CN114305692A - A kind of wire frame support device of surgical robot system - Google Patents

Abstract

The invention relates to the field of medical instruments, and discloses a wire frame support device of a surgical robot system, comprising a mounting piece, a bearing and a wire frame support device. The mounting part is fixedly arranged on the surgical robot, the bearing includes an inner ring and an outer ring that can rotate with each other, the wire frame support device is arranged on the installation member, the bearing is located between the installation member and the wire frame support device, the inner ring and the outer ring of the bearing are They are respectively fixedly connected with the wire rack support device and the mounting piece. The wire rack support device of the surgical robot system provided by the present invention can better lift the electric cable when the surgical robot instrument manipulator is placed left and right, which can not only prevent the cable from falling, but also balance the gravity of the cable itself to help the Because of the movement of the cable, it can avoid the wear of the cable and prolong its service life.

Description

A kind of wire frame support device of surgical robot system

technical field

The invention relates to the field of medical instruments, in particular to a wire frame support device of a surgical robot system.

Background technique

Robots are high-end, intelligent equipment products. Industrial robots and medical robots that require higher accuracy and precision are mostly master-slave teleoperation structures, that is, the master operator is operated by personnel, and the slave terminal is controlled by remote communication and computer. Movement of the institution. For medical robots, remote operation reduces the possibility of patient infection, avoids the adverse consequences caused by misoperation (such as dizziness, fatigue, emotions, etc.) of doctors, and reduces the accuracy and precision of the operation process. The medical robot uses the teleoperation mode to map the position and posture of the master operator to the slave actuator, so that the slave actuator can reproduce the human hand movements in real time to complete the corresponding operation. The slave actuator usually has multiple operations. Instrument manipulators to perform various surgical operations.

Due to the complexity of the robot system, in order to ensure the flexible and normal operation of the surgical instrument manipulator, there are usually many cables. When the robot has multiple surgical instrument manipulators, the cables will be more and more complicated, and the cables will easily interfere due to the falling of gravity. Movement of the surgical instrument manipulator below. Especially for medical robots, the falling cables are prone to entanglement when the surgical instrument manipulator moves, which in turn interferes with the movement of the surgical instrument manipulator, and the falling cables will also interact with the sterile protective cover covering the surgical robot. The entanglement occurs, causing the sterile protective cover to wrinkle or slip off, affecting the covering effect, so that the cable cannot be completely located on the sterile side.

In the prior art, the wire rack usually adopts a fixed support plate to prevent the cable from falling. Since the wire rack is fixed and cannot move, and the cable itself has weight, when the cable moves with the surgical instrument manipulator , the friction between the wire rack and the cable is large, which is easy to cause the movement of the cable to be blocked and worn, thereby pulling the surgical instrument manipulator connected to the cable, thereby affecting the movement of the surgical instrument manipulator.

Therefore, there is a need to design a bobbin support device to overcome the above problems.

SUMMARY OF THE INVENTION

Based on the above problems, the purpose of the present invention is to provide a wire rack support device for a surgical robot system, which can better lift the electric cable when the surgical robot instrument manipulator is placed left and right, which can not only prevent the cable from falling, but also balance the The gravity of the cable itself facilitates the movement of the cable, and can avoid the wear of the cable and prolong its service life.

For achieving the above object, the present invention adopts the following technical solutions:

A wire frame support device for a surgical robot system, comprising:

a mounting piece, the mounting piece is fixedly arranged on the surgical robot;

a bearing comprising an inner ring and an outer ring that are rotatable with respect to each other;

A wire rack supporting device is arranged on the mounting member, the bearing is located between the mounting member and the wire rack supporting device, and the inner ring and the outer ring of the bearing are respectively connected to the wire rack The support device is fixedly connected with the mounting member.

As a preferred solution of the present invention, the wire rack support device includes:

a support frame, the support frame is fixedly connected with the inner ring;

At least one force balancing device is arranged on the support frame;

at least one movable steering assembly including a movable member, a traction member and a steerable member;

Wherein, the movable member is movably arranged on the support frame, one end of the movable member is connected with the force balance device, and the other end is connected with one end of the traction member; the steerable member is arranged on the On the support frame, a part of the traction member is arranged on the steerable member, and the steerable member is arranged to be able to change the steering of the traction member;

At least one suspension part is fastened with the other end of the traction member.

As a preferred solution of the present invention, the force balancing device includes an elastic retractable member and a fixed seat;

The fixing seat is fixedly arranged on the support frame, and the elastic retractable member is arranged on the fixing seat.

As a preferred solution of the present invention, the steerable member includes a first pulley, a first pulley support, a second pulley and a second pulley support;

The first pulley bracket and the second pulley bracket are respectively fixed on the support frame, and the first pulley and the second pulley are rotatably arranged on the first pulley bracket and the first pulley bracket, respectively. Two pulley brackets;

The axes of rotation of the first pulley and the second pulley are perpendicular to each other.

As a preferred solution of the present invention, the support frame includes a transverse portion and a longitudinal portion, and the bottom of one end of the longitudinal portion is fixedly connected to the inner ring of the bearing, and the outer ring of the bearing is fixedly arranged on the inner ring of the bearing. On the mounting piece, the other end is connected with the transverse portion;

The transverse portion extends from the other end of the longitudinal portion to both sides away from the longitudinal portion.

As a preferred solution of the present invention, the first pulley bracket is arranged at the connection between the transverse portion and the longitudinal portion, and the second pulley bracket is arranged on the transverse portion;

The longitudinal portion is provided with a sliding track extending in the axial direction, and the movable member is slidably arranged on the sliding track;

One end of the traction member is connected with the movable member, and the other end extends around the first pulley and the second pulley and is fastened with the suspension part.

As a preferred solution of the present invention, both the force balancing device and the movable steering assembly are arranged symmetrically along the axis of the longitudinal portion.

As a preferred solution of the present invention, the longitudinal portion includes a first longitudinal support plate and a second longitudinal support plate;

the first longitudinal support plate is arranged above the second longitudinal support plate, and forms a accommodating gap between them;

The first longitudinal support plate and the second longitudinal support plate are provided with sliding tracks extending along the axial direction;

The movable pieces are respectively slidably arranged on the sliding rails of the first longitudinal support plate and the second longitudinal support plate, wherein the movable pieces arranged on the second longitudinal support plate can move along the sliding track. the sliding track moves in the accommodating gap;

The force balancing devices are respectively connected with the movable members.

As a preferred solution of the present invention, the suspension portion includes a detachable annular member and a plurality of rolling members;

A plurality of the rolling elements are arranged at intervals along the circumferential direction of the annular element, the rolling elements are arranged to be able to roll around the annular element, and the position of the rolling element closest to the center point of the annular element is the same as that of the annular element. The distance of the center point is less than the inner radius of the ring.

As a preferred solution of the present invention, the mounting member includes a first mounting plate and a second mounting plate;

The first mounting plate is provided with a first mounting unit, and the first mounting unit is circular and adapted to the shape of the outer ring;

The second mounting plates are symmetrically arranged on both sides of the first mounting plate, and the second mounting plates are fixedly connected with the surgical robot.

The beneficial effects of the present invention are:

1. The wire frame support device of the surgical robot system provided by the present invention is based on the passive connection structure of the bearing, so that the wire frame support device can better lift the electric cable when the surgical robot instrument manipulator is placed left and right, and the space is convenient to form. Installation of sterile protective sleeves. 2. The wire rack support device provided by the present invention balances the gravity of the cable or the pulling force received by the cable by setting the force balance device, thereby facilitating the movement of the cable. 3. The pulling direction of the cable can be changed by moving the steering assembly, so as to facilitate the movement of the cable. 4. Suspend and support the cable through the suspension part to avoid the cable from falling down and interfering with the surgical instrument manipulator on the robot, and through the formation of rolling friction between the suspension part and the outer wall of the cable, thereby reducing the movement of the cable. Wear and tear to extend the life of the cable. 5. The stacking and symmetrical double-layer structure ensures that the occupied space of the support frame is not increased, and more cables can be suspended separately, thereby avoiding entanglement between multiple cables.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. , for those of ordinary skill in the art, other drawings can also be obtained according to the contents of the embodiments of the present invention and these drawings without creative efforts.

1 is a schematic structural diagram of a wire frame support device for a surgical robot system provided by a specific embodiment of the present invention;

2 is a schematic structural diagram of another angle of the wire frame support device of the surgical robot system provided by the specific embodiment of the present invention;

3 is a partial structural schematic diagram of a wire frame support device for a surgical robot system provided by a specific embodiment of the present invention;

4 is a schematic diagram of the internal structure of a wire rack supporting device provided by a specific embodiment of the present invention.

List of reference numbers:

1. Support frame; 11. Transverse part; 12. Longitudinal part; 121. First longitudinal support plate; 122, Second

Longitudinal support plate; 123. Sliding track; 13. Hollow structure;

2. Force balance device; 21. Elastic retractable part; 22. Fixed seat;

3. Suspension part; 31. Ring piece; 311. Groove; 32. Rolling piece;

4. Movable parts; 5. Traction parts;

6. Steerable parts; 61. The first pulley; 62, The first pulley bracket; 63, The second pulley; 64, The first pulley

Two pulley brackets;

7. Housing; 8. Mounting parts; 81. First mounting plate; 82. Second mounting plate;

9, resist block; 10, bearing; 101, inner ring; 102, outer ring.

Detailed ways

In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only the present invention. Some examples, but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed to indicate or imply relative importance. Therein, the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

In the present invention, the end close to the operator is defined as the proximal end or the rear end, and the end close to the surgical patient is the distal end or the front end.

As shown in FIG. 1 to FIG. 3 , this embodiment provides a wire frame support device for a surgical robot system, including a mounting member 8 , a bearing 10 and a wire frame support device.

The surgical robot includes a base and at least one surgical instrument manipulator movably arranged on the base, the surgical instrument manipulator is provided with a cable, two ends of the cable are respectively connected to the surgical instrument manipulator, more specifically, the cable The outer peripheral sleeve is provided with a corrugated tube sheath to prevent the cable from being directly pulled by the outside and affecting the service life. The mounting member 8 is fixedly arranged on the base of the surgical robot, and is located above the surgical instrument manipulator. The bearing 10 includes an inner ring 101 and an outer ring 102 that are rotatable with each other. Preferably, the bearing 10 is a crossed roller bearing. The wire rack supporting device is arranged on the mounting member 8 through the bearing 10, and the bearing 10 is located between the mounting member 8 and the wire rack supporting device. , so that the bobbin support device and the mounting member 8 can rotate relative to each other. Specifically, the wire rack supporting device is used to suspend and support the cables on the surgical instrument manipulator. When the surgical instrument manipulator moves left and right, it drives the cables to swing. Due to the passive connection structure of the bearing 10, the wire rack supporting device As the cable swings left and right relative to the mounting member 8 following the surgical instrument manipulator, the electric cable can be better pulled when the surgical instrument manipulator is positioned left and right, preventing the electric cable from being entangled during the movement.

In the above preferred embodiment, as shown in FIG. 4 , the wire rack supporting device includes a supporting frame 1 , a force balancing device 2 , a movable steering assembly and a suspension part 3 . The movable steering assembly includes a movable member 4 , a traction member 5 and a steerable member 6 .

Among them, the support frame 1 is fixedly arranged on the base, the force balance device 2 is fixedly arranged at one end of the support frame 1, the movable member 4 is arranged on the support frame 1 in a linearly movable manner, and one end of the movable member 4 is connected to the force balance device 2 is fixedly connected, and the other end is fixedly connected with one end of the traction member 5. Preferably, the movable member 4 is a slider, and the pulling member 5 is a cable or a steel rope. The movable member 4 can move linearly along the support frame 1 under the pulling action of the pulling member 5 . The steerable member 6 is arranged on the support frame 1 , a part of the traction member 5 is arranged on the steerable member 6 , and the steerable member 6 is arranged to be able to change the steering of the traction member 5 . The suspension part 3 is detachably and fastened to the other end of the traction member 5, and the suspension part 3 is used for suspending the cables on the robot. Specifically, the steerable member 6 can be rotated and can convert the pulling direction of the pulling member 5 from one direction to another direction, for example, from vertical to horizontal, or from vertical to vertical. the direction of the angle.

It should be understood that the force balancing device 2 is any device or device having a force balancing function. Preferably, the force balancing device 2 includes an elastically retractable member 21 and a fixing base 22 , the fixing base 22 is fixedly arranged on the support frame 1 , and the elastically retractable member 21 is arranged on the fixing base 22 . Specifically, the elastically retractable member 21 is a force balancing member that has elasticity and can be stretched and contracted. Preferably, the elastically retractable member 21 is a constant force spring, and the constant force spring is rotatably wound around the fixed seat 22 . Specifically, the constant force spring is formed by winding a metal belt, which extends when receiving a tensile force, and retracts and is wound when the force is reduced or released.

In actual operation, the cables are arranged in the hanging part 3, and then the hanging part 3 can be fastened and assembled by screws or the like. The suspension part 3 is suspended and supported to prevent the cable from falling and interferes with the surgical instrument manipulator on the robot, and the force balance device 2 balances the gravity of the cable or the pulling force of the cable, and the movable steering assembly is used to change the pulling of the cable. direction to facilitate the movement of the cable.

In the above preferred embodiment, the support frame 1 includes a transverse portion 11 and a longitudinal portion 12 that are fixedly connected or integrally formed. One end of the longitudinal portion 12 is fixed on the robot along the horizontal direction or fixedly mounted on the robot through the mounting member 8 , and the transverse portion 11 is connected with the other end of the longitudinal portion 12 along the horizontal direction. The transverse portion 11 extends from the other end of the longitudinal portion 12 to both sides away from the longitudinal portion 12 . It should be understood that the transverse portion 11 and the longitudinal portion 12 extend to both sides at an angle, such as a right angle, an acute angle or an obtuse angle, and may form a Y-shape or an arrow shape. Preferably, as shown in FIG. 2 , the transverse portion 11 and the longitudinal portion 12 are vertically connected to each other to form a T-shaped structure.

More preferably, as shown in FIG. 4 , the support frame 1 is provided with a hollow structure 13 , thereby reducing the weight of the support frame 1 without affecting the support strength of the support frame 1 and facilitating the lightweight of the robot.

In the above preferred embodiment, as shown in FIG. 2 , the wire rack supporting device further includes a casing 7 covering the outer periphery of the supporting frame 1 . Preferably, at least a part of the housing 7 is curved. The casing 7 is provided to protect the components inside the wire rack supporting device from external collision and interference, and can prevent impurities such as dust from falling into the device, and the appearance is more beautiful.

In the above preferred embodiment, the steerable member 6 includes a first pulley 61 , a first pulley support 62 , a second pulley 63 and a second pulley support 64 . As shown in FIG. 4 , the first pulley bracket 62 is provided at the connection between the transverse portion 11 and the longitudinal portion 12 of the support frame 1 , and the second pulley bracket 64 is provided on the end of the transverse portion 11 . The first pulley 61 and the second pulley 63 are rotatably arranged on the first pulley support 62 and the second pulley support 64, respectively, and the rotation axes of the first pulley 61 and the second pulley 63 are perpendicular to each other, so that it is convenient to change the cable rotation. Traction direction. Preferably, the rotation axis of the first pulley 61 is a vertical direction, and the rotation axis of the second pulley 63 is a horizontal direction. The longitudinal portion 12 is provided with a sliding track 123 extending in the axial direction, and the movable member 4 is slidably arranged on the sliding track 123 . It should be understood that the sliding track 123 may be a chute or a guide rail. One end of the traction member 5 is connected with the movable member 4 , and the other end extends around the first pulley 61 and the second pulley 63 and is detachably and fastened to the suspension portion 3 suspended below the transverse portion 11 of the support frame 1 . It should be understood that the suspension part 3 is detachable, so as to facilitate the suspension support and release of the cable.

Due to the action of gravity or the pulling force of the surgical instrument manipulator of the robot when the cable is moved, the suspension part 3 pulls the traction member 5 in the vertical direction. The traction in the straight direction is transformed into traction in the horizontal direction, thereby pulling the movable member 4 in the horizontal direction to move along the support frame 1, thereby stretching the force balance device 2, since the movable member 4 is subjected to the reverse traction force of the force balance device 2 , when the reverse traction force of the force balancing device 2 is equal to the gravity of the cable, the movable member 4 remains stationary, thereby realizing the balance of the gravity of the cable.

In the above preferred embodiment, the longitudinal portion 12 is provided with a resisting block 9 at the end of the sliding track 123 close to the force balancing device 2 , and the output end of the force balancing device 2 is fixedly connected to the movable member 4 through the resisting block 9 . The resisting block 9 is provided to resist the movable member 4 to prevent the movable member 4 from slipping off the sliding track 123 .

In the above preferred embodiment, as shown in FIG. 4 , the suspension portion 3 includes a detachable annular member 31 and a plurality of rolling members 32 . A plurality of rolling elements 32 are arranged at intervals along the circumferential direction of the annular element 31, the rolling elements 32 are arranged to be able to roll around the annular element 31, and the distance between the rolling element 32 and the center point of the annular element 31 closest to the center point is smaller than that of the annular element 31. Therefore, when the cable is arranged in the annular member 31, the rolling friction can be formed between the rolling member 32 and the outer wall of the cable, thereby reducing the wear and consumption of the cable during movement, so as to reduce the wear and tear of the cable. Extend the life of the cable. Specifically, the annular member 31 is formed by detachably splicing a plurality of parts. Preferably, the annular member 31 is provided with a plurality of grooves 311 at intervals along the circumferential direction, and the plurality of rolling members 32 are respectively disposed in the grooves 311 . The groove 311 restricts the rolling element 32 from moving in the circumferential direction of the annular element 31, so that the rolling element 32 can only rotate around the annular element 31, so as to ensure the effective contact between the rolling element 32 and the cable. Specifically, the groove 311 may be formed by the inward depression of the wall of the ring member 31 , or formed by the gap between the two parts that are spliced to each other. Preferably, the ring member 31 is provided with a wire groove, and the end of the pulling member 5 extends into the wire groove and is fastened in the ring member 31 .

It should be understood that the rolling elements 32 are rollers, pulleys and/or balls. Preferably, the rolling member 32 is a pulley and is sleeved on the annular member 31 . More preferably, the pulley is a tubular pulley made of plastic. It should be understood that the rolling member 32 can also be a ball, which can be rolled in the inner circumferential inner wall of the ring member 31, and the ball protrudes from the inner wall of the ring member 31 along the center point direction of the ring member 31, so as to ensure that the cable When arranged in the ring member 31, rolling friction can be formed with the outer wall of the cable.

In the above preferred embodiment, the number of the force balance device 2 , the movable steering assembly and the suspension part 3 is at least one. Preferably, the number is two. The two force balancing devices 2 and the two movable steering assemblies are each arranged symmetrically along the longitudinal axis of the longitudinal portion 12 of the support. Specifically, the two force balancing devices 2 are arranged in parallel and symmetrically at one end of the longitudinal portion 12 , the longitudinal portion 12 is arranged in parallel with two axially extending sliding rails 123 , and the two first pulley brackets 62 are arranged in parallel and symmetrically at the longitudinal portion 12 . 12 and the junction of the transverse part 11, two second pulley brackets 64 are symmetrically arranged at both ends of the transverse part 11, respectively, and the two suspension parts 3 are respectively arranged on the two sides of the transverse part 11 through the traction member 5 in the movable steering assembly. end. By arranging the structure symmetrically, it is ensured that the cables are suspended at both ends separately and the cables are prevented from being entangled with each other.

In the above preferred embodiment, the number of the force balance device 2 , the movable steering assembly and the suspension part 3 is two. The longitudinal portion 12 includes a first longitudinal support plate 121 and a second longitudinal support plate 122 . The first longitudinal support plate 121 is disposed above the second longitudinal support plate 122 and forms an accommodation gap therebetween. Both the first longitudinal support plate 121 and the second longitudinal support plate 122 are provided with sliding rails 123 extending in the axial direction, and the movable member 4 is slidably arranged on the sliding rails of the first longitudinal support plate 121 and the second longitudinal support plate 122 respectively. 123 , wherein the movable member 4 arranged on the second longitudinal support plate 122 can move in the accommodating gap along the sliding track 123 . The two force balancing devices 2 are respectively arranged at different vertical heights and corresponding to the first longitudinal support plate 121 and the second longitudinal support plate 122 respectively, and the output end of one force balance device 2 is connected to the first longitudinal support plate 121 The movable part 4 on the upper part is located at the same height, and the output end of the other force balance device 2 is located at the same height as the movable part 4 on the second longitudinal support plate 122, so that the two force balance devices 2 are respectively connected with the movable part 4. connect. The two first pulley brackets 62 are arranged side by side along the same axis at the connection between the second longitudinal support plate 122 and the transverse portion 11 , and the two first pulley brackets 62 correspond to the first longitudinal support plate 121 and the second longitudinal support plate 122 respectively. The two second pulley brackets 64 are symmetrically arranged at both ends of the transverse portion 11 respectively, and the two suspension portions 3 are respectively arranged at both ends of the transverse portion 11 through the traction member 5 in the movable steering assembly. By designing the stacked double-layer structure, the horizontal and lateral space occupied by the support frame 1 can be reduced, and the cables can be separated and suspended at both ends to avoid entanglement between the cables.

More preferably, as shown in FIG. 4 , the number of the force balance device 2 , the movable steering assembly and the suspension part 3 is four. The force balancing device 2 and the movable steering assembly on the first longitudinal support plate 121 and the second longitudinal support plate 122 are symmetrically arranged along the longitudinal axis of the support portion. One ends of the two traction members 5 are respectively connected with the two movable members 4 located on the first longitudinal support plate 121 , and the other ends of the traction members 5 bypass the corresponding first pulley 61 , second pulley 63 and the transverse portion respectively. The suspension parts 3 at both ends of 11 are connected, one end of the other two traction members 5 are respectively connected with the two movable members 4 located on the second longitudinal support plate 122, and the other ends of the traction members 5 bypass the corresponding first pulleys 61 respectively. . The second pulley 63 is connected with the suspension parts 3 at both ends of the transverse part 11 . Preferably, the two second pulleys 63 located at the same end of the transverse portion 11 are staggered, so as to prevent the two cables located at the same end from being entangled. Through the stacked and symmetrical double-layer structure, it is ensured that the occupied space of the support frame 1 is not increased, and more cables can be suspended separately, thereby avoiding entanglement between multiple cables.

In the above preferred embodiment, the mounting member 8 includes a first mounting plate 81 and a second mounting plate 82 . A first mounting unit is provided in the middle of the first mounting plate 81 . The first mounting unit is circular and matches the shape of the outer ring 102 , so as to avoid collision between the wire rack support devices when they rotate relative to the mounting member 8 . The second mounting plates 82 are symmetrically arranged on both sides of the first mounting plate 81 , and the second mounting plates 82 are fixedly connected to the base of the surgical robot. As a result, sufficient space is formed between the first mounting plate 81 and the second mounting plate 82 , which not only enables better pulling of the electric cable, but also facilitates the installation of the sterile protective cover.

Preferably, as shown in FIG. 3 , the mounting member 8 is provided with a hollow structure, thereby reducing the weight of the mounting member 8 without affecting the supporting strength of the wire rack support device, thereby facilitating the lightweight of the robot.

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention. The scope is determined by the scope of the appended claims.

Claims (10)

1. a surgical robot system wire frame support device, is characterized in that, comprises: a mounting piece, the mounting piece is fixedly arranged on the surgical robot; a bearing comprising an inner ring and an outer ring that are rotatable with respect to each other; A wire rack supporting device is arranged on the mounting member, the bearing is located between the mounting member and the wire rack supporting device, and the inner ring and the outer ring of the bearing are respectively connected to the wire rack The support device is fixedly connected with the mounting member. 2. The wire frame support device of the surgical robot system according to claim 1, wherein the wire frame support device comprises: a support frame, the support frame is fixedly connected with the inner ring; At least one force balancing device is arranged on the support frame; at least one movable steering assembly including a movable member, a traction member and a steerable member; Wherein, the movable member is movably arranged on the support frame, one end of the movable member is connected with the force balance device, and the other end is connected with one end of the traction member; the steerable member is arranged on the On the support frame, a part of the traction member is arranged on the steerable member, and the steerable member is arranged to be able to change the steering of the traction member; At least one suspension part, the suspension part is fastened with the other end of the traction member. 3. The wire rack support device for a surgical robot system according to claim 2, wherein the force balancing device comprises an elastically retractable member and a fixed seat; The fixing seat is fixedly arranged on the support frame, and the elastic retractable member is arranged on the fixing seat. 4. The wire rack supporting device for a surgical robot system according to claim 2, wherein the steerable member comprises a first pulley, a first pulley support, a second pulley and a second pulley support; The first pulley bracket and the second pulley bracket are respectively fixed on the support frame, and the first pulley and the second pulley are rotatably arranged on the first pulley bracket and the first pulley bracket, respectively. Two pulley brackets; The axes of rotation of the first pulley and the second pulley are perpendicular to each other. 5 . The wire frame support device for a surgical robot system according to claim 4 , wherein the support frame comprises a transverse portion and a longitudinal portion, and a bottom of one end of the longitudinal portion is fixedly connected to the inner ring of the bearing. 6 . , the outer ring of the bearing is fixedly arranged on the mounting piece, and the other end is connected with the transverse part; The transverse portion extends from the other end of the longitudinal portion to both sides away from the longitudinal portion. 6 . The wire rack support device for a surgical robot system according to claim 5 , wherein the first pulley bracket is arranged at the connection between the transverse portion and the longitudinal portion, and the second pulley bracket is arranged at the junction of the transverse portion and the longitudinal portion. 7 . on the lateral portion; The longitudinal portion is provided with a sliding track extending in the axial direction, and the movable member is slidably arranged on the sliding track; One end of the traction member is connected with the movable member, and the other end extends around the first pulley and the second pulley and is fastened with the suspension part. 7 . The wire rack supporting device for a surgical robot system according to claim 5 , wherein the force balancing device and the movable steering assembly are symmetrically arranged along the axis of the longitudinal portion. 8 . 8. The wire frame support device for a surgical robot system according to any one of claims 5-7, wherein the longitudinal portion comprises a first longitudinal support plate and a second longitudinal support plate; the first longitudinal support plate is arranged above the second longitudinal support plate, and forms a accommodating gap between them; The first longitudinal support plate and the second longitudinal support plate are provided with sliding tracks extending along the axial direction; The movable pieces are respectively slidably arranged on the sliding rails of the first longitudinal support plate and the second longitudinal support plate, wherein the movable pieces arranged on the second longitudinal support plate can move along the sliding track. the sliding track moves in the accommodating gap; The force balancing devices are respectively connected with the movable members. 9 . The wire rack supporting device for a surgical robot system according to claim 2 , wherein the suspension portion comprises a detachable annular member and a plurality of rolling members; 10 . A plurality of the rolling elements are arranged at intervals along the circumferential direction of the annular element, the rolling elements are arranged to be able to roll around the annular element, and the position of the rolling element closest to the center point of the annular element is the same as that of the annular element. The distance of the center point is less than the inner radius of the ring. 10 . The wire rack supporting device for a surgical robot system according to claim 1 , wherein the mounting member comprises a first mounting plate and a second mounting plate; 10 . The first mounting plate is provided with a first mounting unit, and the first mounting unit is circular and adapted to the shape of the outer ring; The second mounting plates are symmetrically arranged on both sides of the first mounting plate, and the second mounting plates are fixedly connected with the surgical robot.

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