanism 106 can resist the rotation of the connecting member 1042 relative to the second rotating shaft 1041.

[0234] In some examples, the limiting mechanism 106 can be connected to the second rotating shaft 1041 after the adjustment of the position of the load is completed, so as to limit the rotation of the second rotating shaft 1041. 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 the position of the operating arm 20 does not need to be adjusted again, the limiting mechanism 106 can be used to limit the second rotating shaft 1041.

[0235] In the embodiments of the present application, the limiting mechanism 106 is arranged on the support mechanism 101 and is connected with the second rotating shaft 1041 to at least apply resistance to the rotation of the connecting member 1042 relative to the second rotating shaft 1041. In this way, after the position of the load is adjusted and the position of the load is positioned by the brake, the second rotating shaft 1041 can be limited by the limiting mechanism 106, so that the connecting member 1042 between the second rotating shaft 1041 and the load is always in a tension state, avoiding the rotation of the second rotating shaft 1041 in the case of power failure of the force compensation mechanism 104, which causes the connecting member 1042 to relax, avoids the situation that the connecting member 1042 falls off and is wound and knotted, and improves the safety of the surgical robot.

[0236] In addition, by arranging the limiting mechanism 106 on the support mechanism 101, the limiting mechanism 106 is connected with the second rotating shaft 1041 to limit the rotation of the second rotating shaft 1041. In this way, after power failure or after the position of the load is adjusted, the second rotating shaft 1041 can be limited by the limiting mechanism 106, which can avoid the rotation of the second rotating shaft 1041, so that the position of the second rotating shaft 1041 is consistent when the machine is stopped and started, that is, the position of the encoder is consistent, which can avoid the error of the encoder position detection when the machine is started next time, improve the preparation efficiency before the operation, and improve the safety of the surgical robot.

[0237] In some examples, referring to FIG. 11, the limiting mechanism 106 can include an extension shaft 1061. The extension shaft 1061 can be coaxially connected with the second rotating shaft 1041.

[0238] In some examples, the extension shaft 1061 can be fixedly connected with the second rotating shaft 1041.

[0239] In some examples, the extension shaft 1061 can extend along the axial direction of the second rotating shaft 1041 towards the support mechanism 101.

[0240] In some examples, the extension shaft 1061 can be arranged at one end of the second rotating shaft 1041.

[0241] In some examples, the limiting mechanism 106 can include a limiting member 1062. The limiting member 1062 can be arranged on the support mechanism 101.

[0242] In some examples, the limiting member 1062 can be connected with the extension shaft 1061 to apply resistance to the second rotating shaft 1041 through the extension shaft 1061.

[0243] In some examples, the limiting member 1062 can be separated from the extension shaft 1061 when the position of the load needs to be adjusted. In this way, the second rotating shaft 1041 can be conveniently driven to rotate.

[0244] In some examples, the limiting member 1062 can be connected with the extension shaft 1061 when the position of the load does not need to be adjusted, so as to limit the rotation of the second rotating shaft 1041 through the extension shaft 1061.

[0245] In some examples, the extension shaft 1061 can be fixed to the end of the second rotating shaft 1041 in the axial direction.

[0246] In some examples of the embodiment, the extension shaft 1061 is arranged on the second rotating shaft 1041, so that the extension shaft 1061 can extend to the support mechanism 101 in the axial direction of the second rotating shaft 1041, the limiting member 1062 can be connected with the extension shaft 1061, so as to limit the rotation of the second rotating shaft 1041 through the extension shaft 1061, and the limiting mechanism 106 is facilitated to be arranged.

[0247] In some examples, the limiting mechanism 106 can be located at the other end of the second rotating shaft 1041 opposite to the rotating wheel 1044. That is, the rotating wheel 1044 can be located at one end of the second rotating shaft 1041, and the limiting mechanism 106 can be located at the other end of the second rotating shaft 1041. In this way, the rotating wheel 1044 and the limiting mechanism 106 are facilitated to be arranged, and the production and processing difficulty of the balancing assembly 100 is reduced.

[0248] In some examples, the limiting member 1062 can include an elastic member.

[0249] In some examples, one end of the elastic member can be connected with the support mechanism 101, and the other end of the elastic member can be connected with the extension shaft 1061.

[0250] In some examples, the elastic member can be a compression spring, one end of the compression spring can abut against the support mechanism 101, and the other end of the compression spring can abut against the circumferential wall of the extension shaft 1061, for example, a bearing can be arranged at the end of the compression spring facing the extension shaft 1061, and the bearing abuts against the circumferential wall of the extension shaft 1061. In this way, when the second rotating shaft 1041 rotates, the second rotating shaft 1041 drives the extension shaft 1061 to rotate, because the bearing is abutted against the circumferential wall of the extension shaft 1061 by the compression spring, the compression spring causes the bearing to have a positive pressure against the circumferential wall of the extension shaft 1061, so that the bearing and the circumferential wall of the extension shaft 1061 have a frictional force, and the frictional force of the bearing against the extension shaft 1061 can prevent the rotation of the extension shaft 1061, so as to prevent the rotation of the second rotating shaft 1041.

[0251] In some examples, when the position of the load needs to be adjusted, the driving motor of the force compensation mechanism 104 can drive the second rotating shaft 1041 to overcome the friction of the bearing against the extension shaft 1061. When the position of the load does not need to be adjusted, or the driving motor of the force compensation mechanism 104 is powered off, the compression spring prevents the extension shaft 1061 and the second rotating shaft 1041 from rotating by the friction of the bearing against the extension shaft 1061, so that the length of the connecting piece 1042 between the second rotating shaft 1041 and the load remains unchanged, that is, the connecting piece 1042 remains in a tension state, and the situation that the connecting piece 1042 falls off or is tangled can be avoided.

[0252] In some examples of the embodiment of the present 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 1061. In this way, the elastic member can limit the rotation of the second rotating shaft 1041 through the extension shaft 1061, so that the connecting piece 1042 can always remain in a tension state, and the situation that the connecting piece 1042 falls off can be avoided, thereby improving the safety of the surgical robot.

[0253] In addition, the rotation of the second rotating shaft 1041 is limited by the friction of the elastic member against the extension shaft 1061. In this way, the free rotation of the second rotating shaft 1041 is limited. When the surgical robot is stopped for transfer or transportation, the position of the second rotating shaft 1041 will not change. When the surgical robot is started next time, the current position of the second rotating shaft 1041 can be quickly determined, the preparation time before surgery is saved, and the preparation efficiency of the surgery is improved. When the position of the load needs to be manually adjusted, the operator needs to provide a certain force to overcome the friction of the elastic member against the extension shaft 1061, so as to adjust the position of the load.

[0254] In some examples, the elastic member can include a coil spring. The coil spring can be sleeved on the outer periphery of the extension shaft 1061. One end of the coil spring can be connected to the extension shaft 1061, and the other end of the coil spring can be connected to the support mechanism 101.

[0255] In some examples, when the second rotating shaft 1041 rotates in a direction to relax the connecting piece 1042, the second rotating shaft 1041 can drive the extension shaft 1061 to rotate. The rotation of the extension shaft 1061 can drive the coil spring to store energy.

[0256] In some examples, the rotation of the extension shaft 1061 can drive the coil spring to wind. The inner diameter of the coil spring decreases, so that the coil spring generates a rotation torque opposite to the rotation direction of the extension shaft 1061.

[0257] In some examples, the extension shaft 1061 can drive the spring reel to wind, so that the inner diameter of the spring reel is reduced, and a torque opposite to the unwinding direction of the connecting member 1042 is generated, so as to apply a force to the second rotating shaft 1041 through the extension shaft 1061 to prevent the connecting member 1042 from being unwound.

[0258] In some examples, in the case of power failure or shutdown, the load is stopped by the brake, and the distance between the load and the second rotating shaft 1041 is fixed. The second rotating shaft 1041 cannot rotate in the direction of winding the connecting member 1042. In some examples of the embodiment, the spring is sleeved on the outer periphery of the extension shaft 1061, and in the case that the second rotating shaft 1041 rotates in the direction of unwinding the connecting member 1042, the spring can store energy and generate a torque opposite to the rotating direction of the extension shaft 1061, so that the second rotating shaft 1041 cannot rotate in the direction of unwinding the connecting member 1042, that is, the spring limits the rotation of the second rotating shaft 1041, so that the connecting member 1042 is always in a tension state, the connecting member 1042 can be prevented from falling off, and the position of the second rotating shaft 1041 can be ensured to be unchanged, so as to improve the preparation efficiency before the next start-up.

[0259] In some examples, the force provided by the spring to the second rotating shaft 1041 changes with the inner diameter, and in order to keep the load balanced on the vertical shaft 10, the force compensation mechanism 104 needs to be calibrated according to the change of the inner diameter of the spring, so as to ensure that the load is balanced on the vertical shaft 10.

[0260] In some examples, the constant force spring 102b can provide a constant pulling force. The constant pulling force provided by the constant force spring 102b can be F1.

[0261] In some examples, the operating arm 20 can be hung on the moving cylinder 200. The mass of the operating arm 20 (in some examples, the load) is greater than the pulling force F1 provided by the constant force spring 102b. Under the action of the gravity G of the operating arm 20, the operating arm 20 will fall downward without the aid of other external forces. In order to balance the gravity of the operating arm 20, the force compensation mechanism 104 can provide an external force to balance and compensate the excess gravity of the operating arm 20.

[0262] In some examples, the force compensation mechanism 104 drives the second rotating shaft 1041, the second rotating shaft 1041 drives the rotating wheel 1044 to rotate, so that the rotating wheel 1044 winds the connecting member 1042 to move upward, and the torque of the second rotating shaft 1041 is converted into the upward pulling force F2 of the connecting member 1042.

[0263] In some examples, the upward pulling force F2 of the connecting member 1042 can be equal to the gravity G of the operating arm 20 minus the constant pulling force F1 provided by the constant force spring 102b. At this time, the operating arm 20 is in a force balance state and keeps still, and the operator only needs to add a small external force upward or downward to adjust the operating arm 20 to move up and down, which is convenient for the doctor to adjust the operating arm 20 to the closed position.

[0264] In some examples, after the support mechanism 101 is provided with the limiting mechanism 106, the coil spring of the limiting mechanism 106 also provides a force to the connecting member 1042 through the extension shaft 1061 and the second rotating shaft 1041. The force provided by the coil spring can be F3.

[0265] In some examples, the upward pulling force F2 of the connecting member 1042 is actually the sum of the torque provided by the rotation of the second rotating shaft 1041 and the force F3 provided by the coil spring. Therefore, the sum F2 of the torque provided by the rotation of the second rotating shaft 1041 and the force F3 provided by the coil spring is equal to the gravity G of the operating arm 20 minus the pulling force F1 provided by the constant force spring 102b.

[0266] 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 1041 can be calibrated before use. The force compensation mechanism 104 can adjust the rotating torque provided by the second rotating shaft 1041 according to the calibrated corresponding relationship, so as to keep the sum of F2 and F1 balanced with the gravity of the operating arm 20.

[0267] In some examples, the mass of the operating arm 20 changes with whether the end instrument is installed or not and the type of the end instrument installed thereon. Therefore, the gravity G of the operating arm 20 also changes.

[0268] In some examples, the gravity G of the operating arm 20 can be read by an information reading system on the surgical robot to read different types of end instruments and determine whether the end instrument is installed, so as to adjust the torque provided by the rotation of the second rotating shaft 1041 according to the determined gravity G of the operating arm 20, so as to ensure that the sum of F2 and F1 is balanced with the gravity of the operating arm 20.

[0269] FIG. 12 is a structural diagram of the cooperation between the second rotating shaft and the limiting member in the surgical robot according to some embodiments of the present application. FIG. 13 is another structural diagram of the cooperation between the second rotating shaft and the limiting member in the surgical robot according to some embodiments of the present application.

[0270] In some examples, referring to FIGS. 12 and 13, the elastic member can include a spring plate. The spring plate can be arranged on the support mechanism 101. The spring plate can abut against the circumferential wall of the extension shaft 1061.

[0271] In some examples, referring to FIG. 12, the positive pressure applied by the elastic sheet to the circumferential wall of the extension shaft 1061 can be along the radial direction of the extension shaft 1061, so that the extension shaft 1061 can be subjected to a more uniform force, and the stability of the rotation of the second rotating shaft 1041 can be improved. In the case where there is a positive pressure between the elastic sheet and the circumferential wall of the extension shaft 1061, the rotation of the extension shaft 1061 can generate a friction force with the elastic sheet, and the elastic sheet can resist the rotation of the extension shaft 1061 through the friction force, thereby resisting the rotation of the second rotating shaft 1041.

[0272] In some examples, referring to FIG. 13, the positive pressure applied by the elastic sheet to the circumferential wall of the extension shaft 1061 can deviate from the radial direction of the extension shaft 1061. Taking the direction shown in FIG. 13 as an example, when the extension shaft 1061 rotates counterclockwise, because the rotation direction of the extension shaft 1061 is the same as the eccentric direction of the elastic sheet, the friction force of the elastic sheet on the extension shaft 1061 is small, and the rotation of the extension shaft 1061 is facilitated. The direction in which the extension shaft 1061 rotates counterclockwise in FIG. 13 can be set as the rotation direction of the connecting member 1042 for winding, i.e., the direction in which the load moves upward along the vertical shaft 10.

[0273] Continuing to take the direction shown in FIG. 13 as an example, when the extension shaft 1061 rotates clockwise, because the rotation direction of the extension shaft 1061 is opposite to the eccentric direction of the elastic sheet, the resistance of the elastic sheet to the extension shaft 1061 is large, and the elastic sheet facilitates the resistance to the rotation of the extension shaft 1061. The clockwise direction in FIG. 13 can be set as the rotation direction of the connecting member 1042 for unwinding, i.e., the direction in which the load moves downward along the vertical shaft 10.

[0274] In some examples of the embodiments of the present application, the rotation of the second rotating shaft 1041 is limited by abutting the elastic sheet against the extension shaft 1061, which simplifies the arrangement of the elastic member and the structure of the limiting mechanism 106.

[0275] In some examples, a plurality of elastic sheets can be arranged.

[0276] In some examples, the plurality of elastic sheets can be uniformly and spacedly arranged along the circumferential direction of the extension shaft 1061.

[0277] In some examples of the embodiments of the present application, the plurality of elastic sheets are arranged along the circumferential direction of the extension shaft 1061, so that the plurality of elastic sheets can provide uniform positive pressure to the extension shaft 1061, and the extension shaft 1061 can be kept in balance. In the case where the second rotating shaft 1041 needs to rotate, the stability of the rotation of the second rotating shaft 1041 can be improved.

[0278] In some examples, referring to FIG. 11, the limiting mechanism 106 can include a mounting cover 1063. The mounting cover 1063 can be sleeved on the extension shaft 1061.

[0279] In some examples, the mounting cover 1063 can be fixedly connected with the support mechanism 101. In some examples, the mounting cover 1063 can be located on the side of the limiting piece 1062 away from the second rotating shaft 1041. That is, the limiting piece 1062 can be located between the mounting cover 1063 and the second rotating shaft 1041.

[0280] In some examples, the mounting cover 1063 can be configured to limit the limiting piece 1062 in the axial direction of the second rotating shaft 1041.

[0281] In some examples of the embodiments of the present application, the mounting cover 1063 is sleeved on the extension shaft 1061 and located on the side of the limiting piece 1062 away from the second rotating shaft 1041. In this way, the limiting piece 1062 can be limited in the axial direction of the extension shaft 1061 by the mounting cover 1063, which can avoid the transmission of the limiting piece 1062 in the axial direction of the extension shaft 1061 and improve the stability of the limiting piece 1062 in limiting the extension shaft 1061 and the second rotating shaft 1041. In addition, when the limiting piece 1062 is installed, the limiting piece 1062 can be first limited on the extension shaft 1061 by the mounting cover 1063, and then the force compensation mechanism 104, the extension shaft 1061, the limiting piece 1062 and the mounting cover 1063 are installed to the support mechanism 101. In this way, the installation of the limiting piece 1062 is facilitated, and the installation efficiency of the limiting piece 1062 is improved.

[0282] In some examples, as shown in FIG. 11, part of the first sensor 105 can be arranged on the extension shaft 1061, and another part of the first sensor 105 can be arranged on the mounting cover 1063.

[0283] In some examples, the first sensor 105 can detect the rotation angle of the second rotating shaft 1041, so as to determine the position of the moving cylinder 200 moving up and down on the vertical shaft 10. In this way, the surgical robot can prompt the distance of the operation arm 20 moving up and down, so as to avoid the operation arm 20 from colliding with the upper and lower limits of the vertical shaft 10 when moving up and down, and the stability of the operation arm 20 moving up and down of the surgical robot can be improved.

[0284] In some examples, the first sensor 105 can include a rotary encoder rotor 1053. The rotary encoder rotor 1053 can be arranged on the extension shaft 1061.

[0285] In some examples, the first sensor 105 can include a rotary encoder stator 1054. The rotary encoder stator 1054 can be arranged on the mounting cover 1063.

[0286] In some examples, the rotary encoder stator 1054 and the rotary encoder rotor 1053 can be coaxial.

[0287] In some examples, the rotary encoder rotor 1053 can include a coaxial angle detection magnet. The rotary encoder stator 1054 can include a coaxial angle detection magnetic encoder. When the second rotating shaft 1041 rotates, the second rotating shaft 1041 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 rotating shaft 1041; the angle of rotation of the second rotating shaft 1041 and the radius of the rotating wheel 1044 can determine the winding or releasing length of the flexible connecting member, i.e., the displacement of the moving cylinder 200.

[0288] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present disclosure, and not to limit them; although the foregoing embodiments of the present disclosure have been described in detail, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A counterbalance assembly, comprising: a support mechanism; a constant force mechanism having a first rotating shaft configured to be rotatable relative to the support mechanism, the first rotating shaft being configured to be connected to a first position of a load configured to be movable relative to the support mechanism, a direction of movement of the load being consistent with a direction in which the constant force mechanism provides a constant force to the load; a force compensation mechanism connected to the support mechanism, the force compensation mechanism having a second rotating shaft configured to be rotatable independently of the first rotating shaft, the second rotating shaft being configured to be connected to a second position of the load via a connecting member to provide, in conjunction with the constant force mechanism, a counterbalancing force to counterbalance a gravitational force of the load; wherein the second position is misaligned with the first position.

2. The balance assembly of claim 1, wherein, the load has a movement axis, the movement axis being consistent with the direction in which the constant force mechanism provides the constant force to the load, the first position being offset from the movement axis; the second position is located on a side of the movement axis opposite to the first position; or the second position is located on a side of the first position facing the movement axis. the force compensation mechanism comprises:

3. The counterbalance assembly of claim 1, wherein, a housing fixed to the support mechanism, the second rotating shaft being rotatably arranged in the housing, a portion of the second rotating shaft extending out of the housing to be connected to the connecting member; the first rotating shaft being detachably sleeved around an outer periphery of the housing, the first rotating shaft being configured to be rotatable relative to the housing. the support mechanism comprises:

4. The counterbalance assembly of claim 3, wherein, a fixed base; a first support plate fixed to the fixed base; a second support plate fixed to the fixed base, the second support plate being oppositely arranged to the first support plate; the housing being fixed between the first support plate and the second support plate, a portion of the second rotating shaft extending out of either one of the first support plate and the second support plate. the counterbalance assembly further comprises:

5. The counterbalance assembly of claim 4, wherein, a first sensor, a portion of the first sensor being fixed relative to the second rotating shaft, another portion of the first sensor being rotatable relative to the second rotating shaft; the first sensor being configured to detect a rotation angle of the second rotating shaft to determine a first displacement of the load in a vertical direction. the first sensor comprises:

6. The counterbalance assembly of claim 5, wherein, a magnet fixed relative to one of the second rotating shaft and the housing; a magnetic encoder fixed relative to the other one of the second rotating shaft and the housing, the magnetic encoder being configured to read a rotation angle of the magnet to determine the first displacement of the load in the vertical direction. 7.The counterbalance assembly according to any one of claims 1-6, further comprising: a limiting mechanism arranged in the support mechanism, the limiting mechanism being configured to be connectable to the second rotating shaft to at least relax a resistance applied by the second rotating shaft to a rotation of the connecting member. the limiting mechanism comprises:

8. The counterbalance assembly of claim 7, wherein, an extension shaft coaxially connected to the second rotating shaft, the extension shaft extending towards the support mechanism along an axial direction of the second rotating shaft; a limiting member arranged in the support mechanism, the limiting member being configured to be connectable to the extension shaft to apply the resistance to the second rotating shaft via the extension shaft. ​ 9. The counterbalance assembly of claim 8, wherein, The limiting member comprises an elastic member, one end of the elastic member is connected with the supporting mechanism, and the other end of the elastic member is connected with the extension shaft.

10. The counterbalance assembly of claim 9, wherein, The elastic member comprises a coil spring, the coil spring is sleeved on the outer periphery of the extension shaft, in the case that the second rotating shaft rotates in the direction of loosening the connecting member, the extension shaft drives the coil spring to accumulate force, so as to apply an action force to the second rotating shaft through the extension shaft to prevent loosening of the connecting member.

11. The counterbalance assembly of claim 9, wherein, The elastic member comprises a plurality of elastic sheets, the elastic sheets are arranged on the supporting mechanism, and the elastic sheets abut against the circumferential wall of the extension shaft; the plurality of elastic sheets are arranged in a circumferential direction of the extension shaft.

12. The counterbalance assembly of any of claims 8-11, wherein, The limiting mechanism further comprises: a mounting cover, which is sleeved on the extension shaft, is located on the side of the limiting member away from the second rotating shaft, and is configured to limit the limiting member in the axial direction of the second rotating shaft.

13. The counterbalance assembly of claim 12, wherein, The mounting cover is fixedly connected with the supporting mechanism; part of a first sensor for detecting the rotating angle of the second rotating shaft is arranged on the extension shaft, and the other part of the first sensor is arranged on the mounting cover.

14. The counterbalance assembly of claim 7, wherein, The connecting member comprises a flexible connecting member; one end of the second rotating shaft is provided with a rotating wheel, and the flexible connecting member is connected to the rotating wheel; when the second rotating shaft rotates, the flexible connecting member is wound or unwound on the rotating wheel; The limiting mechanism is located at the other end of the second rotating shaft opposite to the rotating wheel.

15. A vertical shaft, comprising: the balancing assembly of any one of claims 1-14; a moving cylinder configured to connect a load; a constant force mechanism of the balancing assembly is connected to a first position of the moving cylinder; and a second rotating shaft of the balancing assembly is connected to a second position of the moving cylinder.

16. The vertical shaft of claim 15, wherein, The vertical shaft further comprises: a mounting plate fixedly connected to the supporting mechanism of the balancing assembly, the mounting plate being located on the lower side of the supporting mechanism; a lifting frame movably connected to the mounting plate, the lifting frame being connected to the moving cylinder to drive the moving cylinder to move up and down relative to the mounting plate.

17. The vertical shaft of claim 16, wherein, The mounting plate is provided with a guide structure, and the lifting frame is slidingly arranged on the guide structure; the guide structure is configured to guide the lifting frame.

18. The vertical shaft of claim 16, wherein, The vertical shaft further comprises: a brake mechanism, part of the brake mechanism being arranged on the mounting plate, and the other part of the brake mechanism being arranged on the lifting frame; the brake mechanism is configured to limit the moving cylinder, so that the moving cylinder and the load are kept at a predetermined position.

19. The vertical shaft of claim 18, wherein, The brake mechanism is provided with a second sensor configured to detect a second displacement of the moving cylinder moving up and down; the second displacement and a first displacement detected by a first sensor of the balancing assembly are configured to determine whether the vertical shaft is damaged.

20. A surgical robot, comprising: a suspension adjustment assembly; the vertical shaft of any one of claims 15-19, the vertical shaft being connected to the suspension adjustment assembly; an operating arm connected to one end of the vertical shaft away from the suspension adjustment assembly, the operating arm being configured to connect an end instrument.

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