CN113915305A

CN113915305A - Balancing device and surgical robot

Info

Publication number: CN113915305A
Application number: CN202110408964.XA
Authority: CN
Inventors: 徐凯; 刘旭; 许阳
Original assignee: Beijing Surgerii Technology Co Ltd
Current assignee: Beijing Surgerii Technology Co Ltd
Priority date: 2020-07-10
Filing date: 2021-04-16
Publication date: 2022-01-11

Abstract

The disclosure relates to the field of medical equipment, 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 an elastic piece. At least one part of the rotating assembly is rotatably connected with the supporting rod, the guide block is hinged with one of the supporting rod and the rotating assembly, the sliding rod is hinged with the other of the supporting rod and the rotating assembly, the sliding rod is slidably connected with the guide block, the sliding rod, the supporting rod and the rotating assembly form a triangle, one end of the elastic element is connected to the guide block, and the other end of the elastic element 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 inertia influence caused by gravity, improve the stability and accuracy of the surgical robot, occupy small extra space and realize the miniaturization and the lightness 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 influences the operation feeling and action effect of a surgical operator, such as a doctor. An operator remotely controls the surgical instrument at the tail end of the surgical platform to perform surgery through a handle of the main operator, and the surgical process usually lasts for hours and requires high concentration of spirit, so the feeling of man-machine interaction and the portability of operation in the operation process are very important. During operation, 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 movement inertia is, and in addition, the damping is reduced during the movement of the main operator, especially the damping opposite to the movement direction is reduced.

In the prior art, methods for implementing the above functions mainly include a counterweight method, a motor compensation method, and the like. However, the counterweight method can increase the weight of the whole structure and has influence on the experience of human-computer interaction; the motor compensation method greatly increases the complexity of the control system, on one hand, the motor with enough torque is found, so that the whole volume is difficult to reduce, meanwhile, the real-time requirement on the system is high, and the failure rate is correspondingly improved.

Disclosure of Invention

Some embodiments of the present disclosure provide a balancing apparatus, comprising: a support bar; the rotating assembly is at least partially connected with the supporting rod in a rotating mode; the guide block is hinged with one of the supporting rod and the rotating assembly; one end of the sliding rod is hinged with the other one of the supporting rod and the rotating assembly to form a hinged end, the other end of the sliding rod forms a free end, the sliding rod is connected with the guide block in a sliding mode, and the sliding rod, the supporting rod and the rotating assembly form a triangle; and one end of the elastic piece is connected with the guide block, and the other end of the elastic piece is connected with the hinged end or the free end of the sliding rod.

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 including a main manipulator movement arm and a handle disposed at an 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 comprise a balancing device as in the above described embodiments.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments of the present disclosure will be briefly described below, and it is obvious that 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 according to the contents of the embodiments of the present disclosure and the drawings without any creative effort.

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 attachment of the balancing apparatus of FIG. 1 according to some embodiments of the present disclosure;

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

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

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

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

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

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

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

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

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

fig. 12 illustrates a schematic structural view of a surgical robot according to some embodiments of the present disclosure.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present disclosure clearer, 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing and simplifying the present disclosure, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed 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 otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art.

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

Some embodiments of the present disclosure provide a balancing apparatus. Fig. 1 and 2 respectively illustrate a schematic structural view 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 rod 120, a guide block 130, a sliding rod 140, and an elastic member 150. In some embodiments, the support rod 120 extends in a longitudinal direction. For example, the support rod 120 may extend in a longitudinal direction and be fixed to a base (not shown) or the support rod 120 may be integrally formed with the base. In some embodiments, the support rods 120 may be connected by a plurality of rods to maintain the support rods 120 longitudinally extending, for example, in a parallelogram arrangement such that the support rods 120 are 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 an apparatus (e.g., a surgical robot) to which the balancing apparatus 100 is mounted. At least a portion of the rotation assembly 110 may be rotatably coupled to the support bar 120. In some embodiments, the rotation assembly 110 may include one rod or a plurality of rods. In some embodiments, the support rod 120 is fixed to the base, and the rotating assembly 110 may be connected to a load (not shown), such as a component to be gravity balanced or torque balanced. In some embodiments, the support bar 120 extends longitudinally and parallel to the base longitudinal axis. The rotating assembly 110 or the support bar 120 may be connected to a load (not shown).

In some embodiments, as shown in fig. 1 and 2, the guide block 130 may be hinged to the support rod 120, one end of the sliding rod 140 may be hinged to the rotating assembly 110 to form a hinged end M, and the other end of the sliding rod 140 forms a free end N. The sliding 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 sliding bar 140 passes and may slide along the through hole. It should be understood that the guide block 130 may also be provided with a guide rail, and the sliding rod 140 may include a sliding block, which is engaged with the guide rail to realize the sliding connection between the sliding rod 140 and the guide block 130. In some embodiments, the guide block 130 may also be hinged to the rotating assembly 110, the sliding rod 140 may be hinged to the support rod 120, and the sliding rod 140 may be slidably connected to the guide block 130. The sliding bar 140, the supporting bar 120, and the rotating assembly 110 form a triangle. In some embodiments, one end of the elastic member 150 may be connected to the guide block 130, and the other end may be connected to the free end N (shown in fig. 1) or the hinged end M (shown in fig. 2) of the slide lever 140. It is understood that the connection of the resilient member 150 to the guide block 130, the free end N or the hinged end M of the sliding bar 140 may include various forms including, but not limited to, a fixed connection (e.g., welding, screwing, snapping, etc.), a detachable connection, or an abutment. For example, as shown in fig. 1, the free end N of the sliding bar 140 includes a stopper, and the elastic member 150 may abut against the stopper. The rotating assembly 110 or the support bar 120 may be connected to a load. In some embodiments, as shown in fig. 1 and 2, the support rod 120 is fixedly disposed, and the rotating assembly 110 may be connected to a load (not shown), for example, the load may be disposed at an end of the rotating assembly 110 away from the support rod 120.

Fig. 3 illustrates a schematic diagram of a balancing apparatus 100 according to some embodiments. In some embodiments, as shown in fig. 3, the support bar 120 may be fixedly disposed along the longitudinal direction (e.g., may be fixedly disposed on the base). The rotating assembly 110 may be hinged to the support bar 120 at point O, the guide block 130 may be hinged to the support bar 120 at point B, and the sliding bar 140 may be hinged to the rotating assembly 110 at point a. The sliding bar 140 is slidably connected to the guide block 130, and the sliding bar 140, the support bar 120 and the rotating assembly 110 form a triangle. The angle formed between the support rod 120 and the rotating assembly 110

Included angle

Opposite the slide bar 140. In some embodiments, as shown in fig. 3, the hinge point O of the rotating assembly 110 and the supporting rod 120 is lower than the hinge point B of the guide block 130 and the supporting rod 120 along the longitudinal direction, for example, the rotating assembly 110 is hinged to the bottom end portion of the supporting rod 120 and connected to the load, and the guide block 130 is hinged to the middle portion of the supporting rod 120. It should be understood that the guide block 130 may be hinged to the rotating assembly 110 and the sliding bar 140 may be hinged to the supporting bar 120. One end of the elastic member 150 may be connected to the guide block 130 and the other end of the elastic member 150May be connected to the free end N of the sliding bar 140. The distance between the elastic members 150 may be changed as the sliding bar 140 is moved. In operation, the load drives the rotating assembly 110 to rotate clockwise due to gravity, and the angle formed between the supporting rod 120 and the rotating assembly 110 and opposite to the sliding rod 140

Tends to increase under the weight moment of the load and causes the slide bar 140 to slide diagonally downward and rightward (in the plane of fig. 3). Since one end of the elastic member 150 is connected to the guide block 130 and the other end is connected to the free end N of the sliding rod 140, the sliding rod 140 slides relative to the guide block 130, so that the elastic member 150 is compressed and deformed, and the elastic member 150 generates an upward restoring force F to the left to balance the gravity 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 and the supporting rod 120 is longitudinally higher than the hinge point B of the guide block 130 and the supporting rod 120, for example, the rotating assembly 110 is hinged to the top end portion of the supporting rod 120, and the guide block 130 is hinged to the middle portion of the supporting rod 120. In some embodiments, the guide block 130 may also be hinged to the rotating assembly 110, and the sliding bar 140 may be hinged to the support bar 120. The rotating assembly 110 is connected to a load. One end of the elastic member 150 may be connected to the guide block 130, and the other end of the elastic member 150 may be connected to the hinge end M of the slide lever 140. Thus, in operation, the load drives the rotating assembly 110 to rotate clockwise due to gravity, and the angle formed between the supporting rod 120 and the rotating assembly 110 and opposite to the sliding rod

Tends to decrease under the gravitational moment of the load and causes the slide bar 140 to slide diagonally left and down (in the plane of fig. 2). Since the elastic member 150 is located between the guide block 130 and the hinge end M of the sliding rod 140, the sliding rod 140 slides relative to the guide block 130, and the elastic member 150 is compressed and deformed, thereby generating a restoring force F obliquely upward to the right to balance the gravity of the rotating assembly 110 and the load.

Some embodiments of the present disclosure provide a balancing apparatus that may be used in a high-end instrument device or a surgical robot. The balancing device can realize the gravity balance effect in the moving range through the elastic piece, can reduce the inertia influence caused by gravity, and has the advantages of stable performance, simple structure, small occupied size and good operation experience. The balancing device can also adjust parameters such as the elastic coefficient of the elastic piece according to actual needs so as to adapt to the gravity of the load, and the adaptability is good.

In some embodiments, the elastic member 150 may comprise a pressure-bearing elastic member. For example, the pressure-bearing elastic member may be a pressure spring, the pressure spring is sleeved on the sliding rod 140, one end of the pressure spring is connected to the guide block 130, and the other end of the pressure spring is connected to the hinged end M or the free end N of the sliding rod 140. The pressure spring is convenient to obtain materials and low in cost, and the manufacturing cost of the balancing device or the surgical robot can be saved. In some embodiments, the pressure-bearing elastic member may also be a gas spring in a compressed state, and the gas spring may be disposed in parallel to the slide rod 140, and one end of the gas spring is connected to the guide block 130 and the other end is connected to the hinged end M or the free end N of the slide rod 140. The elastic performance of the gas spring is stable, the service life of the balancing device or the surgical robot can be prolonged, and the gas spring is better suitable for high-end surgical robots.

In some embodiments, the elastic member 150 may also be a tension spring. In the triangular mechanism formed by the support rod 120, the rotating assembly 110 and the sliding rod 140, the tension spring is disposed at a position different from that of the pressure-bearing elastic member. For example, the hinge point O of the support rod 120 and the rotation assembly 110 is longitudinally higher than the hinge point B of the support rod 120 and the guide block 130, and the angle formed between the support rod 120 and the rotation assembly 110 and opposite to the sliding rod 140

The tension spring is located between the guide block 130 and the free end N of the slide lever 140 when tending to decrease under the weight moment of the load. The sliding rod 140 slides relative to the guide block 130, so that the tension spring is stretched and deformed, thereby generating a restoring force F to balance the gravity of the rotating assembly 110 or the load.

Alternatively, the hinge point O of the support rod 120 and the rotating assembly 110 is lower than the support in the longitudinal directionThe angle formed between the hinge point B of the rod 120 and the guide block 130, the support rod 120 and the rotating assembly 110 and opposite to the sliding rod 140

The tension spring is located between the guide block 130 and the hinge end M of the slide lever 140 as it tends to increase under the weight moment of the load. The sliding rod 140 slides relative to the guide block 130, so that the tension spring is stretched and deformed, thereby generating a restoring force F to balance the gravity of the rotating assembly 110 or the load.

In some embodiments, the balancing apparatus 100 may be disposed on a base. For example, the support rod 120 may be replaced by a base, and the rotating assembly 110 may be rotatably disposed on the base, or the support rod 120 may be fixedly disposed on the base, and the rotating assembly 110 may be capable of rotating relative to the support rod 120. Fig. 4 and 5 respectively show structural illustrations of a balancing apparatus 100 including a base according to some embodiments of the present disclosure in different connection manners. In some embodiments, as shown in fig. 4, the support rod 120 extends in a longitudinal direction, and the support rod 120 is fixedly disposed on a base (not shown). The rotating assembly 110 may include a rod 111, a rod 112, and a rod 113. Both ends of the rod 112 are respectively hinged with one ends of the

rods

111 and 113, and the support rod 120 is respectively hinged with the other ends of the

rods

111 and 113. The support bar 120, the bar 111, the bar 112 and the bar 113 are hinged in sequence to form a parallelogram mechanism. Rod 111, rod 112 or rod 113 of rotating assembly 110 may be connected to a load. The rod 113 or the rod 111 may be hinged with the sliding rod 140, and the supporting rod 120 may be hinged with the guide block 130. In some embodiments, the rod 113 or the rod 111 may be hinged to the guide block 130, and the support rod 120 is hinged to the slide rod 140. In some embodiments, the rotation assembly 110 may further include a rod, with the rod 111 and the rod 113 extending outwardly from the parallelogram mechanism and being hinged to the rods, respectively. The support bar 120, bar 111, bar 113 and bar form a new parallelogram mechanism. It should be understood that the support bar 120 may be located within or become one side of the new parallelogram mechanism.

As shown in FIG. 4, the sliding rod 140 may be hinged to the rod 111, the sliding rod 140 may be slidably connected to the guide block 130, the sliding rod 140, and the support rod120 and the bar 111 form a triangle. The hinge point of the support bar 120 and the bar 113 is higher in the longitudinal direction than the hinge point of the support bar 120 and the guide block 130. One end of the elastic member 150 (e.g., a pressure-bearing elastic member) may be connected to the guide block 130, and the other end may be connected to the hinge end M of the slide lever 140. In operation, the load drives the rotation assembly 110 to rotate clockwise relative to the support bar 120 and the base, and the angle formed between the support bar 120 and the bar 111 of the rotation assembly 110 and opposite to the sliding bar 140

Tends to decrease under the gravitational moment of the load and causes the slide bar 140 to slide diagonally left and down (as viewed in the plane of fig. 4). The elastic member 150 is located between the guide block 130 and the hinge end M of the sliding bar 140, and the elastic member 150 is compressively deformed to generate a restoring force F obliquely upward to the right to balance the weight of the rotating assembly 110 and the load.

In some embodiments, the elastic member 150 is changed from a pressure-bearing elastic member to a tension spring, and the tension spring is disposed at a position different from the pressure-bearing elastic member in the triangular mechanism formed by the support bar 120, the rotation assembly 110 and the slide bar 140. For example, the hinge point of the support bar 120 and the bar 111 is higher in the longitudinal direction than the hinge point of the support bar 120 and the guide block 130, and the angle formed between the support bar 120 and the bar 111 and opposite to the sliding bar 140

Tends to decrease under the action of the gravitational moment of the load, the tension spring being located between the guide block 130 and the free end N of the sliding bar 140.

As shown in fig. 5, one end of the elastic member 150 may be connected to the guide block 130, and the other end may be connected to the free end N of the slide bar 140. The sliding rod 140 is slidably connected with the guide block 130, the sliding rod 140, the supporting rod 120 and the rod 113 form a triangle, and the hinge point of the supporting rod 120 and the rod 113 is lower than the hinge point of the supporting rod 120 and the guide block 130 in the longitudinal direction. Thus, in operation, the load, due to gravity, drives the rotating assembly 110 to rotate clockwise relative to the support bar 120 and the base, and the angle formed between the support bar 120 and the bar 113 and opposite to the sliding bar

Tends to increase under the gravitational moment of the load and causes the slide bar 140 to slide diagonally downward and rightward (in the plane of fig. 5). Since the elastic member 150 is located between the guide block 130 and the free end N of the sliding rod 140, the sliding rod 140 slides relative to the guide block 130, so that the elastic member 150 is deformed, thereby generating a restoring force F obliquely upward to the left to balance the gravity of the rotating assembly 110 and the load.

In some embodiments, the elastic member 150 is changed from a pressure-bearing elastic member to a tension spring, and the tension spring is disposed at a position different from the pressure-bearing elastic member in the triangular mechanism formed by the support bar 120, the rotation assembly 110 and the slide bar 140. For example, the hinge point of the support bar 120 and the bar 113 is lower than the hinge point of the support bar 120 and the guide block 130 in the longitudinal direction, and the angle formed between the support bar 120 and the bar 113 and opposite to the sliding bar 140

Tends to increase under the action of the gravitational moment of the load, and a tension spring is located between the guide block 130 and the hinge end M of the slide lever 140.

In some embodiments, the rotating assembly 110 and the supporting rod 120 form a parallelogram mechanism, which can control the moving end, for example, the moving mode of the load in the longitudinal plane of the parallelogram mechanism is translational motion, and the stability of the balancing device can be increased without the failure and change of the gravity balance model caused by the movement of the gravity center of the load due to the change of the posture of the load.

Fig. 6 and 7 respectively illustrate a schematic structural view of a balancing apparatus 200 according to some embodiments of the present disclosure in different connection manners. The principle of the balancing apparatus 200 is substantially the same as the balancing apparatus 100. In some embodiments, as shown in fig. 6, the balancing apparatus 200 may include a rod or a base 260 (in the following description, the base 260 is taken as an example), a support rod 220, a rotating assembly 210, a guide block 230, a sliding rod 240, and an elastic member 250. In some embodiments, rotation assembly 210 may include a rod 211 and a rod 213. One ends of the lever 211 and the lever 213 are hinged to the base 260, respectively, and a hinge point of the lever 211 and the base 260 and a hinge point of the lever 213 and the base 260 are located on the same longitudinal axis. The supporting rod 220 is parallel to the longitudinal axis, two ends of the supporting rod 220 are respectively hinged with the other ends of the rod 211 and the rod 213, and the rod 211, the supporting rod 220 and the rod 213 are sequentially hinged and form a parallelogram mechanism with the base 260. The rod 213 or the rod 211 may be hinged with the sliding rod 240, and the supporting rod 220 may be hinged with the guide block 230. In some embodiments, the

rod

213 or 211 may be hinged to the guide block 230 and the support rod 220 is hinged to the slide rod 240.

As shown in fig. 6, the guide block 130 may be hinged to the support bar 220. The sliding rod 240 is hinged to the rod 211, the sliding rod 240 is slidably connected with the guide block 230, and the sliding rod 240, the support rod 220 and the rod 211 form a triangle. One end of the elastic member 150 (e.g., a pressure-bearing elastic member) is connected to the guide block 230, and the other end is connected to the free end N of the slide lever 240. The lever 211, the lever 213, or the support lever 220 of the rotating assembly 210 may be connected to a load. For example, a load may be coupled to the rotating assembly 210 via a support rod 220. In operation, under the action of the gravity moment of the load, the rotating assembly 210 rotates clockwise, the hinge point of the supporting rod 210 and the rod 211 is higher in the longitudinal direction than the hinge point of the supporting rod 220 and the guide block 230, and the included angle formed between the supporting rod 220 and the rod 211 and opposite to the sliding rod 240

The force tends to increase due to the gravity moment of the load and causes the sliding rod 240 to slide obliquely downward and rightward (as viewed in fig. 6), and since the elastic member 250 (e.g., a pressure-bearing elastic member) is disposed between the guide block 230 and the free end N of the sliding rod 240, the elastic member 250 is compressed and generates a restoring force F obliquely upward and leftward to balance the weight of the supporting rod 220, the rotating assembly 210 and the load.

In some embodiments, when the elastic member 250 is changed from a pressure-bearing elastic member to a tension spring, the tension spring is disposed at a position different from the pressure-bearing elastic member in the triangular mechanism formed by the support rod 220, the rotating assembly 210, and the sliding rod 240. For example, the hinge point of the support bar 220 and the bar 211 is formed higher in the longitudinal direction than the hinge point of the support bar 220 and the guide block 230, and the support bar 220 and the bar 211 are formed to slideThe relative angles of the rods 240

Tends to increase under the weight moment of the load, and the tension spring is located between the guide block 230 and the hinge end M of the slide lever 240.

As shown in fig. 7, the rod 213 of the rotating assembly 210 forms a triangle with the support rod 220 and the sliding rod 240. The elastic member 250 is disposed between the guide block and the hinge end M of the slide bar. Thus, in operation, the load drives the pivot assembly 210 to pivot clockwise relative to the base, the angle formed between the support bar 220 and the bar 213 and opposite the slide bar 240

When the gravity moment of the load tends to decrease and the sliding rod 240 slides obliquely left and down, the elastic member 250 is compressed and deformed to generate a restoring force F obliquely upward to the right, so as to balance the gravity of the rotating assembly 210, the supporting rod 220 and the load.

In some embodiments, the elastic member 250 is changed from a pressure-bearing elastic member to a tension spring, and the tension spring is disposed at a position different from the pressure-bearing elastic member in the triangular mechanism formed by the support lever 220, the rotating assembly 210, and the sliding lever 240. For example, the angle formed between the support rod 220 and the rod 213 and opposite to the sliding rod 240

Which tends to decrease under the action of the gravitational moment of the load, the elastic member 250 is located between the guide block 230 and the free end N of the slide rod 240.

Fig. 8 illustrates a perspective view of a balancing apparatus 200 including a rod according to some embodiments of the present disclosure, and fig. 9 to 11 illustrate views of the structure of the balancing apparatus 200 including a rod according to some embodiments of the present disclosure, respectively. In some embodiments, as shown in fig. 8 and 9, the rotation assembly 210 may further include a rod 214. The

rods

211 and 213 extend away from the base 260 and are hinged to the ends of the rod 214 on the side of the support rod 220 away from the base 260. The rod 211, the rod 214 and the rod 213 are hinged in sequence and form together with the base 260 a parallelogram mechanism. Bar 211, bar 213, bar 214, or support bar 220 may be connected to a load. As shown in fig. 8, the rod 214 may be connected to a load 270. As shown in fig. 8, the balancing apparatus 200 may include a magnetic member 250. It is to be appreciated that although fig. 8 illustrates a specific configuration and connection of the magnetic member 250, the balancing apparatus 200 may include a magnetic member (e.g., as illustrated in fig. 1-7, 9-11) and a connection (e.g., as illustrated in fig. 9-11) according to any embodiment of the present application.

As shown in fig. 9, the bar 211 of the rotating assembly 210 forms a triangle with the support bar 220 and the sliding bar 240. An elastic member 250 (e.g., a pressure-bearing elastic member) is disposed between the guide block 230 and the free end N of the slide rod 240. In operation, the load 270 drives the rotation assembly 210 to rotate clockwise relative to the base 260, and the angle formed between the support bar 220 and the bar 211 and opposite to the sliding bar 240

Tends to increase under the gravitational moment of the load 270 and causes the slide bar 240 to slide diagonally downward and rightward (in the plane of fig. 9). The elastic member 250 is deformed to generate a restoring force F obliquely upward to the left to balance the gravity of the rotating assembly 210, the supporting rod 220 and the load 270. The rotating assembly 210 and the base 260 form a parallelogram mechanism, so that the supporting rod 220, the elastic piece 250 and other structures can be hidden in the parallelogram mechanism, the additional occupied space is small, the assembly and the movement of other parts can be prevented from being influenced, the miniaturization and the lightness of the surgical robot can be realized, and the safety and the stability of the structure can be improved.

In some embodiments, the elastic member 250 is changed from a pressure-bearing elastic member to a tension spring, and the tension spring is disposed at a position different from the pressure-bearing elastic member in the triangular mechanism formed by the support lever 220, the rotating assembly 210, and the sliding lever 240. For example, the angle formed between the support bar 220 and the bar 211 and opposite to the sliding bar 240

Tends to increase under the action of the gravity moment of the load 270, and the elastic member 250 is located between the guide block 230 and the slide bar240 between the hinged ends M.

As shown in fig. 10, the bar 211 of the rotating assembly 210 forms a triangle with the support bar 220 and the sliding bar 240. An elastic member 250 (e.g., a pressure-bearing elastic member) is disposed between the guide block 230 and the hinge end M of the slide lever 240. Thus, in operation, the load 270 drives the rotation assembly 210 to rotate clockwise relative to the base 260, and the angle formed between the support bar 220 and the bar 211 and opposite to the sliding bar 240

Tends to decrease under the gravitational moment of the load 270 and causes the slide bar 240 to slide diagonally left and down. The elastic member 250 is compressed and deformed to generate a restoring force F obliquely upward to the right to balance the gravity of the rotating assembly 210, the supporting rod 240 and the load 270.

Which tends to decrease under the gravitational moment of the load 270, the elastic member 250 is located between the guide block 230 and the free end N of the sliding rod 240.

As shown in fig. 11, the rod 213, the support rod 220, and the slide rod 240 in the rotating assembly 210 form a triangle. The elastic member 250 is disposed between the guide block 230 and the hinge end M of the sliding rod 240. Thus, in operation, the load 270 drives the rotation assembly 210 to rotate clockwise relative to the base 260, and the angle formed between the support bar 220 and the bar 213 and opposite to the sliding bar 240

Tends to decrease under the gravitational moment of the load 270 and causes the slide bar 240 to slide diagonally left and down. The elastic member 250 is compressed and deformed to generate a restoring force F obliquely upward to the right to balance the gravity of the rotating assembly 210, the supporting rod 220 and the load 270.

Some embodiments of the present disclosure also provide a surgical robot. Fig. 12 shows a schematic structural view of a surgical robot 1000 according to some embodiments of the present disclosure. As shown in fig. 12, the 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 an end of the main operator moving arm 101. For example, the main operator movement arm 101 may include a multi-linked arm body and a plurality of joints connecting the multi-linked arm body. The main operator movement arm 101 has multiple degrees of freedom. The handle 102 may be a placement area, such as a gripping end, for the hand of an operator. The surgical platform 20 may include a positioning arm 201 and a surgical instrument 202 disposed at a distal end of the positioning arm 201. For example, the positioning arm 201 may include a multi-linked 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. An end instrument 2021 is attached to an end of the surgical instrument 202, for example, the end instrument 2021 may include a surgical implement disposed at an end of a surgical tool and/or an illumination device or image capture device disposed at an end of an endoscope. The control device 30 is configured to control the surgical instrument 202 to move synchronously based on the manipulation of the main manipulator 10, so as to enable the user to teleoperate the surgical instrument 202 by the manipulation of the main manipulator 10. The master manipulator 10 (e.g., master manipulator motion arm 101) and/or the surgical platform 20 (e.g., positioning arm 201) may include the balancing apparatus 100 (or 200) described above, and the balancing apparatus 100 (or 200) may be part of a multi-degree-of-freedom motion arm or positioning arm. In some embodiments, the handle 102 may be a load in the balancing apparatus 100 (or 200).

Some embodiments of this disclosure provide a balancing unit 100 (or 200), can reduce the inertia influence that gravity brought, improved surgical robot's stability and accuracy, extra occupation space is little, avoids influencing the assembly and the motion of other parts, has realized surgical robot's miniaturization and lightweight, and is lower to machining precision and structural design's requirement and restriction, and the volume is less, and gravity balance effect is preferred, need not the motor cooperation.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present disclosure and the technical principles employed. Those skilled in the art will appreciate that the present disclosure is not limited to the specific embodiments illustrated herein and that various obvious changes, adaptations, and substitutions are possible, without departing from the scope of the present disclosure. Therefore, although the present disclosure has been described in greater detail with reference to the above embodiments, the present disclosure is not limited to the above embodiments, and may include 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 device, comprising:

a support bar;

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

the guide block is hinged with one of the supporting rod and the rotating assembly;

one end of the sliding rod is hinged with the other one of the supporting rod and the rotating assembly to form a hinged end, the other end of the sliding rod forms a free end, the sliding rod is connected with the guide block in a sliding mode, and the sliding rod, the supporting rod and the rotating assembly form a triangle;

and one end of the elastic piece is connected with the guide block, and the other end of the elastic piece is connected with the hinged end or the free end of the sliding rod.

2. The counterbalance apparatus of claim 1, wherein the resilient member comprises a pressure-bearing resilient member;

an included angle formed between the supporting rod and the rotating assembly and opposite to the sliding rod tends to be reduced under the action of moment, one end of the elastic piece is connected with the guide block, and the other end of the elastic piece is connected with the hinged end of the sliding rod; or

The bracing piece with form between the runner assembly and with the contained angle that the slide bar is relative tends to the increase under the moment effect, elastic component one end with the guide block is connected, the other end with the free end of slide bar is connected.

3. The balancing device of claim 2, wherein the pressure-bearing elastic member is a pressure spring, the pressure spring is sleeved on the sliding rod, one end of the pressure spring is connected with the guide block, and the other end of the pressure spring is connected with the hinged end or the free end of the sliding rod; or

The pressure-bearing elastic piece is an air spring in a compressed state, the air spring is arranged on the sliding rod in parallel, one end of the air spring is connected with the guide block, and the other end of the air spring is connected with the hinged end or the free end of the sliding rod.

4. The counterbalance apparatus of claim 1, wherein the resilient member comprises a tension spring;

an included angle formed between the supporting rod and the rotating assembly and opposite to the sliding rod tends to be reduced under the action of moment, one end of the elastic piece is connected with the guide block, and the other end of the elastic piece is connected with the free end of the sliding rod; or

The bracing piece with form between the runner assembly and with the contained angle that the slide bar is relative tends to the increase under the moment effect, elastic component one end with the guide block is connected, the other end with the hinged end of slide bar is connected.

5. The balance of any of claims 1-4, wherein the rotating assembly comprises a first rod, the first rod being hingedly connected to the support rod, the slide rod, the support rod, and the first rod forming a triangle.

6. The balance of claim 5, wherein the rotating assembly further comprises a second rod and a third rod, the second rod being hingedly connected to the first rod and the third rod, respectively, and the support rod being hingedly connected to the first rod and the third rod, respectively;

the support bar, the first bar, the second bar and the third bar form a parallelogram mechanism.

7. The counterbalance apparatus of claim 6, wherein the rotation assembly further comprises a fourth bar, the first and third bars extending outwardly from the parallelogram mechanism and being respectively articulated with the fourth bar.

8. Balancing device according to claim 5,

the rotating assembly further comprises a fifth rod, the first rod and the fifth rod are hinged to the base respectively, the supporting rods are hinged to the first rod and the fifth rod respectively, and a connecting line of a hinge point of the first rod and the base and a connecting line of a hinge point of the fifth rod and the base form a parallelogram mechanism.

9. The balance of claim 8, wherein the rotation assembly further comprises a sixth rod, the first and fifth rods extending outwardly from the parallelogram mechanism in a direction away from the base and being respectively articulated with the sixth rod.

10. The balance of claim 1, wherein the support bar is longitudinally disposed, and the balance is a gravity balance.

11. 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 including a main manipulator movement arm and a handle disposed at an 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 comprise a balancing device according to any of the claims 1-10.