CN118217023A

CN118217023A - Balancing component, vertical shaft and surgical robot

Info

Publication number: CN118217023A
Application number: CN202410460762.3A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Priority date: 2024-04-17
Filing date: 2024-04-17
Publication date: 2024-06-21

Abstract

The embodiment of the application provides a balance assembly, a vertical shaft and a surgical robot. Wherein, the balance assembly includes: a support mechanism; a constant force mechanism having a first shaft rotatable relative to the support mechanism, the first shaft configured to be coupled to a first location of a load; the force compensation mechanism is connected with the supporting mechanism and provided with a second rotating shaft which can independently rotate relative to the first rotating shaft; the second rotating shaft is configured to be connected with a second position of the load through the connecting piece so as to provide a balance force opposite to the gravity direction of the load together with the constant force mechanism to balance the gravity of the load; wherein the second position is offset from the first position. According to the balance assembly, the vertical shaft and the surgical robot provided by the application, the overturning moment of the load connected with the constant force spring can be reduced, so that the friction force of up-and-down movement of the load is reduced, and the smoothness of up-and-down movement adjustment of the vertical shaft is improved.

Description

Balancing component, vertical shaft and surgical robot

Technical Field

The application relates to the technical field of mechanical equipment, in particular to a balance assembly, a vertical shaft and a surgical robot.

Background

With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery has been increasingly used with the advantages of small surgical wounds, rehabilitation time periods, less pain of patients and the like. The minimally invasive surgery robot has the characteristics of high dexterity, high control precision, visual surgery images and the like, can avoid operation limitation, such as tremble of hands during filtering operation, and is widely applied to surgery areas such as abdominal cavities, pelvic cavities, thoracic cavities and the like. The endoscopic surgical robot in the minimally invasive surgical robot generally comprises a doctor console (master end), a patient surgical platform (slave end) and an image platform, wherein the doctor console collects operation signals of a doctor, generates control signals of the patient surgical platform through a control system, and performs surgical operation on a surgical arm of the patient surgical platform. In general, in a patient operating platform configuration for laparoscopic surgery, a vertical shaft of one of the adjustment joints is reciprocally moved up and down to adjust the position of the operating arm, which is heavy, so that a gravity balance mechanism is required to be provided to the operating arm in order to adjust the position of the operating arm.

In the related art, for example, chinese patent CN106132343B discloses a constant power spring with active bias, including a motor, a constant power spring, a bracket and a plurality of supporting members; one end of the constant force spring is connected with the load, and the other end of the constant force spring is connected with the winding drum; the rotor of the motor is connected to the spool of the constant force spring for providing an additional tension to the constant force spring so that the force provided by the constant force spring can be increased as much as desired to maintain a constant balance force.

However, in the related art, the constant force spring is only connected with the load and drives the load to move up and down, so that the friction force is large when the load moves up and down, the vertical shaft is poor in up-and-down adjustment smoothness, and the replacement and maintenance of the constant force spring are inconvenient.

Disclosure of Invention

The embodiment of the application provides a balance assembly, a vertical shaft and a surgical robot, which can reduce the overturning moment of a load connected with a constant force mechanism, thereby reducing the friction force of the load moving up and down, improving the smoothness of vertical shaft up and down movement adjustment and facilitating the replacement and maintenance of the constant force mechanism.

According to a first aspect of an embodiment of the present application, there is provided a balancing assembly comprising:

A support mechanism;

A constant force mechanism having a first shaft rotatable relative to the support mechanism, the first shaft configured to be coupled to a first location of a load configured to provide a directional motion of the constant force mechanism relative to the support mechanism in a direction of the constant force to the load;

the force compensation mechanism is connected with the supporting mechanism and provided with a second rotating shaft which can independently rotate relative to the first rotating shaft; the second rotating shaft is configured to be connected with a second position of the load through the connecting piece so as to provide a balance force opposite to the gravity direction of the load together with the constant force spring to balance the gravity of the load;

Wherein the second position is offset from the first position.

In one implementation, the connector comprises a flexible connector; the second rotating shaft is provided with a rotating wheel, the flexible connecting piece is connected to the rotating wheel, and when the second rotating shaft rotates, the flexible connecting piece is wound or unwound on the rotating wheel.

In one implementation, the load has an axis of movement along a constant force direction provided by the constant force mechanism to the load, the first position being offset from the axis of movement;

the second position is positioned at one side of the moving axis, which is away from the first position;

or alternatively

The second position is located on a side of the first position facing the movement axis.

In one implementation, a force compensation mechanism includes:

the shell is fixedly arranged on the supporting mechanism; the second rotating shaft is rotatably arranged in the shell, and part of the second rotating shaft extends out of the shell so as to be connected with the connecting piece;

The first rotating shaft is detachably sleeved on the periphery of the shell, and the first rotating shaft is configured to rotate relative to the shell.

In one implementation mode, a first bearing is arranged between the shell and the first rotating shaft, an inner ring of the first bearing is fixedly connected with the outer wall of the shell, and an outer ring of the first bearing is fixedly connected with the inner wall of the first rotating shaft.

In one implementation, a support mechanism includes:

A fixing seat;

The first supporting plate is fixedly arranged on the fixing seat;

the second support plate is fixedly arranged on the fixed seat and is opposite to the first support plate;

The shell is fixedly arranged between the first supporting plate and the second supporting plate; a portion of the second rotating shaft extends to the outside of any one of the first support plate and the second support plate.

In one implementation, the balancing assembly further comprises:

the first sensor is fixed with the second rotating shaft relatively, and the other part of the first sensor rotates with the second rotating shaft relatively;

the first sensor is configured to detect a rotation angle of the second rotating shaft to determine a first displacement of the load moving up and down.

In one implementation, the first sensor includes:

a magnet fixedly arranged relative to one of the second rotating shaft and the housing;

A magnetic encoder fixedly disposed relative to the other of the second shaft and the housing, the magnetic encoder configured to read the rotation angle of the magnet to determine a first displacement of the load moving up and down.

According to a second aspect of an embodiment of the present application, there is provided a vertical shaft comprising:

the balance component provided by any implementation manner of the first aspect of the embodiment of the application;

A moving cylinder configured to connect a load; the constant force mechanism of the balance assembly is connected to the first position of the movable cylinder; the second rotating shaft of the balance assembly is connected to the second position of the movable barrel.

In one implementation, the vertical shaft further comprises:

The mounting plate is fixedly connected to the supporting mechanism of the balance assembly and is positioned at the lower side of the supporting mechanism;

The lifting frame is movably connected to the mounting plate and connected with the movable cylinder to drive the movable cylinder to lift relative to the mounting plate.

In one implementation mode, a guide structure is arranged on the mounting plate, and the lifting frame is arranged on the guide structure in a sliding manner; the guide structure is configured to guide the elevator frame.

In one implementation, the vertical shaft further comprises:

The brake mechanism is partially arranged on the mounting plate, and the other part of the brake mechanism is arranged on the lifting frame; the brake mechanism is configured to limit the moving cylinder to maintain the moving cylinder and the load in a preset position.

In one implementation, the brake mechanism has a second sensor configured to detect a second displacement of the moving drum up and down; the first displacement detected by the first sensor of the second displacement and balancing assembly is configured to determine whether the vertical shaft is damaged.

According to a third aspect of an embodiment of the present application, there is provided a surgical robot including:

a suspension adjustment assembly;

a vertical shaft provided in any optional implementation of the second aspect of the inventive embodiment, the vertical shaft being connected to a suspension adjustment assembly;

An operating arm coupled to an end of the vertical shaft facing away from the suspension adjustment assembly, the operating arm configured to couple to a distal instrument.

According to the balance assembly, the vertical shaft and the surgical robot provided by the embodiment of the application, the constant force mechanism is provided with the first rotating shaft which can rotate relative to the supporting mechanism, and the first rotating shaft is configured to be connected with the first position of the load, so that the constant force mechanism can provide constant balance force to balance the gravity of the load; wherein the constant force mechanism is connected to a first position of the load; when the load moves along the direction of the constant force provided by the constant force mechanism for the load, the balance force provided by the constant force mechanism for the load is not collinear with the moving axis of the load, so that a certain overturning moment exists for the load, part of the gravity of the load is loaded on the guide structure, and friction force exists between the load and the guide structure when the load moves; the force compensation mechanism is arranged on the supporting mechanism and provided with a second rotating shaft which rotates independently relative to the first rotating shaft, and the second rotating shaft is connected with a second position of the load through a connecting piece; the second position is misplaced with the first position; in this way, the force compensation mechanism can provide compensation moment for compensating the constant force mechanism for the redundant gravity of the load through the flexible connecting piece; because the second position is misplaced with the first position, the compensation moment provided by the connecting piece for the load can reduce or eliminate the overturning moment of the load, thereby reducing the friction force applied when the load moves and improving the smoothness of the vertical shaft up-and-down movement adjustment.

In addition, the second rotating shaft of the force compensation mechanism and the first rotating shaft of the constant force mechanism rotate independently, so that the second rotating shaft and the first rotating shaft have no dependency connection relationship; therefore, when the constant force mechanism needs to be disassembled and replaced, the constant force mechanism can be disassembled and replaced independently, so that the replacement and the overhaul of the constant force mechanism are facilitated, and the maintenance cost of the replacement and the overhaul of the constant force mechanism is reduced.

Drawings

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

FIG. 1 is a schematic view of a slave end manipulator arm and vertical shaft mated configuration of a surgical robot provided in some embodiments of the present application;

FIG. 2 is a schematic view of the structure of a vertical shaft in a surgical robot provided in some embodiments of the present application;

FIG. 3 is a schematic view of a surgical robot with a vertical shaft with a cover removed, according to some embodiments of the present application;

FIG. 4 is a schematic view of another configuration of a surgical robot with a vertical shaft with a cover removed, according to some embodiments of the present application;

FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4;

FIG. 6 is a schematic structural view of a balancing assembly in a surgical robot provided in some embodiments of the present application;

FIG. 7 is a schematic illustration of a configuration of a surgical robot in which a rotating wheel cooperates with a flexible connection member;

FIG. 8 is a schematic diagram of a topology of a rotor, a first shaft, a constant force spring, and a flexible connection coupling of a surgical robot according to some embodiments of the present application;

FIG. 9 is a schematic diagram of another topology of a rotor, a first shaft, a constant force spring, and a flexible connection coupling of a surgical robot according to some embodiments of the present application;

fig. 10 is a partially enlarged view at B in fig. 5.

10-Vertical axis; 20-an operating arm;

A 100-balance assembly; 200-moving the cylinder; 300-mounting plate; 400-lifting frame; 500-guiding structure; 600-cover body;

101-a supporting mechanism; 102-a first rotating shaft; 103-a constant force spring; 104-a force compensation mechanism; 105-a first sensor;

1011-fixing base; 1012-a first support plate; 1013-a second support plate; 1021-a first bearing; 1031-a first position; 1041-a second shaft; 1042-flexible connection; 1043-a second position; 1044-a rotating wheel; 1044 a-grooves; 1045-a housing; 1051-magnet; 1052-magnetic encoder.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

In this specification, numerous specific details are set forth in some places. It is understood, however, that embodiments of the application may be practiced without these specific details. Such detailed description is not to be taken in a limiting sense, and the scope of the present application is defined only by the appended claims. Well-known structures, circuits, and other details have not been shown in detail in order not to obscure the gist of the present application.

In this specification, the drawings show schematic representations of several embodiments of the application. However, the drawings are merely schematic, and it is to be understood that other embodiments or combinations may be utilized and that mechanical, physical, electrical and step changes may be made without departing from the spirit and scope of the present application.

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

As used herein, "a" and "an" in the singular are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.

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

The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe a medical device, including an end effector, configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. The end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizer or retractor, clip applier, stapling apparatus, imaging apparatus (e.g., endoscope or ultrasound probe), and the like. Some instruments used with embodiments of the present application further provide an articulating support (sometimes referred to as a "wrist") for a surgical tool such that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument shaft. Further, many end effectors include functional mechanical degrees of freedom such as open or closed jaws or knives that translate along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide for one-way or two-way information communication between the instrument and one or more system components.

The term "mated" may be understood in a broad sense as any situation in which two or more objects are connected in a manner that allows the mated objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather, many objects or components may be used to mate two or more objects. For example, objects a and B may be mated by using object C. Furthermore, the term "detachably coupled" or "detachably mated" may be interpreted to mean a non-permanent coupling or mating situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

Finally, the terms "or" and/or "as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means any one of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C. An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.

Summary of Master-slave teleoperated laparoscopic surgical robots

Endoscopic surgical robots typically include a doctor control platform, a patient surgical platform, and an image platform, where a surgeon sits on the doctor control platform, views two-or three-dimensional images of a surgical field transmitted by a scope placed in a patient, and manipulates movements of a robotic arm on the patient surgical platform, as well as surgical instruments or scopes attached to the robotic arm. The mechanical arm is equivalent to an arm simulating a human, the surgical instrument is equivalent to a hand simulating the human, and the mechanical arm and the surgical instrument provide a series of actions simulating the wrist of the human for a surgeon, and meanwhile tremble of the human hand can be filtered.

The patient surgical platform includes a chassis, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at an end of a support assembly of each robotic arm. A surgical instrument and/or endoscope is removably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and/or a scope that are operated at a surgical site within a patient. Each surgical instrument manipulator may be permitted to provide the associated surgical instrument in a variety of forms that move in one or more mechanical degrees of freedom (e.g., all six cartesian degrees of freedom, five or fewer cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located where the surgical instrument enters the body and is referred to as a "telecentric point".

The image platform typically includes one or more video displays having video image capturing functionality (typically endoscopes) and for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the endoscope includes optics that transfer images from the patient's body to one or more imaging sensors (which may also be referred to as image sensors, e.g., CCD or CMOS sensors) at the distal end of the endoscope, and the video image is transferred to a host of an image platform by photoelectric conversion or the like. The processed image is then displayed on a video display for viewing by an assistant through image processing.

The physician control platform may be at a single location in a surgical system consisting of an endoscopic surgical robot or it may be distributed at two or more locations in the system. The remote master/slave operation may be performed according to a predetermined control degree. In some embodiments, the physician control platform includes one or more manually operated input devices, such as a joystick, exo-skeletal glove, power and gravity compensation manipulator, or the like. The input devices collect operation signals of a surgeon, and control signals of the mechanical arm and the surgical instrument manipulator are generated after the operation signals are processed by the control system, so that remote control motors on the surgical instrument manipulator are controlled, and the motors further control the movement of the surgical instrument.

Typically, the force generated by the teleoperated motor is transmitted via a transmission system, transmitting the force from the teleoperated motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device controlling the manipulator may be located remotely from the patient, either in or out of the room in which the patient is located, or even in a different city. The input signal of the input device is then transmitted to the control system. Those familiar with tele-manipulation, tele-control and tele-presentation surgery will appreciate such systems and components thereof.

Fig. 1 is a schematic view of a configuration of a slave manipulator arm and a vertical shaft in a surgical robot according to some embodiments of the present application.

In some examples, the surgical robot may include a master control end.

In some examples, referring to fig. 1, a surgical robot may include a slave. The slave may receive control signals from the master and perform surgical procedures.

In some examples, the slave may include a trolley base (not shown).

In some examples, the slave may include a suspension adjustment assembly (not shown).

In some examples, the slave may include a vertical axis 10 (which may also be referred to as a mobile axis in some examples). The vertical shaft 10 may be connected to a suspension adjustment assembly.

In some examples, the vertical shaft 10 may be configured to be positioned prior to surgery.

In some examples, the vertical shaft 10 may be configured to control up and down movement of a structure connected to the vertical shaft 10 at the time of surgery to achieve preliminary adjustment of up and down position.

In some examples, the slave may include an operating arm 20 (which may also be referred to as a surgical arm in some examples). The operating arm 20 may be connected to the vertical shaft 10.

In some examples, the operating arm 20 may be connected to an end of the vertical shaft 10 facing away from the suspension adjustment assembly.

In some examples, manipulator arm 20 may be configured to control the position of a distal instrument during surgery.

In some examples, manipulator arm 20 may be configured to control the orientation of the end instrument during surgery. In this way, free movement of the end instrument within the surgical field is facilitated.

In some examples, the vertical shaft 10 may be configured to adjust the upward and downward movement of the operating arm 20 to achieve a preliminary adjustment of the position of the operating arm 20.

Fig. 2 is a schematic structural view of a vertical shaft in a surgical robot according to some embodiments of the present application, and fig. 3 is a schematic structural view of a surgical robot according to some embodiments of the present application with a cover removed from the vertical shaft.

It will be appreciated that in some examples, the operating arm 20 has a weight. The end instrument mounted on the operating arm 20 also has a certain weight. The weight of the operation arm 20 is generally large (typically, the weight of the operation arm 20 is 10kg to 25 kg). To facilitate vertical adjustment of the surgical arm, it is generally desirable to provide a balancing assembly 100 to balance the weight of the arm 20.

Referring to fig. 3, in some examples of embodiments of the application, the vertical shaft 10 may include a balance assembly 100. The balance assembly 100 may be connected to a suspension adjustment assembly as described in detail in the previous embodiments of the present application.

In some examples, the vertical shaft 10 may include a moving barrel 200. The moving cylinder 200 may be connected to a load.

In some examples, the load may include an operating arm 20 as described in detail in the foregoing embodiments of the application.

In some examples, the load may include a tip instrument as described in detail in the foregoing embodiments of the application.

In some examples, the mobile cartridge 200 may be coupled to a distal instrument via the operating arm 20.

In some examples, the balancing assembly 100 may balance the weight of the moving cartridge 200, the operating arm 20, and the end instrument.

In some examples, the shift cartridge 200 may be moved up and down along the vertical axis 10 to move the manipulator arm 20 and the end instrument up and down. In this manner, the operating arm 20 and the end instrument are facilitated to be adjusted in up and down positions.

In some examples, to promote stability of the movement of the moving cylinder 200 up and down along the vertical shaft 10, the vertical shaft 10 may include a mounting plate 300.

In some examples, the mounting plate 300 may be coupled to a suspension adjustment platform as described in detail in the previous embodiments of the application.

In some examples, the mounting plate 300 may be affixed to a suspension adjustment platform.

In some examples, the mounting plate 300 may be coupled to a support mechanism 101 to which the counterbalance assembly 100 is coupled to the suspension adjustment assembly.

In some examples, the mounting plate 300 may be located on the underside of the support mechanism 101.

In some examples, the moving cylinder 200 may rise upward in a vertical direction along the mounting plate 300. Or the moving cylinder 200 may descend in a vertical direction along the mounting plate 300.

In some examples, the vertical shaft 10 may include a crane 400. The lifting frame 400 may be movably connected to the mounting plate 300.

In some examples, the lift 400 may be movably coupled to the mounting plate 300 in a vertical direction. The lifting frame 400 may be lifted in a vertical direction with respect to the mounting plate 300.

In some examples, the mobile drum 200 may be connected to a crane 400. When the lifting frame 400 is lifted relative to the mounting plate 300, the movable cylinder 200 can be driven to lift relative to the mounting plate 300.

In some examples, the lifting frame 400 may be configured to move the moving cylinder 200 downward relative to the mounting plate 300 when the lifting frame is lowered relative to the mounting plate 300.

In some examples of embodiments of the present application, the mobile drum 200 is coupled to the lifting frame 400 by articulating the lifting frame 400 to the mounting plate 300; the movable cylinder 200 is driven to ascend by the lifting frame 400 ascending relative to the mounting plate 300, or the movable cylinder 200 is driven to descend by the lifting frame 400 descending relative to the mounting plate 300; in this way, during the process of lifting or lowering the moving cylinder 200 relative to the mounting plate 300, the moving cylinder 200 can be moved by the lifting frame 400 in close contact with the mounting plate 300, so that the lifting or lowering stability of the moving cylinder 200 can be improved, and the lifting or lowering stability of the operating arm 20 connected to the moving cylinder 200 can be improved.

In some examples, the mounting plate 300 may have a guide structure 500 disposed thereon. The guide structure 500 may be disposed on the mounting plate 300 in a vertical direction.

In some examples, the lift 400 may be slidably disposed to the guide structure 500. The lifting frame 400 may slide along the guide structure 500 to be lifted or lowered in a vertical direction.

In some examples of embodiments of the present application, the lift 400 is slidably disposed on the guide structure 500 by disposing the guide structure 500 on the mounting plate 300; in this way, the guide structure 500 may guide the ascent or descent of the elevation frame 400, and may promote the stability of the movement of the moving cylinder 200 in the vertical shaft 10.

In some examples, the guide structure 500 may include a guide rail. The guide rail may be fixedly coupled to the mounting plate 300.

In some examples, the lift 400 may be slidably disposed on the rail. The lifter 400 may slide along the guide rail to ascend or descend in the vertical direction.

In some examples, the rail may include two. The two guide rails may be oppositely disposed on the mounting plate 300.

In some examples of the embodiment of the present application, the stability of the moving cylinder 200 moving in the vertical shaft 10 is improved and the stability of the operating arm 20 moving up and down is improved by providing two guide rails to guide the lifting frame 400.

In some examples, the guide structure 500 may include a guide slot (not shown). The guide groove may be provided on the mounting plate 300 in a vertical direction.

In some examples, portions of the elevator 400 may be inserted into the guide slots. The lifter 400 may slide along the guide groove to be lifted or lowered in the vertical direction.

In some examples, the guide slot may include two. The two guide grooves may be oppositely disposed on the mounting plate 300.

Fig. 4 is a schematic view showing another structure of the surgical robot with the cover removed from the vertical axis according to some embodiments of the present application, and fig. 5 is a sectional view taken along line A-A of fig. 4.

In some examples, to balance the weight of the moving cartridge 200, the manipulator arm 20, and the end instrument, a relatively heavy manipulator arm 20 is conveniently adjusted reciprocally up and down. Referring to fig. 4 and 5, the balancing assembly 100 may include a support mechanism 101. The support mechanism 101 may be coupled to a suspension adjustment platform as described in detail in the previous embodiments of the present application.

In some examples, the support mechanism 101 may be fixedly connected to the suspension adjustment platform.

In some examples, the support mechanism 101 may be detachably connected to the suspension adjustment platform.

In some examples, the balancing assembly 100 may include a constant force mechanism. The constant force mechanism may be coupled to the support mechanism 101.

In some examples, the constant force mechanism may be directly connected to the support mechanism 101.

In some examples, the constant force mechanism may be indirectly coupled to the support mechanism 101.

In some examples, the constant force mechanism may have a first shaft 102. The first rotation shaft 102 can rotate relative to the support mechanism 101.

In some examples, the axis of rotation of the first shaft 102 may extend in a horizontal or approximately horizontal direction.

In some examples, the first shaft 102 may be a hollow shaft that is hollow.

In some examples, the constant force mechanism may include a constant force spring 103. A constant force spring 103 may be coupled to the first shaft 102.

In some examples, the constant force spring 103 may have a fixed end. The fixed end may be connected to the first shaft 102.

In some examples, the constant force spring 103 may have a free end. The free end may be pulled out of the first shaft 102.

In some examples, the constant force spring 103 may be wound on the first shaft 102. Or the constant force spring 103 may be unwound from the first spool 102.

In some examples, to balance the weight of the moving cylinder 200, the operating arm 20, and the end instrument, referring to fig. 4, the free end of the constant force spring 103 may be coupled to the moving cylinder 200.

In some examples, the moving cylinder 200 may be configured to move relative to the support mechanism 101 in a direction that provides constant force to the moving cylinder by the constant force spring 103. For example, the moving cylinder 200 may move along the extending direction of the constant force spring 103.

In some examples, the free end of the constant force spring 103 may be coupled to the first position 1031 of the moving cartridge 200.

In some examples, to reduce the space required for the first shaft 102 and the moving cylinder 200, the axis of the moving cylinder 200 may be disposed on the same plane or approximately the same plane as the rotation axis of the first shaft 102 on a vertical plane. For this, since the constant force spring 103 is wound around the outer wall of the first shaft 102, the first position 1031 where the free end of the constant force spring 103 is connected to the moving cylinder 200 may be deviated from the axis of the moving cylinder 200.

In some examples, the first location 1031 may be a side of one of the sides of the moving cartridge 200.

In some examples, to facilitate connection of the constant force spring 103 to the moving cartridge 200, the first position 1031 may be a side of the moving cartridge 200 facing away from the mounting plate 300.

In some examples, after prolonged use, the constant force spring 103 may have some spring force fatigue, resulting in a weakening of the balance force that the constant force spring 103 is able to provide over time.

In some examples, the weight of different types of end instruments may be different, resulting in a change in the load on the vertical shaft 10 and a change in the required balance force.

To this end, in some examples of embodiments of the application, the balancing assembly 100 may include a force compensation mechanism 104.

In some examples, the force compensation mechanism 104 may have a second shaft 1041 that rotates independently relative to the first shaft 102. I.e. the rotation of the second shaft 1041 is decoupled from the first shaft 102. The rotation of the second shaft 1041 does not affect the rotation of the first shaft 102. The rotation of the first shaft 102 does not affect the rotation of the second shaft 1041.

In some examples, the second shaft 1041 may be configured to be coupled to the second position 1043 of the moving cylinder 200 by a connection.

In some examples, the second shaft 1041 may provide a counter-balance force through the connection 1042 and the constant force spring 103 in combination. The counter-balance force may be in opposition to the gravitational force of the moving cartridge 200, the operating arm 20, and the end instrument. In this way, the second rotating shaft 1041 of the force compensation mechanism 104 can provide a compensation torque to compensate the balance force of the constant force spring 103, so that under the condition that the end instrument changes or the constant force attenuation occurs when the constant force spring 103 is used for a long time, a constant balance force corresponding to the load gravity can be provided, and the accuracy and smoothness of the operation arm 20 in up-and-down adjustment can be improved conveniently.

In some examples, the first location 1031 and the second location 1043 may be offset from each other.

In some examples, the first location 1031 may be a side of the moving cartridge 200 that faces away from the mounting plate 300. The second location 1043 may be other sides of the moving cylinder 200 than the first location 1031.

In some examples, the first location 1031 is the side of the moving cartridge 200 facing away from the mounting plate 300. The balance force provided by the constant force spring 103 to the moving cylinder 200 is not collinear with the weight of the moving cylinder 200; resulting in a tendency of the moving cylinder 200 to tilt to the side of the mounting plate 300, i.e., a tilting moment of the moving cylinder 200, the operating arm 20, and the instrument tip. The gravity force causing the moving cylinder 200, the operation arm 20, and the end instrument has a component force toward the mounting plate 300, so that a sliding friction force at the time of relative sliding between the lifter 400 and the guide structure 500 is large.

In some examples of embodiments of the present application, the second position 1043, where the connector attached to the second shaft 1041 is connected to the moving cylinder 200, is set to be offset from the first position 1031. In this way, the compensating moment provided by the connecting piece can reduce the overturning moment of the loads such as the moving cylinder 200, the operation arm 20, the tail end of the instrument and the like, so that the sliding friction force during the relative sliding between the lifting frame 400 and the guiding structure 500 can be reduced; facilitating smooth adjustment of the vertical shaft 10.

According to some examples of embodiments of the present application, a balancing assembly 100 is provided, the constant force mechanism having a first shaft rotatable relative to the support mechanism, the first shaft being configured to be coupled to a first position of a load such that the constant force mechanism provides a constant balancing force to balance the weight of the load (e.g., the moving cartridge 200, the operating arm 20, and the end instrument); wherein the constant force mechanism is connected to a first location 1031 of the load; as such, when the load moves in the vertical direction, the balance force provided by the constant force mechanism to the load is not collinear with the axis of movement of the load in the vertical direction, resulting in a tilting moment of the load, so that part of the gravity of the load is loaded on the guide structure 500, and a friction force exists between the load and the guide structure 500 when the load moves; by providing the force compensation mechanism 104 on the support mechanism, the second rotating shaft 1041 of the force compensation mechanism 104 can rotate independently relative to the first rotating shaft 102, and the second rotating shaft 1041 is connected with the second position 1043 of the load through a connecting piece; the second position 1043 is offset from the first position 1031; in this manner, the force compensation mechanism 104 can provide a compensation torque to compensate the constant force mechanism for the excessive gravity of the load through the connection; because the second position 1043 is dislocated from the first position 1031, the compensation moment provided by the connecting piece to the load can reduce or eliminate the overturning moment of the load, thereby reducing the friction force applied when the load moves up and down and improving the smoothness of the up and down movement adjustment of the vertical shaft 10.

Fig. 6 is a schematic structural view of a balance assembly in a surgical robot according to some embodiments of the present application, and fig. 7 is a schematic structural view of a rotating wheel and a flexible connection member in a surgical robot according to some embodiments of the present application.

In some examples, the connector may include a flexible connector 1042.

In some examples, referring to fig. 5-7, a rotating wheel 1044 may be provided on the second shaft 1041. The flexible connection 1042 may be connected to a rotating wheel 1044.

In some examples, the flexible connection 1042 can include a cable.

In some examples, the flexible connector 1042 may comprise a string.

In some examples, the flexible connector 1042 can include a cable.

In some examples, the flexible connector 1042 can include a braid.

In some examples, the flexible connection 1042 may comprise a chain.

In some examples, the flexible connector 1042 may have a fixed end. The fixed end may be connected to a rotating wheel 1044.

In some examples, the flexible connector 1042 can have a free end. The free end may be connected to a second location 1043 of the mobile cartridge 200.

In some examples, the rotating wheel 1044 may be fixedly connected to the second rotating shaft 1041.

In some examples, referring to fig. 7, a groove 1044a may be provided on a circumferential wall of the rotating wheel 1044. The flexible connector 1042 may be disposed within the recess 1044a.

In some examples, the flexible connecting member 1042 may be wound around the groove 1044a when the second shaft 1041 rotates. Therefore, the flexible connecting piece 1042 can be limited by rotating the groove 1044a on the peripheral wall of the building, so that the stability of lifting the moving cylinder 200 is improved.

In some examples, the flexible connector 1042 can unwind from the recess 1044a as the second shaft 1041 rotates.

In some examples, the moving cylinder 200 moves in a vertical direction relative to the mounting plate 300 or the support mechanism 101, and the moving cylinder 200 may have a movement axis in the vertical direction. The first position 1031 is offset from the axis of movement.

In some examples, the first location 1031 may be located on a side of the movement axis facing away from the mounting plate 300.

In some examples, the second shaft 1041 may be concentric with the first shaft 102.

In some examples, the first shaft 102 may be a hollow shaft. The second shaft 1041 may be located within the first shaft 102.

In some examples, the diameter of the swivel wheel 1044 may be smaller than the diameter of the first swivel shaft 102.

Fig. 8 is a schematic diagram of a topology of a surgical robot in which a rotating wheel, a first shaft, a constant force spring, and a flexible connection are engaged.

In some examples, referring to fig. 8, the flexible connection 1042 may wind in the same direction on the rotating wheel 1044 as the constant force spring 103 winds in the first shaft 102.

In some examples, the first shaft 102 may provide the same torque to the constant force spring 103 as the second shaft 1041 provides the flexible connection 1042.

In some examples, the constant force spring 103 may provide a counter-balance force to the moving cartridge 200 in the direction shown by arrow a in fig. 8.

In some examples, the force compensation mechanism 104 can provide a counter-balance force to the moving cartridge 200 in the direction shown by arrow b in fig. 8.

In some examples, referring to fig. 8, the second location 1043 may be located on a side of the first location 1031 facing the axis of movement.

In this way, the balance force provided by the force compensation mechanism 104 to the moving cylinder 200 through the flexible connecting member 1042 can offset part of the overturning moment of the moving cylinder 200, and can reduce the overturning moment of the moving cylinder 200, thereby reducing the sliding friction force between the moving frame and the guiding structure 500 and improving the smoothness of the adjustment of the vertical shaft 10.

Fig. 9 is a schematic diagram of another topology of the cooperation of the rotating wheel, the first shaft, the constant force spring, and the flexible connection unit in the surgical robot according to some embodiments of the present application.

In some examples, referring to fig. 9, the flexible connection 1042 may wind in a direction opposite to the direction of the constant force spring 103 on the first shaft 102 on the rotating wheel 1044.

In some examples, the direction of torque provided by the first shaft 102 to the constant force spring 103 may be opposite to the direction of torque provided by the second shaft 1041 to the flexible connection 1042.

In some examples, the constant force spring 103 may provide a counter-balance force to the moving cartridge 200 in the direction shown by arrow c in fig. 9.

In some examples, the force compensation mechanism 104 can provide a counter-balance force to the moving cartridge 200 in the direction shown by arrow d in fig. 9.

In some examples, referring to fig. 9, the first location 1031 and the second location 1043 may be located on opposite sides of the axis of movement.

In some examples, the second location 1043 may be located on a side of the axis of movement facing away from the first location 1031.

In some examples, the diameter of the rotating wheel 1044 may be equal to the diameter of the first shaft 102.

In some examples, referring to fig. 5, the force compensation mechanism 104 can include a housing 1045. The housing 1045 may be fixed to the support mechanism 101.

In some examples, the second shaft 1041 may be rotatably disposed within the housing 1045. A portion of the second shaft 1041 may extend out of the housing 1045 to be coupled with the flexible coupling 1042.

In some examples, the rotating wheel 1044 may be provided on a portion of the second rotating shaft 1041 extending to the housing 1045.

In some examples, the force compensation mechanism 104 may include a motor. The second shaft 1041 may be a rotor of the motor.

In some examples, the force compensation mechanism 104 may include a frameless torque motor.

In some examples, the first shaft 102 may be a hollow shaft. The first shaft 102 may be detachably sleeved on the outer circumference of the housing 1045.

In some examples, the first shaft 102 may be configured to rotate relative to the housing 1045.

In some examples of embodiments of the application, the housing 1045 is fixed to the support mechanism 101; the second rotating shaft 1041 is rotatably disposed in the housing 1045; the first rotating shaft 102 is sleeved on the outer periphery of the housing 1045, and the first rotating shaft 102 can rotate relative to the housing 1045; in this way, the rotation of the first shaft 102 and the rotation of the second shaft 1041 are decoupled and independent from each other. The second rotating shaft 1041 may be connected to a second position 1043 of the moving cylinder 200 different from the first position 1031 through a flexible connection member 1042, so that the compensating balance force provided by the force compensating mechanism 104 may offset a part of the overturning moment of the moving cylinder 200; the overturning moment of the moving cylinder 200 can be reduced so that the vertical shaft 10 moves up and down more smoothly.

The first shaft 102 is fitted around the outer periphery of the housing 1045, and the first shaft 102 is rotatable relative to the housing 1045. In this way, when the first rotating shaft 102, which is the constant force spring 103, needs to be replaced (for example, when the constant force spring 103 is elastically fatigued), the force compensation mechanism 104 and the first rotating shaft 102 can be detached, and then the force compensation mechanism 104 is pulled out from the first rotating shaft 102 and installed into a new first rotating shaft 102, so that the replacement can be completed. The entire vertical shaft 10 does not need to be disassembled, and maintenance efficiency is improved.

In some examples, a first bearing 1021 may be provided between the housing 1045 and the first shaft 102.

In some examples, the inner ring of the first bearing 1021 may be affixed with the peripheral wall of the housing 1045.

In some examples, the inner race of the first bearing 1021 may be an interference fit with the peripheral wall of the housing 1045.

In some examples, the outer race of the first bearing 1021 may be grounded to an inner wall of the first shaft 102.

In some examples, the outer race of the first bearing 1021 may be an interference fit with the inner wall of the first shaft 102.

In some examples, the first bearing 1021 may be provided at both ends of the first shaft 102 in the axial direction. In this way, the first shaft 102 is rotatably connected to the housing 1045 through the first bearing 1021 at both ends of the first shaft 102, so as to improve the stability of the rotation of the first shaft 102 relative to the housing 1045.

In some examples, to facilitate the installation of the force compensation mechanism 104 and the first shaft 102, as shown with reference to fig. 5 and 6, the support mechanism 101 may include a mounting bracket 1011. The anchor 1011 may be coupled to a suspension adjustment assembly as described in detail in the previous embodiments of the present application.

In some examples, the anchor 1011 may be affixed to the suspension adjustment assembly.

In some examples, the mounting plate 300 may be secured to the mounting block 1011.

In some examples, the mounting plate 300 may be secured to a side of the anchor block 1011 facing away from the suspension adjustment assembly.

In some examples, the support mechanism 101 may include a first support plate 1012. The first support plate 1012 may be disposed on the fixing base 1011.

In some examples, the first support plate 1012 may be fixedly coupled with the fixing base 1011.

In some examples, the first support plate 1012 may be detachably coupled to the mount 1011.

In some examples, the first support plate 1012 may be disposed on a side of the mounting bracket 1011 facing away from the suspension adjustment assembly.

In some examples, the support mechanism 101 may include a second support plate 1013. The second support plate 1013 may be disposed on the fixing base 1011.

In some examples, the second support plate 1013 may be fixedly coupled to the mount 1011.

In some examples, the second support plate 1013 may be detachably coupled to the mount 1011.

In some examples, the second support plate 1013 may be disposed on a side of the fixing base 1011 facing away from the suspension adjustment assembly.

In some examples, the second support plate 1013 may be disposed opposite the first support plate 1012.

In some examples, an installation gap may be left between the second support plate 1013 and the first support plate 1012.

In some examples, the housing 1045 may be fixed between the first support plate 1012 and the second support plate 1013.

In some examples, a portion of the second shaft 1041 may extend to a side of the first support plate 1012 facing away from the second support plate 1013.

In some examples, a portion of the second shaft 1041 may extend to a side of the second support plate 1013 facing away from the first support plate 1012.

Thus, the rotary wheel 1044 is convenient to be connected with the second rotating shaft 1041, and convenience of the rotary wheel 1044 in installation and connection is improved.

In some examples of embodiments of the present application, the housing 1045 is fixed between the first support plate 1012 and the second support plate 1013 by providing the first support plate 1012 and the second support plate 1013 on the fixing base 1011; thus, when the constant force spring 103 needs to be replaced, any one of the first support plate 1012 and the second support plate 1013 can be disassembled, the force compensation mechanism 104 and the constant force spring 103 can be removed, and then the first rotating shaft 102 is removed from the force compensation mechanism 104 for replacement, so that the cost of replacement and maintenance of the constant force spring 103 is reduced, and the efficiency of replacement and maintenance of the constant force spring 103 is improved.

Fig. 10 is a partially enlarged view at B in fig. 5.

In some examples, referring to fig. 10, the balancing assembly 100 may include a first sensor 105.

In some examples, the first sensor 105 may include a motor encoder.

In some examples, a portion of the first sensor 105 may be fixed relative to the second shaft 1041. For example, a portion of the first sensor 105 may be disposed on the second rotating shaft 1041 and rotate under the driving of the second rotating shaft 1041.

In some examples, another portion of the first sensor 105 may rotate relative to the second shaft 1041.

In some examples, another portion of the first sensor 105 may be provided on the housing 1045 to rotate relative to the second axis of rotation 1041. In this manner, the first sensor 105 may detect the rotation angle of the second rotary shaft 1041 as the second rotary shaft 1041 rotates with respect to the housing 1045, thereby determining the first displacement of the moving cylinder 200 up and down in the vertical shaft 10. Thus, the surgical robot can prompt the vertical movement distance of the operating arm 20, so that the operating arm 20 is prevented from being impacted to the vertical shaft 10 to limit vertically when moving up and down, and the stability of the vertical movement adjustment of the operating arm 20 of the surgical robot can be improved.

In some examples, another portion of the first sensor 105 may be provided on the first support plate 1012.

In some examples, another portion of the first sensor 105 may be provided on the second support plate 1013.

In some examples, the first sensor 105 may include a magnet 1051.

In some examples, the first sensor 105 may include a coaxial angle detection magnet 1051.

In some examples, the coaxial angle detection magnet 1051 may be disposed on the second shaft 1041.

In some examples, the first sensor 105 may include a magnetic encoder 1052.

In some examples, the magnetic encoder 1052 may be provided on the first support plate 1012.

In some examples, the magnetic encoder 1052 may be provided on the second support plate 1013.

In some examples, as the second shaft 1041 rotates, the second shaft 1041 rotates the magnet 1051. The magnetic encoder 1052 may read the angle of rotation of the magnet 1051 to determine the angle of rotation of the second shaft 1041; the angle at which the second shaft 1041 rotates and the radius of the rotating wheel 1044 determine the winding or releasing length of the flexible coupling 1042, i.e., the first displacement of the moving cylinder 200.

In some examples, the constant force spring 103 may provide a constant tension of around 12 kg. It will be appreciated that in some examples of embodiments of the application, the particular values of the constant tension provided by the constant force spring 103 are illustrated as examples of distances only and are not limiting of the particular parameters of the constant force spring 103.

In some examples, the mass of the operating arm 20 is greater than the constant tension provided by the constant force spring 103.

In some examples, the operating arm 20 descends downward along the vertical axis 10 under the force of gravity without the aid of other external forces. In order to balance the gravity, it is necessary to act by external force.

In some examples, the force compensation mechanism 104 may be configured to provide an external force. The force compensation mechanism 104 provides a moment, the second rotating shaft 1041 drives the rotating wheel 1044 to rotate, and the rotating wheel 1044 winds the flexible connecting piece 1042 to move upwards under the driving of the second rotating shaft 1041, so that the moment provided by the force compensation mechanism 104 is converted into the upward pulling force of the flexible connecting piece 1042.

In some examples, the upward tension of the flexible connection 1042 may be equal to the weight of the operating arm 20 minus the constant tension provided by the constant force spring 103.

In some examples, the lift 400 remains stationary in hand balance under the combined balance of the constant force spring 103 and the force compensation mechanism 104. At this time, only a small external force is applied to the operation arm 20, so that the operation arm 20 can be adjusted.

In some examples, the operator may apply a slight upward force, i.e., the operator may easily adjust the arm 20 upward.

In some examples, the operator may apply a slight downward force, i.e., the operator may easily adjust the arm 20 downward. Thus, the up-and-down movement of the operation arm 20 is adjusted easily and smoothly, which is beneficial to the operation.

In some examples, locking of the operating arm 20 is required after adjusting the operating arm 20 to a preset position.

In some examples, the vertical shaft 10 may include a braking mechanism (shown). The brake mechanism may be configured to lock the position of the moving cylinder 200 to maintain the moving cylinder 200 in a preset position.

In some examples, portions of the brake mechanism may be provided on the mounting plate 300 and fixed relative to the mounting plate 300.

In some examples, another portion of the brake mechanism may be provided on the crane 400 and fixed relative to the crane 400.

In some examples, a portion of the braking mechanism provided on the mounting plate 300 may cooperate with a portion of the braking mechanism provided on the crane 400 to define the position of the moving drum 200.

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

In some examples, the second sensor may include an encoder.

In some examples, the second sensor may include a pull wire encoder.

In some examples, the second sensor may include an infrared detection sensor.

In some examples, the second sensor may include an ultrasonic radar.

In some examples, the second sensor may include a millimeter wave radar.

In some examples, the second sensor may include a lidar.

In some examples, the second displacement may be checked against the first displacement to determine if the internal structural components of the vertical shaft 10 are damaged.

In some examples, in the event that the second displacement differs from the first displacement, or the difference between the second displacement and the first displacement exceeds a preset threshold, it may be determined that there is damage to the internal structural components of the vertical shaft 10.

In some examples of embodiments of the application, the second sensor is provided on the brake mechanism. In this way, the second displacement detected by the second sensor can be checked with the first displacement detected by the first sensor 105, so that whether the internal structural member of the vertical shaft 10 is damaged or not can be found and confirmed in time, and the surgical robot can be overhauled in time.

In some examples, referring to fig. 2, the vertical shaft 10 may include a cover 600. The cover 600 may be coupled to the mounting plate 300. The cover 600 may be configured to protect the balance assembly 100, the lift 400, and the moving cylinder 200.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A balancing assembly, comprising:

A support mechanism;

A constant force mechanism having a first shaft rotatable relative to the support mechanism, the first shaft configured to be coupled to a first location of a load configured to provide a directional motion of the constant force mechanism relative to the support mechanism along the direction of the constant force to the load;

the force compensation mechanism is connected with the supporting mechanism and provided with a second rotating shaft which can rotate independently relative to the first rotating shaft; the second rotating shaft is configured to be connected with a second position of the load through a connecting piece so as to provide a balance force opposite to the gravity direction of the load together with the constant force spring to balance the gravity of the load;

wherein the second position is offset from the first position.

2. The balancing assembly of claim 1, wherein the connector comprises a flexible connector; the second rotating shaft is provided with a rotating wheel, the flexible connecting piece is connected to the rotating wheel, and when the second rotating shaft rotates, the flexible connecting piece is wound or unwound on the rotating wheel.

3. The balancing assembly of claim 1, wherein the load has an axis of movement along a direction of a constant force provided by the constant force mechanism to the load, the first position being offset from the axis of movement;

the second position is positioned on one side of the moving axis, which is opposite to the first position;

or alternatively

4. The balancing assembly of claim 1, wherein the force compensation mechanism comprises:

5. The balance assembly of claim 4, wherein a first bearing is disposed between the housing and the first shaft, an inner race of the first bearing is fixedly coupled to an outer wall of the housing, and an outer race of the first bearing is fixedly coupled to an inner wall of the first shaft.

6. The balancing assembly of claim 4, wherein the support mechanism comprises:

A fixing seat;

The first supporting plate is fixedly arranged on the fixing seat;

The shell is fixedly arranged between the first supporting plate and the second supporting plate; a portion of the second rotating shaft extends to an outer side of any one of the first support plate and the second support plate.

7. The balancing assembly of claim 6, further comprising:

8. The balance assembly of claim 7, wherein the first sensor comprises:

A magnet fixedly disposed with respect to one of the second rotation shaft and the housing;

a magnetic encoder fixedly disposed relative to the other of the second shaft and the housing, the magnetic encoder configured to read a rotation angle of the magnet to determine a first displacement of the load moving up and down.

9. A vertical shaft, comprising:

The balance assembly of any one of claims 1-8;

A moving cylinder configured to connect a load; the constant force mechanism of the balance assembly is connected to the first position of the movable cylinder; the second rotating shaft of the balance assembly is connected to the second position of the movable cylinder.

10. The vertical shaft of claim 9, wherein the vertical shaft further comprises:

The mounting plate is fixedly connected to the supporting mechanism of the balance assembly, and is positioned at the lower side of the supporting mechanism;

11. The vertical shaft of claim 10, wherein the mounting plate is provided with a guide structure, and the lifting frame is slidably arranged on the guide structure; the guide structure is configured to guide the lift frame.

12. The vertical shaft of claim 10, wherein the vertical shaft further comprises:

The brake mechanism is partially arranged on the mounting plate, and the other part of the brake mechanism is arranged on the lifting frame; the braking mechanism is configured to limit the moving cylinder to maintain the moving cylinder and the load in a preset position.

13. The vertical shaft of claim 12, wherein the brake mechanism has a second sensor configured to detect a second displacement of the moving drum up and down; the second displacement and the first displacement detected by the first sensor of the balancing assembly are configured to determine whether the vertical shaft is damaged.

14. A surgical robot, comprising:

a suspension adjustment assembly;

The vertical shaft of any one of claims 9-13, connected to the suspension adjustment assembly;

an operating arm connected to an end of the vertical shaft facing away from the suspension adjustment assembly, the operating arm configured to connect to a distal instrument.