CN115844548A - Passive gravity compensation mechanism of main manipulator - Google Patents
Passive gravity compensation mechanism of main manipulator Download PDFInfo
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- CN115844548A CN115844548A CN202211690629.4A CN202211690629A CN115844548A CN 115844548 A CN115844548 A CN 115844548A CN 202211690629 A CN202211690629 A CN 202211690629A CN 115844548 A CN115844548 A CN 115844548A
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Abstract
The invention discloses a passive gravity compensation mechanism of a main manipulator, which comprises a rack, a driving assembly and a balance assembly, wherein the driving assembly comprises a driver, a first wire wheel and a driving element, the balance assembly comprises a first guide wheel, a balance transmission wire and a balance element, the driver drives the first wire wheel to rotate, the first wire wheel drives the driving element to rotate, and the balance element is pulled by the balance transmission wire connected with the first wire wheel while the first wire wheel rotates, so that the balance element is deformed and generates elastic potential energy to counteract the gravity of the driving element to do work, and the passive gravity compensation is realized. The elastic potential energy provided by the balance element is determined by the rigidity and the length variation of the balance element, the mass of the driving element, the axial distance between the mass center of the driving element and the first wire wheel, the included angle between the current direction of the driving element and the gravity direction and the parameters of the guide wheel group, and the working parameters of the mechanism can be changed by adjusting the factors, so that the flexible adaptability of the compensation mechanism is improved.
Description
Technical Field
The invention relates to the technical field of medical instruments and peripheral supporting facilities thereof, in particular to a passive gravity compensation mechanism of a main manipulator.
Background
Compared with the traditional minimally invasive surgery, the robot-assisted minimally invasive surgery is greatly developed with high positioning precision, short surgery time, higher dexterity and fewer postoperative complications. Currently, master-slave systems are applied to most robots. The master manipulator maps the surgeon's operating instructions to the slave manipulator and provides force feedback to the surgeon. The main manipulator not only has the expected enough working space, flexible motion flexibility and high force feedback precision of the operation, but also accords with the human engineering design as far as possible and reduces the additional energy consumption of the driving motor. In addition, when sudden power failure or control system failure occurs in the operation process, the main manipulator can be kept stable through a mechanical method, and the operation safety is improved. The joint driving torque of the main operating hand with gravity compensation can balance the torque required by the current operating state, and further, a surgeon can operate the main operating hand with very small force, so that the surgical task can be completed comfortably and efficiently.
At present, the gravity compensation mode of the main manipulator can be divided into two modes of active gravity compensation and passive gravity compensation. The active gravity compensation mode realizes gravity compensation through the output torque of the motor, however, when the main manipulator is in a static state, the driving motor can consume extra energy. The passive gravity compensation mode is mainly realized by weight balancing and introduction of a zero initial length spring, the weight balancing is realized based on a lever principle, but the size of a main manipulator is heavy, and the main manipulator does not conform to the ergonomic design; the zero initial length spring means that the length of the spring is zero when the pulling force applied to the spring and the external force are zero. The mode of introducing the zero initial length spring needs to be realized by additionally introducing a guide wheel and a transmission wire. Chinese patent publication No. CN105234959B discloses a mechanism for implementing gravity compensation of main operation by introducing a tension spring balancing component, which enables a main operator to have the capability of self-balancing at any pose by changing the position of the tension spring balancing component on a swinging component, however, the design of the mechanical structure is limited by the parameters of the tension spring balancing component itself. Chinese patent publication No. CN107175652B discloses a gravity compensation mechanism for exoskeleton of upper limbs, which introduces a movable pulley to reduce the tensile deformation of a spring, but the movable pulley is fixedly connected with a slider attachment to increase the friction of the system and affect the accuracy of the force feedback of the main operating hand.
Disclosure of Invention
The invention aims to provide a passive gravity compensation mechanism of a main manipulator, which solves the problems in the prior art, reduces the energy consumption of the compensation mechanism and improves the flexible adaptability of the compensation mechanism.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a passive gravity compensation mechanism of a main manipulator, comprising:
a frame;
the driving assembly comprises a driver, a first wire wheel and a driving element, the first wire wheel is rotatably arranged on the rack, the output end of the driver is in transmission connection with the first wire wheel, the driving element is connected with the first wire wheel, and the driving element can be connected with a main manipulator component;
the balance assembly comprises a first guide wheel, a balance transmission wire and a balance element, the first guide wheel is rotatably arranged on the rack, the rotation axis of the first guide wheel is parallel to the rotation axis of the first wire wheel, one end of the balance transmission wire is connected with the first wire wheel, the connecting point of the balance transmission wire and the first wire wheel is not coincident with the rotation axis of the first wire wheel, in addition, in the initial state, the connecting line of the connecting point of the balance transmission wire and the first wire wheel and the center of mass of the driving element is parallel to the vertical direction, the other end of the balance transmission wire bypasses the first guide wheel to be connected with one end of the balance element, the other end of the balance element is connected with the rack, and the balance element is an elastic body.
Preferably, the output end of the driver is connected with a second wire wheel, and the second wire wheel is in transmission connection with the first wire wheel by using a driving transmission wire.
Preferably, one end of each driving transmission wire is connected with the second wire wheel, the other end of each driving transmission wire is connected with the first wire wheel, the number of the driving transmission wires is two, and the two driving transmission wires are symmetrically arranged by taking a connecting line of circle centers of the first wire wheel and the second wire wheel as an axis.
Preferably, two of the drive transmission wires are arranged crosswise.
Preferably, the balance assembly further includes a guide wheel set, the guide wheel set includes a second guide wheel, a third guide wheel and a synchronous belt, the second guide wheel is connected with the first wire wheel and coaxially disposed with the first wire wheel, the third guide wheel is rotatably disposed on the first wire wheel, the second guide wheel drives the third guide wheel to rotate by using the synchronous belt, a connecting line of centers of circles of the second guide wheel and the third guide wheel is parallel to a connecting line of a center of mass of the driving element and a center of circle of the first wire wheel, and the balance transmission wire is connected with the third guide wheel.
Preferably, the third guide wheel is connected with a fourth guide wheel, the fourth guide wheel and the third guide wheel are coaxially arranged, and the balance transmission wire is connected with the fourth guide wheel.
Preferably, the balancing element is a zero initial length spring.
Preferably, the drive element is a parallelogram mechanism.
Preferably, the driving element includes a first link, a second link, a third link and a fourth link, one end of the first link is hinged to the first wire wheel, and a hinge axis of the first link and the first wire wheel coincides with a rotation shaft of the first wire wheel, the other end of the first link is hinged to one end of the second link, the other end of the second link is hinged to one end of the third link, the other end of the third link is hinged to one end of the fourth link, the other end of the fourth link is hinged to the first wire wheel, and a hinge axis of the fourth link and the first wire wheel coincides with a rotation shaft of the first wire wheel, the first link, the second link, the third link and the fourth link constitute a parallelogram mechanism, and the fourth link is connectable to a main operating hand unit.
Compared with the prior art, the invention has the following technical effects:
according to the passive gravity compensation mechanism of the main manipulator, the driver drives the first wire wheel to rotate, the first wire wheel drives the driving element to rotate, and the balance element is pulled by the balance transmission wire connected with the first wire wheel while the first wire wheel rotates, so that the balance element is deformed and generates elastic potential energy to counteract the gravity of the driving element to do work, and the passive gravity compensation is realized. The passive gravity compensation mechanism can keep stable when the main operating hand part fails or is powered off, and does not need additional energy consumption when the mechanism is in a static state, thereby reducing the energy consumption of the compensation mechanism and saving the energy; the first wire wheel is connected with the balance transmission wire, and the balance transmission wire is connected with the balance element after bypassing the first guide wheel, so that the mechanism friction is reduced, and the transmission precision is improved; it should be further noted that the elastic potential energy provided by the balance element of the present invention is determined by the rigidity and length variation of the balance element, the mass of the driving element, the distance between the center of mass of the driving element and the axis of the first wire wheel, and the included angle between the current direction of the driving element and the gravity direction, and the working parameters of the mechanism can be changed by adjusting the above factors, so as to improve the flexible adaptability of the compensation mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural view of a passive gravity compensation mechanism of a master manipulator according to the present invention;
FIG. 2 is a schematic diagram of the passive gravity compensation mechanism of the main operator of the present invention;
FIG. 3 is a schematic diagram of the passive gravity compensation mechanism of the main operator of the present invention;
FIG. 4 is a schematic structural diagram of another embodiment of the passive gravity compensation mechanism of the main operator of the present invention;
FIG. 5 is a schematic diagram of the driving element of another embodiment of the passive gravity compensation mechanism of the main operator according to the present invention.
Wherein 100 is a frame, 200 is a driving component, and 300 is a balancing component;
1 is the driver, 2 is first silk wheel, 3 is the drive element, 4 is first guide pulley, 5 is the balance drive silk, 6 is the balance element, 7 is the second silk wheel, 8 is the drive silk, 9 is the guide pulley group, 10 is the second guide pulley, 11 is the third guide pulley, 12 is the hold-in range, 13 is the fourth guide pulley, 14 is first connecting rod, 15 is the second connecting rod, 16 is the third connecting rod, 17 is the fourth connecting rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a passive gravity compensation mechanism of a main manipulator, which solves the problems in the prior art, reduces the energy consumption of the compensation mechanism and improves the flexible adaptability of the compensation mechanism.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides a passive gravity compensation mechanism of a main manipulator, which comprises a rack 100, a driving assembly 200 and a balance assembly 300, wherein the driving assembly 200 comprises a driver 1, a first wire wheel 2 and a driving element 3, the first wire wheel 2 is rotatably arranged on the rack 100, the output end of the driver 1 is in transmission connection with the first wire wheel 2, the driving element 3 is connected with the first wire wheel 2, and the driving element 3 can be connected with a part of the main manipulator; the balance assembly 300 comprises a first guide wheel 4, a balance transmission wire 5 and a balance element 6, wherein the first guide wheel 4 is rotatably arranged on the rack 100, the rotation axis of the first guide wheel 4 is parallel to the rotation axis of the first wire wheel 2, one end of the balance transmission wire 5 is connected with the first wire wheel 2, the connecting point of the balance transmission wire 5 and the first wire wheel 2 is not overlapped with the rotation axis of the first wire wheel 2, and in an initial state, the connecting line of the connecting point of the balance transmission wire 5 and the first wire wheel 2 and the center of mass of the driving element 3 is parallel to the vertical direction, the other end of the balance transmission wire 5 is connected with one end of the balance element 6 by bypassing the first guide wheel 4, the other end of the balance element 6 is connected with the rack 100, and the balance element 6 is an elastic body.
According to the passive gravity compensation mechanism of the main manipulator, the driver 1 drives the first wire wheel 2 to rotate, the first wire wheel 2 drives the driving element 3 to rotate, and the balance driving wire 5 connected with the first wire wheel 2 is utilized to pull the balance element 6 while the first wire wheel 2 rotates, so that the balance element 6 is deformed and generates elastic potential energy to counteract the gravity of the driving element 3 to do work, and passive gravity compensation is realized. The passive gravity compensation mechanism can keep stable when the main operating hand part breaks down or is powered off, and does not need additional energy consumption when the mechanism is in a static state, thereby reducing the energy consumption of the compensation mechanism and saving energy; the first wire wheel 2 is connected with the balance transmission wire 5, and the balance transmission wire 5 is connected with the balance element 6 after bypassing the first guide wheel 4, so that the mechanism friction is reduced, and the transmission precision is improved; it should be further noted that the elastic potential energy provided by the balance element 6 of the present invention is determined by the stiffness and length variation of the balance element 6, the mass of the driving element 3, the distance between the center of mass of the driving element 3 and the axis of the first wire wheel 2, and the included angle between the current direction of the driving element 3 and the gravity direction, and the working parameters of the mechanism can be changed by adjusting the above factors, so as to improve the flexible adaptability of the compensation mechanism.
It should be noted that the frame 100 may be a single supporting structure, and in practical applications, the frame 100 may also be another structure of the main manipulator, which provides a supporting component for the compensation mechanism.
Wherein, the output of driver 1 is connected with second silk wheel 7, and second silk wheel 7 utilizes drive transmission silk 8 to link to each other with the transmission of first silk wheel 2, and driver 1 optional motor, driver 1 drive second silk wheel 7 and rotate, and then utilize drive transmission silk 8 to drive first silk wheel 2 and rotate.
Specifically, one end of each driving transmission wire 8 is connected with the second wire wheel 7, the other end of each driving transmission wire 8 is connected with the first wire wheel 2, the number of the driving transmission wires 8 is two, and the two driving transmission wires 8 are symmetrically arranged by taking a connecting line of the circle centers of the first wire wheel 2 and the second wire wheel 7 as a symmetry axis. As shown in fig. 4, in the present embodiment, when the driving transmission wires 8 do not cross the symmetry axis, the driver 1 drives the second wire wheel 7 to rotate clockwise, and under the action of the two driving transmission wires 8, the first wire wheel 2 rotates clockwise, and accordingly, the driving element 3 rotates clockwise; when the driver 1 drives the second wire wheel 7 to rotate counterclockwise, the second wire wheel 7 drives the first wire wheel 2 to rotate counterclockwise by using the driving transmission wire 8.
In order to reduce the abrasion of the driving transmission wire 8 in the using process, the outer peripheral surface of the second wire wheel 7 is provided with a wire travelling thread groove, so that the driving transmission wire 8 travels along the wire travelling thread groove, while the outer peripheral surface of the first wire wheel 2 is as smooth as possible, the friction between the driving transmission wire 8 and the first wire wheel 2 is reduced, the service life of the driving transmission wire 8 is prolonged, and the normal work of the mechanism is ensured.
In other embodiments of the present invention, two driving transmission wires 8 may be arranged in a crossing manner, as shown in fig. 1 and fig. 2, one end of each driving transmission wire 8 is connected to the second wire wheel 7, the other end of each driving transmission wire 8 is connected to the first wire wheel 2 across the symmetry axis, the driver 1 drives the second wire wheel 7 to rotate clockwise, the first wire wheel 2 rotates counterclockwise under the action of the two driving transmission wires 8, and accordingly, the driving element 3 rotates counterclockwise; when the driver 1 drives the second wire wheel 7 to rotate anticlockwise, the second wire wheel 7 drives the first wire wheel 2 to rotate clockwise by using the driving transmission wire 8, and then the balance transmission wire 5 is pulled, so that the balance element 6 is deformed to provide elastic potential energy. In practical application, the connecting direction of the driving transmission wire 8 can be selected according to practical conditions, and the flexible adaptability of the mechanism is improved. In addition, the winding amount of the driving transmission wire 8 can be adjusted according to actual conditions so as to ensure a certain working range of the driving element 3.
More specifically, the balance assembly 300 further includes a guide wheel set 9, the guide wheel set 9 includes a second guide wheel 10, a third guide wheel 11 and a synchronous belt 12, the second guide wheel 10 is connected to the first wire wheel 2 and coaxially disposed with the first wire wheel 2, the third guide wheel 11 is rotatably disposed on the first wire wheel 2, the second guide wheel 10 drives the third guide wheel 11 to rotate by using the synchronous belt 12, a line connecting centers of the second guide wheel 10 and the third guide wheel 11 is parallel to a line connecting a center of mass of the driving element 3 and a center of circle of the first wire wheel 2, and the balance transmission wire 5 is connected to the third guide wheel 11. The second guide wheel 10 and the first wire wheel 2 are coaxially arranged, the first wire wheel 2 can drive the second guide wheel 10 to coaxially rotate, the second guide wheel 10 utilizes the synchronous belt 12 to realize the rotation of the third guide wheel 11, and the third guide wheel 11 drives the balance transmission wire 5 to move, so that the balance element 6 is deformed.
It should be further noted that the third guide wheel 11 is connected with a fourth guide wheel 13, the fourth guide wheel 13 and the third guide wheel 11 are coaxially arranged, the balance transmission wire 5 is connected with the fourth guide wheel 13, and the axis of the fourth guide wheel 13, the axis of the first wire wheel 2 and the center of mass of the driving element 3 are coplanar, so that elastic potential energy generated by deformation of the balance element 6 can balance the gravity of the driving assembly 200 to do work. In addition, the balance assembly 300 and the driving assembly 200 are connected in parallel through the second wire wheel 7 and the guide wheel set 9, so that the oscillation phenomenon of the driving transmission wire 8 caused by the serial connection of the balance assembly 300 and the driving assembly 200 is avoided, and the transmission precision of the driving transmission wire 8 is improved.
In this embodiment, the balancing element 6 is a zero initial length spring, and in practical applications, the balancing element 6 may also be a component capable of providing elastic potential energy.
In summary, in the movement process of the driving element 3, the balance transmission wire 5 pulls the balance element 6, so that the length of the balance element 6 changes, and the elastic potential energy provided by the balance element 6 counteracts the work done by the change of the gravitational moment in the periodic rotation process of the driving element 3, thereby realizing the dynamic passive gravity compensation of the main manipulator. As shown in fig. 3, point a is a rotation center of the first guide wheel 4, point B is a rotation center of the first wire wheel 2, a distance between point a and point B is a, point C is a rotation center of the third guide wheel 11, a distance between point B and point C is B, a distance between point B and a centroid of the driving element 3 is l, an included angle between a current direction and a gravity direction G of the driving element 3 in a movement process is θ, a mass of the driving element 3 is m, a stiffness coefficient of the balance element 6 is k, a length variation of the balance element 6 is Δ x, and a diameter ratio of the second guide wheel 10 to the third guide wheel 11 is λ, so that the passive balance mechanism potential energy can be expressed as:
the length variation Δ x of the balancing element 6 can be expressed as:
Δx＝a 2 +b 2 +2abcosθ
the energy conservation of the passive gravity compensation mechanism of the invention is as follows:
the elastic potential energy provided by the balancing element 6 is jointly determined by k, Δ x, a, b, θ, λ, m, l, and furthermore the elastic potential energy provided by the balancing element 6 can also be scaled by changing the value of λ. Further, the value of λ is greater than 1, the elastic potential energy provided by the balance element 6 is reduced, the value of λ is less than 1, and the elastic potential energy of the balance element 6 is amplified.
Besides, in other embodiments of the present invention, the driving element 3 may be a parallelogram mechanism, and the driving element 3 adopts the parallelogram mechanism, which can effectively improve the stability of the driving element 3 and further improve the operation safety factor of the main manipulator.
When the driving element 3 is in the form of a parallelogram mechanism, the driving element 3 comprises a first link 14, a second link 15, a third link 16 and a fourth link 17, one end of the first link 14 is hinged to the first wire wheel 2, and the hinge axis of the first link 14 and the first wire wheel 2 coincides with the rotation axis of the first wire wheel 2, the other end of the first link 14 is hinged to one end of the second link 15, the other end of the second link 15 is hinged to one end of the third link 16, the other end of the third link 16 is hinged to one end of the fourth link 17, and the other end of the fourth link 17 is hinged to the first wire wheel 2, and the hinge axis of the fourth link 17 and the first wire wheel 2 coincides with the rotation axis of the first wire wheel 2, the first link 14, the second link 15, the third link 16 and the fourth link 17 form a parallelogram mechanism, the fourth link 17 can be connected to a main operating hand, the first link 14 and the third link 16 remain parallel at all the time, so as to avoid the second link 15 affecting the operating hand connected to the main operating part of the fourth link 17 during movement.
The passive gravity compensation mechanism of the main manipulator comprises a driving assembly 200 and a balancing assembly 300, wherein the driving assembly 200 is used for realizing power output of a driving element 3, the balancing assembly 300 is used for providing elastic potential energy so as to realize change of gravity moment in the periodic rotation process of the dynamic balancing driving element 3, and the elastic potential energy required to be provided by the balancing element 6 is jointly determined by the rigidity of the balancing element 6, the length change of the balancing element 6, the mass of the driving element 3, the distance between the mass center of the driving element 3 and the rotation center thereof, the included angle between the current direction of the driving element 3 and the gravity direction thereof, and the relative distance and the geometric dimension between a second guide wheel 10 and a third guide wheel 11 in a guide wheel set 9. The passive gravity compensation mechanism of the invention ensures that the type selection of the balance element 6 and the design of the mechanical mechanism are more flexible, and greatly improves the adaptability of the compensation mechanism.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. A passive gravity compensation mechanism for a master manipulator, comprising:
a frame;
the driving assembly comprises a driver, a first wire wheel and a driving element, the first wire wheel is rotatably arranged on the rack, the output end of the driver is in transmission connection with the first wire wheel, the driving element is connected with the first wire wheel, and the driving element can be connected with a main manipulator component;
the balance assembly comprises a first guide wheel, a balance transmission wire and a balance element, the first guide wheel is rotatably arranged on the rack, the rotation axis of the first guide wheel is parallel to the rotation axis of the first wire wheel, one end of the balance transmission wire is connected with the first wire wheel, the connecting point of the balance transmission wire and the first wire wheel is not coincident with the rotation axis of the first wire wheel, in addition, in the initial state, the connecting line of the connecting point of the balance transmission wire and the first wire wheel and the center of mass of the driving element is parallel to the vertical direction, the other end of the balance transmission wire bypasses the first guide wheel to be connected with one end of the balance element, the other end of the balance element is connected with the rack, and the balance element is an elastic body.
2. The passive gravity compensation mechanism for a main operator according to claim 1, wherein: the output end of the driver is connected with a second wire wheel, and the second wire wheel is in transmission connection with the first wire wheel through a driving transmission wire.
3. The passive gravity compensation mechanism of the main operator according to claim 2, wherein: one end of the driving transmission wire is connected with the second wire wheel, the other end of the driving transmission wire is connected with the first wire wheel, the number of the driving transmission wires is two, and the two driving transmission wires are symmetrically arranged by taking a connection line of circle centers of the first wire wheel and the second wire wheel as an axis.
4. The passive gravity compensation mechanism of the main operator according to claim 3, wherein: the two driving transmission wires are arranged in a crossed mode.
5. The passive gravity compensation mechanism of the main operator according to claim 1, wherein: the balance assembly further comprises a guide wheel set, the guide wheel set comprises a second guide wheel, a third guide wheel and a synchronous belt, the second guide wheel is connected with the first wire wheel and coaxially arranged with the first wire wheel, the third guide wheel is rotatably arranged on the first wire wheel, the second guide wheel drives the third guide wheel to rotate by the synchronous belt, the connecting line of the center of circle of the second guide wheel and the third guide wheel is parallel to the connecting line of the center of circle of the first wire wheel and the center of mass of the driving element, and the balance transmission wire is connected with the third guide wheel.
6. The passive gravity compensation mechanism of the main operator according to claim 5, wherein: the third guide wheel is connected with a fourth guide wheel, the fourth guide wheel and the third guide wheel are coaxially arranged, and the balance transmission wire is connected with the fourth guide wheel.
7. A passive gravity compensation mechanism for a main operator according to any of claims 1-6, wherein: the balance element is a zero initial length spring.
8. A passive gravity compensation mechanism for a main operator according to any of claims 1-6, wherein: the drive element is a parallelogram mechanism.
9. The passive gravity compensation mechanism of the main operator according to claim 8, wherein: the driving element includes a first link, a second link, a third link, and a fourth link, one end of the first link is hinged to the first wire reel, and a hinge axis of the first link and the first wire reel coincides with a rotation shaft of the first wire reel, the other end of the first link is hinged to one end of the second link, the other end of the second link is hinged to one end of the third link, the other end of the third link is hinged to one end of the fourth link, the other end of the fourth link is hinged to the first wire reel, and a hinge axis of the fourth link and the first wire reel coincides with a rotation shaft of the first wire reel, the first link, the second link, the third link, and the fourth link constitute a parallelogram mechanism, and the fourth link is connectable to a main operating hand part.
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| CN202211690629.4A CN115844548A (en) | 2022-12-28 | 2022-12-28 | Passive gravity compensation mechanism of main manipulator |
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| CN202211690629.4A CN115844548A (en) | 2022-12-28 | 2022-12-28 | Passive gravity compensation mechanism of main manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117257451A (en) * | 2023-11-22 | 2023-12-22 | 杭州唯精医疗机器人有限公司 | Load compensation device and surgical robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117257451A (en) * | 2023-11-22 | 2023-12-22 | 杭州唯精医疗机器人有限公司 | Load compensation device and surgical robot |
| CN117257451B (en) * | 2023-11-22 | 2024-03-01 | 杭州唯精医疗机器人有限公司 | Load compensation device and surgical robot |
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