CN113967923B

CN113967923B - Balancing device and surgical robot

Info

Publication number: CN113967923B
Application number: CN202110409119.4A
Authority: CN
Inventors: 徐凯; 刘旭
Original assignee: Beijing Surgerii Robot Co Ltd
Current assignee: Beijing Surgerii Robot Co Ltd
Priority date: 2020-07-22
Filing date: 2021-04-16
Publication date: 2024-03-29
Anticipated expiration: 2041-04-16
Also published as: CN113967923A

Abstract

The invention relates to the field of medical instruments, and discloses a balancing device and a surgical robot. The balancing device comprises a rotating assembly, a supporting rod, a guide block, a sliding rod and a magnetic force piece, wherein at least one part of the rotating assembly is rotationally connected with the supporting rod. The guide block is hinged with one of the support rod and the rotating assembly, the sliding rod is hinged with the other of the support rod and the rotating assembly, the sliding rod is in sliding connection with the guide block, the sliding rod, the support rod and the rotating assembly form a triangle, one end of the magnetic member is connected to the guide block, and the other end of the magnetic member is connected to the hinged end or the free end of the sliding rod. The surgical robot comprises the balancing device. The balancing device can reduce the inertial influence caused by gravity, improves the stability and accuracy of the surgical robot, occupies small space additionally, and realizes miniaturization and portability of the surgical robot.

Description

Balancing device and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a balancing device and a surgical robot.

Background

The main manipulator is an input device of the surgical robot system, and directly affects the operation feeling and action effect of the operator, such as a doctor. The operator can remotely control the surgical instruments at the tail end of the surgical platform through the handle of the main operator to perform the operation, and the operation process often lasts for a plurality of hours and requires high concentration, so that the human-computer interaction feeling and the portability of the operation in the operation process are particularly important. In the operation process, on one hand, the dead weight of the main operator is reduced, meanwhile, the inertia of the gravity of the main operator is overcome, the larger the dead weight is, the larger the motion inertia is, and in addition, the damping, particularly the damping opposite to the motion direction, is reduced in the motion process of the main operator.

In the prior art, the method for realizing the functions mainly comprises a counterweight method, a motor compensation method and the like. However, the weight balancing method increases the weight of the overall structure and has an influence on the experience of man-machine interaction; the motor compensation method greatly increases the complexity of the control system, on one hand, finding a motor with enough torque can lead to difficult reduction of the whole volume, and meanwhile, the real-time requirement on the system is higher, and the failure rate can be correspondingly improved. There is room for further development in addressing the adaptability, stability and portability of the balancing apparatus.

Disclosure of Invention

Some embodiments of the present disclosure provide a balancing apparatus comprising: a support rod; the rotating assembly is at least partially connected with the supporting rod in a rotating way; the guide block is hinged with one of the support rod and the rotating assembly; the sliding rod is hinged with the other one of the supporting rod and the rotating assembly, the sliding rod is in sliding connection with the guide block, and the sliding rod, the supporting rod and the rotating assembly form a triangle; and one end of the magnetic force piece is connected to the guide block, the other end of the magnetic force piece is connected to the hinged end or the free end of the sliding rod, and the magnetic force piece is used for providing magnetic balance force.

Some embodiments of the present disclosure provide a surgical robot comprising: the surgical platform comprises a positioning arm and a surgical instrument arranged at the tail end of the positioning arm; a main manipulator comprising a main manipulator movement arm and a handle disposed at a distal end of the main manipulator movement arm, the main manipulator for receiving a manipulation motion to control the surgical instrument to move synchronously; the main operator movement arm and/or the positioning arm comprises balancing means as in the embodiments described above.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following description will briefly explain the drawings required to be used in the description of the embodiments of the present disclosure, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to the contents of the embodiments of the present disclosure and these drawings without inventive effort for those skilled in the art.

FIG. 1 illustrates a schematic structural view of a balancing apparatus according to some embodiments of the present disclosure;

FIG. 2 illustrates a schematic structural view of another balancing apparatus according to some embodiments of the present disclosure;

FIG. 3 illustrates a schematic diagram of another balancing apparatus according to some embodiments of the present disclosure;

FIG. 4 (a) illustrates a schematic structural view of another balancing apparatus according to some embodiments of the present disclosure;

FIG. 4 (b) shows a schematic structural view of the magnetic member of FIG. 4 (a) according to some embodiments of the present disclosure;

FIG. 5 illustrates a schematic diagram of a balancing apparatus according to some embodiments of the present disclosure;

FIG. 6 illustrates a schematic diagram of another balancing apparatus according to some embodiments of the present disclosure;

FIG. 7 illustrates a schematic diagram of another balancing apparatus according to some embodiments of the present disclosure;

FIG. 8 illustrates a schematic diagram of another balancing apparatus according to some embodiments of the present disclosure;

FIG. 9 illustrates a schematic diagram of another balancing apparatus according to some embodiments of the present disclosure;

FIG. 10 illustrates a schematic diagram of another balancing apparatus according to some embodiments of the present disclosure;

FIG. 11 illustrates a schematic diagram of another balancing apparatus according to some embodiments of the present disclosure;

FIG. 12 illustrates a schematic diagram of another balancing apparatus according to some embodiments of the present disclosure;

FIG. 13 illustrates a schematic structural view of another balancing apparatus according to some embodiments of the present disclosure;

fig. 14 illustrates a structural schematic of a surgical robot according to some embodiments of the present disclosure.

Detailed Description

In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the achieved technical effects more clear, the technical solutions of the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of the disclosure.

In the description of the present disclosure, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present disclosure, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixed or removable, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art in the specific context.

Those of ordinary skill in the art will appreciate that embodiments of the present disclosure may be used in the field of medical devices, as well as in other fields, such as mechanical control, robotics, and the like.

Some embodiments of the present disclosure provide a balancing device. Fig. 1 and 2 respectively show schematic structural views of a balancing apparatus 100 according to some embodiments of the present disclosure in different connection situations. As shown in fig. 1 and 2, the balancing apparatus 100 may include a rotating assembly 110, a support bar 120, a guide block 130, a sliding bar 140, and a magnetic member 150. In some embodiments, the support rod 120 extends in a longitudinal direction at all times, and may be secured to a base (not shown) in the longitudinal direction, for example. In some embodiments, the support bar 120 may be connected by a plurality of bars to remain extended in the longitudinal direction, or may be disposed parallel to the base. It should be understood that the longitudinal direction may be a direction perpendicular to the horizontal, or may be a height direction of a device (e.g., a surgical robot) to which the balancing apparatus 100 is mounted. At least a portion of the rotational assembly 110 may be rotatably coupled to the support bar 120. In some embodiments, the rotating assembly 110 may include a single rod or multiple rods. The rotating assembly 110 or the support bar 120 is adapted to be coupled to a load (not shown).

In some embodiments, the guide block 130 may be hinged to the support bar 120, one end of the slide bar 140 may be hinged to the rotating assembly 110 to form a hinge end M, and the other end of the slide bar 140 forms a free end N. The shaft of the slide bar 140 is slidably coupled to the guide block 130. For example, the guide block 130 may be provided with a through hole through which the shaft of the slide lever 140 passes and along which it can slide. It should be understood that the guide block 130 may also be provided with a guide rail, and the sliding rod 140 includes a sliding block, where the sliding block cooperates with the guide rail to realize sliding connection between the sliding rod 140 and the guide block 130. In some embodiments, the guide block 130 may be hinged to the rotation assembly 110, the sliding rod 140 may be hinged to the support rod 120, and a shaft of the sliding rod 140 is slidably connected to the guide block 130. The slide bar 140, the support bar 120, and the rotation assembly 110 are connected to form a triangle. In some embodiments, as shown in fig. 1, the magnetic member 150 has one end connected to the guide block 130 and the other end connected to the free end N of the slide bar 140. In some embodiments, as shown in fig. 2, one end of the magnetic member 150 is connected to the guide block 130, and the other end is connected to the hinge end M of the slide bar 140. The rotating assembly 110 or the support bar 120 is used to connect with a load. In some embodiments, as shown in fig. 1 and 2, the rotating assembly 110 may be coupled to a load (not shown), such as a load may be disposed at an end of the rotating assembly 110 remote from the support pole 120. The rotating assembly 110 can rotate under the driving of the load to drive the sliding rod 140 to slide relative to the guide block 130, so that the magnetic member 150 generates deformation or magnetic field change, and the magnetic member 150 generates restoring force (e.g. magnetic balancing force) to balance the load and/or the gravity of the rotating assembly 110. The balancing device realizes the gravity balancing effect in the movable range through the magnetic force piece, and has the advantages of simple structure, small occupied volume, good operation experience, good adaptability and no noise.

In some embodiments, as shown in fig. 1 and 2, the magnetic member 150 may include, but is not limited to, two magnets 151 and 152 that are homopolar opposite, e.g., the magnets 151 and 152 may be electromagnets, permanent magnets, or a combination of both. As shown in fig. 1 and 2, the magnets 151 and 152 may be electromagnets, respectively, which may include conductor bars wound with energized coils. In some embodiments, as shown in fig. 1, a magnet 151 may be coupled to the guide block 130, and a magnet 152 may be coupled to the free end N of the slide bar 140. In some embodiments, as shown in fig. 2, a magnet 151 may be coupled to the guide block 130 and a magnet 152 may be coupled to the hinge end M of the slide bar 140. The magnetic member 150 adopts an electromagnet, the structure is convenient to obtain materials, the cost is low, and the manufacturing cost of the balancing device can be saved. The magnetic force member 150 can adjust the current according to the actual requirement to adapt to the gravity balance requirement, has stable performance and low noise, can prolong the service life of the balance device (or the surgical robot), and can be better suitable for high-end instrument equipment or the surgical robot.

Fig. 3 illustrates a schematic structural diagram of a balancing apparatus 200 according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 3, the gravity balancing structure 200 may include a rotation assembly 210, a support bar 220, a guide block 230, a sliding bar 240, and a magnetic member 250. The magnetic member 250 may include a magnetic spring, for example, the magnetic spring may be sleeved with an inner cylindrical conductor and an outer cylindrical conductor, which are slidably displaceable with respect to each other in an axial direction. The inner and outer tubular conductors are coaxially disposed with the sliding rod 240, one of which (e.g., the outer tubular conductor) is connected to the guide block 230 and the other (e.g., the inner tubular conductor) is connected to the hinge end M or the free end N of the sliding rod 240. The magnetic spring has stable performance, mechanical properties can be selected and matched according to the needs, and the overall service life and stability of the magnetic member can be improved. And the magnetic spring can realize the function of a pressure spring on the one hand and a tension spring on the other hand, when the magnetic spring is a tension spring, the magnetic force increases (for example, increases linearly) along with the tension of the spring, and the setting position of the magnetic spring can also change correspondingly according to the actual assembly, for example, the magnetic spring can be arranged between the guide block 230 and the free end N of the sliding rod 240, as shown in fig. 3. It should be appreciated that the magnetic spring may be disposed between the guide block 230 and the hinge end M of the slide bar 240 when the hinge point of the support bar 220 and the rotation assembly 210 is higher than the hinge point of the support bar 220 and the guide block 230.

Fig. 4 (a) illustrates a structural schematic diagram of another balancing apparatus 300 according to some embodiments of the present disclosure, and fig. 4 (b) illustrates a structural schematic diagram of a magnetic member of the balancing apparatus 300 according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 4 (a) and 4 (b), the magnetic member 350 may include a large diameter magnetic ring 351 and a small diameter magnetic ring 352. The large diameter magnetic ring 351 and the small diameter magnetic ring 352 may be permanent magnets. The large-diameter magnetic ring 351 and the small-diameter magnetic ring 352 are both magnetized in the axial direction and the magnetic pole directions are the same to generate repulsive force. The large-diameter magnetic ring 351 and the small-diameter magnetic ring 352 may be coaxially disposed by an insulating shaft 353 and slidable relative to each other. The magnetic member 350 can improve the overall life and stability of the balancing apparatus 300, and the restoring force of the magnetic member 350 can be adjusted according to the requirement. For example, parameters such as the distance between the two magnetic rings, the size of the magnetic rings, the thickness of the magnetic rings and the like can be adjusted. For example, the restoring force of the magnetic member may be increased by increasing the diameter of the large-diameter magnetic ring and/or the small-diameter magnetic ring, or reducing the diameter difference between the large-diameter magnetic ring and the small-diameter magnetic ring, or increasing the axial height of the large-diameter magnetic ring and/or the small-diameter magnetic ring, or the like. So that the adaptability of the magnetic member can be improved. In some embodiments, the magnetic ring may be made of rare earth magnetic material to achieve stronger restoring force, and vibration noise is not generated, so that stability and reliability of the system may be increased.

Fig. 5 illustrates a schematic diagram of a balancing apparatus 100 (or 200, 300) according to some embodiments. As shown in fig. 5, the support pole 120 (or 220, 320) may be fixedly disposed in a longitudinal direction (e.g., may be fixedly disposed on a base). The rotating assembly 110 (or 210, 310) may be hinged with the support bar 120 at point O, the guide block 130 (or 230, 330) may be hinged with the support bar 120 at point B, and the sliding bar 140 (or 240, 340) may be hinged with the rotating assembly 110 at point a. The rod body of the sliding rod 140 is in sliding connection with the guide block 130The sliding bar 140, the supporting bar 120, and the rotating assembly 110 are connected to form a triangle. An included angle is formed between the support rod 120 and the rotating assembly 110Included angle->Opposite the slide bar 140. In some embodiments, as shown in fig. 1, the hinge point O of the rotating assembly 110 and the support rod 120 is located lower than the hinge point B of the guide block 130 and the support rod 120 in the longitudinal direction, for example, the rotating assembly 110 is hinged to the bottom end portion of the support rod 120, and the guide block 130 is hinged to the middle portion of the support rod 120. In some embodiments, the guide block 130 may also be hinged to the rotating assembly 110, and the sliding rod 140 may be hinged to the support rod 120. The rotating assembly 110 is coupled to a load.

The magnet 151 may be fixedly coupled to the guide block 130, and the magnet 152 may be fixedly coupled to the free end N of the slide bar 140. The distance between the magnets 151 and 152 may vary with the movement of the slide bar 140. Thus, in operation, the load drives the rotation assembly 110 to rotate clockwise due to gravity, and the angle formed between the support rod 120 and the rotation assembly 110 and opposite to the sliding rod 140Tends to increase under the action of the gravitational moment of the load and causes the slide bar 140 to slide obliquely downward right (as viewed in the plane of fig. 5). Since the magnets 151 and 152 are respectively coupled to the guide block 130 and the free end N of the slide bar 140, the slide bar 140 slides with respect to the guide block 130, the magnets 151 and 152 are compressed and deformed, thereby generating a restoring force F obliquely upward and leftward to balance the weight of the rotating assembly 110 and the load.

In some embodiments, as shown in fig. 2, the hinge point O of the rotating assembly 110 (or 210, 310) and the support rod 120 (or 220, 320) is located higher than the hinge point B of the guide block 130 and the support rod 120 in the longitudinal direction, for example, the rotating assembly 110 is hinged to the top end portion of the support rod 120, and the guide block 130 is hinged to the middle portion of the support rod 120. In some embodiments, the guide block 130 may also be hinged to the rotating assembly 110, and the sliding rod 140 may be hinged to the support rod 120. The rotating assembly 110 is coupled to a load.

The magnet 151 may be fixedly coupled to the guide block 130, and the magnet 152 may be fixedly coupled to the hinge end M of the slide bar. Thus, in operation, the load drives the rotating assembly 110 to rotate clockwise due to gravity, and the included angle formed between the support rod 120 and the rotating assembly 110 and opposite to the sliding rodTends to decrease under the action of the gravitational moment of the load and causes the slide bar 140 to slide obliquely downward and leftward (as viewed in the plane of fig. 2). Since the magnets 151 and 152 are respectively coupled to the hinge ends M of the guide block 130 and the slide bar 140, the slide bar 140 slides with respect to the guide block 130, and the magnets 151 and 152 are compressed and deformed, thereby generating a restoring force F obliquely upward to the right to balance the weight of the rotating assembly 110 and the load. Similarly, in some embodiments, the magnetic member 150 may include a magnetic member for generating a restoring force capable of balancing a tensile force, for example, the magnetic member may include a pair of magnets opposite to each other in opposite poles or a magnetic spring generating a restoring force in case of elongation. In the triangle mechanism formed by the support rod 120, the rotating assembly 110 and the sliding rod 140, the setting position of the magnetic force member for balancing the pulling force is different from that of the pressure-bearing elastic member.

Fig. 6 illustrates a structural schematic of the balancing apparatus 100 (or 200, 300) of some embodiments of the present disclosure. In some embodiments, as shown in fig. 6, the rotating assembly 110 (or 210, 310) may include a rod 111, a rod 112, and a rod 113. The two ends of the rod 112 are respectively hinged with one ends of the rod 111 and the rod 113, the supporting rod 120 is respectively hinged with the other ends of the rod 111 and the rod 113, and the supporting rod 120, the rod 111, the rod 112 and the rod 113 are sequentially hinged to form a parallelogram mechanism. In some embodiments, the rotating assembly 110 (or 210, 310) may also include a rod, with the rod 111 and the rod 113 extending outwardly from the parallelogram mechanism and being hinged to the rod, respectively. The support bar 120, the bar 111, the bar 113 and the bars form a new parallelogram mechanism. It should be appreciated that the support bar 120 may be located within or one of the new parallelogram mechanismsEdges. In some embodiments, the balancing apparatus 100 (or 200, 300) may be disposed on a base. For example, the support bar 120 may be replaced with a base, the rotation assembly 110 may be rotatably disposed on the base, or the support bar 120 may be fixedly disposed on the base, and the rotation assembly 110 may be rotatable relative to the support bar 120. In some embodiments, the support pole 120 (or 220, 320) extends longitudinally and is fixedly disposed on a base (not shown). The lever 111, 112, or 113 of the rotating assembly 110 may be connected to a gravitational load (e.g., a component to be balanced), the lever 113 or 111 may be hinged to the sliding lever 140, and the support bar 120 may be hinged to the guide block 130. In some embodiments, the lever 113 or the lever 111 may be hinged with the guide block 130, and the support lever 120 is hinged with the slide lever 140. As shown in fig. 6, the magnet 151 of the magnetic member 150 (or 250, 350) may be fixedly coupled to the guide block 130, and the magnet 152 may be fixedly coupled to the hinge end M of the slide bar 140. The shaft of the slide bar 140 is slidably connected to the guide block 130, and the slide bar 140, the support bar 120, and the bar 111 are connected to form a triangle. Thus, in operation, the rotating assembly 110 is driven to rotate clockwise relative to the support rod 120 and the base due to the gravity of the load, and the support rod 120 and the rod 111 of the rotating assembly 110 form an angle opposite to the sliding rod 140Tends to decrease under the action of the gravitational moment of the load and causes the slide bar 140 to slide obliquely downward and leftward (as viewed in the plane of fig. 6). The magnetic member 150 (or 250, 350) has one end connected to the guide block 130 and the other end connected to the hinge end M of the slide bar 140, so that the distance between the magnets 151 and 152 becomes small, thereby generating a restoring force F inclined upward to the right to balance the weight of the rotating assembly 110 and the load. The translation of the load in the plane of the parallelogram mechanism is achieved by the parallelogram mechanism.

As shown in fig. 7, the magnet 151 of the magnetic member 150 (or 250, 350) may be fixedly coupled to the guide block 130, and the magnet 152 may be fixedly coupled to the free end N of the slide bar 140. The shaft of the slide bar 140 is slidably connected to the guide block 130, and the slide bar 140, the support bar 120, and the rod 113 are connected to form a triangle. Thus, in operation, the load is due to weightForce acts to drive the rotating assembly 110 to rotate clockwise relative to the support rod 120 and the base, and an included angle formed between the support rod 120 and the rotating assembly 110 and opposite to the sliding rodTends to increase by the gravity moment of the load, and slides the slide bar 140 obliquely downward right (the plane shown in fig. 7). The magnets 151 and 152 are coupled to the guide block 130 and the free end N of the slide bar 140, respectively, such that the distance between the magnets 151 and 152 is reduced, thereby generating a restoring force F obliquely upward and leftward to balance the weight of the rotating assembly 110 and the load.

The rotating assembly and the supporting rod form a parallelogram mechanism, so that the motion mode of a motion end, such as a load, can be controlled to translate, for example, the motion end moves in a longitudinal plane where the parallelogram mechanism is located, and the motion end is not influenced by the failure and the change of a gravity balance model caused by the gravity center movement of the load due to the change of the self posture of the motion end, so that the stability of the balance device can be increased.

Fig. 8 illustrates a schematic structural diagram of a balancing apparatus 400 according to some embodiments of the present disclosure. The principle of the balancing apparatus 400 is substantially the same as that of the balancing apparatus 100, 200 or 300. In some embodiments, as shown in fig. 8, the balancing apparatus 400 may include a rod or base 460 (in the following description, the base 460 is taken as an example). The rotating assembly 410 may include a lever 411 and a lever 413. One ends of the levers 411 and 413 are hinged to the base 460, respectively, and the hinge point of the lever 411 and the base 460 and the hinge point of the lever 413 and the base 460 are located on the same longitudinal axis. The support bar 420 is disposed parallel to the longitudinal axis, both ends of the support bar 420 are hinged to the other ends of the rods 411 and 413, respectively, and the rods 411, 420 and 413 are sequentially hinged and form a parallelogram mechanism together with the base 460. The lever 411, the lever 413, or the support lever 420 of the rotation assembly 410 may be connected to a load. For example, the support pole 420 may be connected to a load. The lever 413 or 411 may be hinged with the sliding lever 440, and the supporting lever 420 may be hinged with the guide block 430. In some embodiments, the lever 413 or 411 may be hinged with the guide block 430, and the support lever 420 is hinged with the sliding lever 440. As shown in fig. 8, the lever 411 in the rotating assembly 410 is combined with the supporting lever 420 andthe sliding bar 440 forms a triangle. The magnetic member 450 is disposed between the guide block 430 and the free end N of the sliding rod 440. Thus, in operation, the load drives the rotation assembly 410 to rotate clockwise relative to the base 460 due to gravity, and the angle formed between the support rod 420 and the rotation assembly 410 and opposite to the sliding rod 440Tends to increase by the gravity moment of the load, and slides the slide rod 440 obliquely downward and rightward (as viewed in the plane of fig. 8). The magnetic member 450 is deformed to generate a restoring force F obliquely upward to the left to balance the weight of the rotating assembly 410, the support pole 420 and the load.

As shown in fig. 9, the lever 413 in the rotation assembly 410 forms a triangle with the support lever 420 and the sliding lever 440. The magnetic member 450 is disposed between the guide block 430 and the hinge end M of the sliding rod 440. Thus, in operation, the load drives the rotating assembly 410 to rotate clockwise relative to the base 460, and the angle formed between the support rod 420 and the rotating assembly 410 and opposite the sliding rod 440The gravity moment of the load tends to be reduced, and the sliding rod 440 is slid obliquely downward and leftward, the magnetic member 450 is compressed to be deformed, and a restoring force F inclined upward to the right is generated to balance the weight of the rotating assembly 410, the supporting rod 420, and the load.

Fig. 10 illustrates a schematic perspective view of a balancing apparatus 400 including a lever according to some embodiments of the present disclosure, and fig. 11 to 13 illustrate schematic structural views of the balancing apparatus 400 including a lever according to some embodiments of the present disclosure, respectively. In some embodiments, as shown in fig. 10 and 11, the rotating assembly 410 may also include a lever 414. The rods 411 and 413 extend in a direction away from the base 460, respectively, and are hinged to both ends of the rod 414 at a side of the support rod 420 away from the base 460, respectively. The rods 411, 414 and 413 are hinged in sequence and form a parallelogram mechanism together with the base 460. The rod 411, the rod 413, the rod 414, or the support rod 420 may be connected to a load. As shown in fig. 10, the rod 414 may be connected to a load 470. As shown in fig. 10, the balancing apparatus 400 may include a magnetic member 450. It is to be appreciated that while fig. 10 illustrates a particular structure and connection of the magnetic member 450, the balancing apparatus 400 may include a magnetic member (e.g., as shown in fig. 1-9, 11-13) and a connection (e.g., as shown in fig. 11-13) according to any embodiment of the present application.

As shown in fig. 11, the lever 411 in the rotation assembly 410 forms a triangle with the support lever 420 and the sliding lever 440. The magnetic member 450 is disposed between the guide block 430 and the free end N of the sliding rod 440. In operation, the load 470 thus drives the rotation assembly 410 to rotate clockwise relative to the base 460, the angle formed between the support rod 420 and the rod 411 and opposite the sliding rod 440Tends to increase by the gravity moment of the load 470 and slides the slide rod 440 obliquely downward right (as viewed in the plane of fig. 11). The magnetic member 450 is deformed to generate a restoring force F obliquely upward to the left to balance the weight of the rotating assembly 410, the support pole 420 and the load 470. Through rotating assembly 410 and base 460 formation parallelogram mechanism, can realize hiding bracing piece 420 and magnetic force spare 450 isotructure in parallelogram mechanism, extra occupation space is little, can avoid influencing other parts's assembly and motion, can realize surgical robot's miniaturization and portability to can improve structural security and stability.

As shown in fig. 12, the lever 411 in the rotating assembly 410 forms a triangle with the support lever 420 and the sliding lever 440. The magnetic member 450 is disposed between the guide block 430 and the hinge end M of the sliding rod 440. In operation, the load 470 thus drives the rotation assembly 410 to rotate clockwise relative to the base 460, the angle formed between the support rod 420 and the rod 411 and opposite the sliding rod 440Tends to decrease by the gravity moment of the load 470 and makes the sliding rod 440 slide obliquely downward and leftward. The magnetic member 450 is compressed to deform and generate a restoring force F obliquely upward to the right to balance the rotation assembly 410, the support pole 440 and the negativeThe weight of the carrier 470.

As shown in fig. 13, the lever 413, the support lever 420, and the sliding lever 440 in the rotation assembly 410 form a triangle. The magnetic member 450 is disposed between the guide block 430 and the hinge end M of the sliding rod 440. In operation, the load 470 thus drives the rotation assembly 410 to rotate clockwise relative to the base 460, the angle formed between the support rod 420 and the rod 413 and opposite the sliding rod 440Tends to decrease by the gravity moment of the load 470 and makes the sliding rod 440 slide obliquely downward and leftward. The magnetic member 450 is compressed to deform and generate a restoring force F obliquely upward to the right to balance the weight of the rotating assembly 410, the support pole 420, and the load 470.

Some embodiments of the present disclosure also provide a surgical robot. Fig. 14 illustrates a schematic structural view of a surgical robot 1000 according to some embodiments of the present disclosure. As shown in fig. 14, surgical robot 1000 may include a main manipulator 10, a surgical platform 20, and a control device 30. The main operator 10 may include a main operator moving arm 101 and a handle 102 provided at the end of the main operator moving arm 101. For example, the main manipulator movement arm 101 may include a multi-joint arm body and a plurality of joints connecting the multi-joint arm body. The main operator movement arm 101 has a plurality of degrees of freedom. The handle 102 may be a hand-operable placement area for an operator, such as a gripping end. Surgical platform 20 may include a positioning arm 201 and a surgical instrument 202 disposed at an end of positioning arm 201. For example, the positioning arm 201 may include a multi-joint arm body and a plurality of joints, and have a plurality of degrees of freedom. The surgical instrument 202 may include a surgical tool or an endoscope. The distal end of the surgical instrument 202 is coupled to a distal instrument 2021, for example, the distal instrument 2021 may include a surgical implement disposed at a distal end of a surgical tool and/or an illumination device or image acquisition device disposed at a distal end of an endoscope. The control device 30 is arranged to control the synchronous movement of the surgical instrument 202 based on the manipulation actions of the main manipulator 10 to enable a teleoperation of the surgical instrument 202 by a user through the manipulation of the main manipulator 10. The primary manipulator 10 (e.g., primary manipulator motion arm 101) and/or the surgical platform 20 (e.g., positioning arm 201) may include the balancing apparatus 100 (or 200, 300, 400) described above, and the balancing apparatus 100 (or 200, 300, 400) may be part of a multiple degree of freedom motion arm or positioning arm. In some embodiments, the handle 102 may be a load connected to the balancing apparatus 100 (or 200, 300, 400).

Some embodiments of the present disclosure provide a balancing apparatus 100 (or 200, 300, 400) capable of reducing inertial effects caused by gravity, and a magnetic member capable of reducing noise, and having strong adjustability and applicability. The balancing device can improve the stability and accuracy of the surgical robot, the additional occupied space is small, the influence on the assembly and movement of other parts can be avoided, the miniaturization and portability of the surgical robot are realized, the requirements and the limits on the machining precision and structural design are lower, the volume is smaller, the gravity balancing effect is better, and the motor is not needed to be matched.

Note that the above is only a preferred embodiment of the present disclosure and the technical principle applied. Those skilled in the art will appreciate that the present disclosure is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the disclosure. Therefore, while the present disclosure has been described in connection with the above embodiments, the present disclosure is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A balancing apparatus, comprising:

a support rod;

the rotating assembly is at least partially connected with the supporting rod in a rotating way;

the guide block is hinged with the support rod;

one end of the sliding rod is hinged with the rotating assembly to form a hinged end, the other end of the sliding rod forms a free end, and a rod body of the sliding rod is in sliding connection with the guide block;

a magnetic member having one end connected to the guide block and the other end connected to the free end of the sliding rod, the magnetic member for providing a magnetic balance force;

the rotating assembly includes: a first rod, a second rod, and a third rod;

the first rod is hinged with the supporting rod, one end of the sliding rod is hinged with the first rod to form the hinged end, and the sliding rod, the supporting rod and the first rod form a triangle;

the first rod and the second rod are respectively hinged to the base, the supporting rod is respectively hinged to the first rod and the second rod, and the first rod, the supporting rod, the second rod and connecting lines of the hinge points of the first rod and the base and the hinge points of the second rod and the base form a first parallelogram mechanism;

the first rod and the second rod extend outwards from the first parallelogram mechanism in a direction away from the base and are respectively hinged with the third rod, the first rod, the second rod, the third rod and the connection lines of the hinge points of the first rod and the base and the hinge points of the second rod and the base form a second parallelogram mechanism, and the sliding rod and the magnetic piece are positioned in the second parallelogram mechanism.

2. The balancing device of claim 1, wherein the magnetic member comprises a first magnet fixedly coupled to the guide block and a second magnet coupled to the free end of the sliding bar.

3. The balancing device of claim 2, wherein the first and second magnets are permanent magnets, electromagnets, or a combination of both.

4. The balancing device of claim 1, wherein the magnetic member is a magnetic spring coaxially disposed with the sliding rod, one end of the magnetic spring being connected to the guide block and the other end being connected to the free end of the sliding rod.

5. The balancing device of claim 2, wherein the first magnet comprises a first magnetic ring and the second magnet comprises a second magnetic ring coaxially disposed with the first magnetic ring, the first magnetic ring and the second magnetic ring having different diameters and being homopolar opposite.

6. The balancing device of claim 1, wherein the support bar is disposed longitudinally, the balancing device being a gravity balancing device.

7. A surgical robot, comprising:

the surgical platform comprises a positioning arm and a surgical instrument arranged at the tail end of the positioning arm;

a main manipulator comprising a main manipulator movement arm and a handle disposed at a distal end of the main manipulator movement arm, the main manipulator for receiving a manipulation motion to control the surgical instrument to move synchronously;

the main operator movement arm and/or the positioning arm comprises a balancing device according to any one of claims 1-6.