CN109009451B

CN109009451B - Slave operation equipment, connecting mechanism, power mechanism and operation arm

Info

Publication number: CN109009451B
Application number: CN201810651864.8A
Authority: CN
Inventors: 王建辰; 高元倩; 其他发明人请求不公开姓名
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2018-06-22
Filing date: 2018-06-22
Publication date: 2021-06-01
Anticipated expiration: 2038-06-22
Also published as: CN109009451A

Abstract

The invention relates to a slave operation device, an operation arm, a power mechanism and a connecting mechanism, wherein the slave operation device comprises: the connecting mechanism comprises two clamping parts connected through an elastic unit and a clamping unit arranged on the clamping parts; the power mechanism is provided with a connecting groove and a clamping groove communicated with the connecting groove, the clamping part is contained in the connecting groove, and the clamping part connected through the elastic unit can move relatively, so that the clamping unit is clamped with or separated from the clamping groove along with the movement of the clamping part; and/or the operating arm has been seted up the spread groove, the draw-in groove has been seted up to the lateral wall of spread groove, joint portion accept in the spread groove, and it is a plurality of joint portion is portable relatively, so that the joint unit follows the removal of joint portion with draw-in groove joint or separation.

Description

Slave operation equipment, connecting mechanism, power mechanism and operation arm

Technical Field

The invention relates to the field of minimally invasive surgery, in particular to a connecting mechanism, a power mechanism, an operating arm and slave operating equipment.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation.

The slave operation device generally comprises a power mechanism, a connecting mechanism and an operation arm which are connected in sequence, wherein the power mechanism drives the operation arm through the connecting mechanism, and the operation arm is used for extending into a body and executing operation. When the conventional power mechanism drives the operating arm through the connecting mechanism, the driving error is large, so that the control and operation accuracy of the operating arm is poor.

Disclosure of Invention

Accordingly, there is a need for a connection mechanism, a power mechanism, an operation arm, and a slave operation device that provide a better control and operation accuracy of the connected operation arm.

A slave operation device comprising:

the connecting mechanism comprises two clamping parts connected through an elastic unit and a clamping unit arranged on the clamping parts;

the power mechanism is provided with a first connecting groove and a first clamping groove communicated with the first connecting groove, the clamping part is accommodated in the first connecting groove, and the clamping part connected through the elastic unit can move relatively, so that the clamping unit is clamped with or separated from the first clamping groove along with the movement of the clamping part;

the operating arm is provided with a second connecting groove, the side wall of the second connecting groove is provided with a second clamping groove, the clamping parts are contained in the second connecting groove, and the clamping parts can move relatively, so that the clamping unit is clamped with or separated from the second clamping groove along with the movement of the clamping parts; the both ends of joint portion all are equipped with the joint unit, and are located respectively coupling mechanism's both sides to make both ends the joint unit joint respectively power unit's first draw-in groove and second draw-in groove on the operation arm.

Preferably, the connecting mechanism comprises two sets of clamping units, and the two sets of clamping units are respectively located on two sides of the connecting mechanism and connected with the operating arm and the power mechanism.

Preferably, coupling mechanism includes two sets of joint units and joint portion, and two sets of both sides that are located coupling mechanism respectively, joint portion one end set up in coupling mechanism is last, and the other end is connected the joint unit.

Preferably, coupling mechanism's both sides all include multiunit joint unit, every group in the joint unit with one first draw-in groove or second draw-in groove joint, wherein, every group joint unit includes a plurality of joint units, just a plurality of joint units are along its joint first connecting groove or the periphery of second connecting groove distributes.

Preferably, the clamping units in each group are located in the same plane or in different planes.

Preferably, the clamping unit and the clamping part form an included angle.

Preferably, the first connection groove or the second connection groove is located in a middle region of the power mechanism or the operation arm.

Preferably, the first connecting groove or the second connecting groove is plural, and the clamping portion is arranged corresponding to the clamping unit.

An operating arm as claimed in any one of the preceding claims.

A power mechanism is any one of the power mechanisms.

A coupling mechanism as claimed in any one of the above.

In the slave operation equipment, the power mechanism is connected with the operation arm and is connected with the connecting mechanism through the clamping part and the clamping unit so as to connect the power mechanism with the operation arm and enable the power mechanism to drive the operation arm to operate. Because joint portion accepts in the spread groove, joint unit and draw-in groove joint can make the connection more firm, stable, and then make the drive effect better, and the operation of operation arm is better accurate. In addition, the slave operation device having the above structure can be quickly connected, reducing the time taken to connect the operation arm or replace the operation arm.

Drawings

FIG. 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;

FIG. 2 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 3 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 4 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 5 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 6 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 7 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 8 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 9 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 10 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 11 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 12 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 13 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 14 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 15 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 16 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 17 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 18 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 19 is a partial schematic view of one embodiment of a slave operation device of the present invention;

FIG. 20 is a partial schematic view of an embodiment of the slave operation device of the present invention

FIG. 21 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 22 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 23 is a partial schematic view of one embodiment of a slave operation device of the present invention;

FIG. 24 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 25 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 26 is a partial schematic view of an embodiment of a slave operation device of the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Fig. 1 to 3 are schematic structural diagrams of an embodiment of a surgical robot according to the present invention, and partial schematic diagrams of different embodiments of a slave operation device, respectively.

The surgical robot includes a master operation table 1 and a slave operation device 2. The main console 1 is configured to transmit a control command to the slave operating device 2 according to a doctor's operation to control the slave operating device 2, and is configured to display an image acquired by the slave operating device 2. The slave operation device 2 is used for responding to the control command sent by the master operation table 1 and performing corresponding operation, and the slave operation device 2 is also used for acquiring the images in the body.

Specifically, the slave manipulation apparatus 2 includes a robot arm 21, a power mechanism 22 provided on the robot arm 21, a manipulation arm 23 provided on the power mechanism 22, and a sleeve 24 that sleeves the manipulation arm 23. The robot arm 21 is used to adjust the position of the operation arm 23; the power mechanism 22 is used for driving the operating arm 23 to execute corresponding operation; manipulator arm 23 is configured to extend into the body and perform surgical procedures, and/or acquire in vivo images, with its distally located end instrument 20. Specifically, as shown in fig. 2 and 3, the operation arm 23 is inserted through the sleeve 24, and the distal end instrument thereof extends out of the sleeve 24 and is driven to perform operation by the power mechanism 22. In fig. 2, the region of the operating arm 23 located within the sleeve 24 is a rigid region; in fig. 3, the region of the operating arm 23 located within the sleeve 24 is a flexible region, with which the sleeve bends. In other embodiments, the sleeve 24 may be omitted, in which case the sleeve is not required.

In one embodiment, a plurality of operation arms 23 are disposed on the same power mechanism 22, and distal ends of the plurality of operation arms 23 extend into the body through an incision on the body, so that the distal end instrument 20 is moved to the vicinity of the lesion 3 for performing the surgical operation. Specifically, the power mechanism is provided with a plurality of power parts, and each power part is correspondingly connected with one operation arm. In other embodiments, there are multiple power mechanisms, each power mechanism 22 has one operating arm 23, and multiple operating arms extend into the body from one notch, and at this time, multiple power mechanisms 22 may be disposed on one robot arm 21 or on multiple robot arms 21. It should be noted that a plurality of manipulation arms 23 may also extend into the body from a plurality of incisions, e.g., two manipulation arms in each incision, and e.g., one manipulation arm in each incision.

In an embodiment, the slave operation device 2 further includes a poking card, the poking card is used for penetrating through an incision on a human body and is fixedly arranged in an incision area, and the operation arm extends into the human body through the poking card.

As shown in fig. 4 to 9, which are schematic structural diagrams of different embodiments of the slave operation device.

The slave manipulator 2 further comprises a connecting mechanism 10 for connecting the manipulator arm 23 to the power mechanism 22, so that the power mechanism 22 drives the manipulator arm 23 to operate. Specifically, the slave operation device includes: a connecting mechanism 10, a power mechanism 22 and an operating arm 23. The connecting mechanism 10 is provided with a connecting groove 110, and the side wall of the connecting groove 110 is provided with a clamping groove 120 for connecting with the power mechanism 22 and the operating arm 23; the power mechanism 22 has a clamping portion 140 and a clamping unit 150 disposed on the clamping portion 140, the clamping portion 140 is accommodated in the connecting groove 110, and the clamping unit 150 is clamped with the clamping groove 120, so that the power mechanism 22 is connected with the connecting mechanism 10; the operation arm 23 has a clamping portion 140 and a clamping unit 150 disposed on the clamping portion 140, the clamping portion 140 is accommodated in the connecting groove 110, and the clamping unit 150 is clamped with the clamping groove 120, so that the operation arm 23 is connected with the connecting mechanism 10.

In other embodiments, only the actuating mechanism 22 or the operating arm 23 may be connected to the connecting mechanism 10 through the slot 120 in the connecting slot 110, and the connecting slot 110 and the slot 120 corresponding to the actuating mechanism may be correspondingly disposed.

In the slave operation device, the power mechanism 22 is connected with the operation arm 23 and is connected with the connecting mechanism 10 through the clamping portion 140 and the clamping unit 150, so that the power mechanism 22 is connected with the operation arm 23, and the power mechanism 22 drives the operation arm 23 to operate. Because the clamping portion 140 is accommodated in the connecting groove 110, the clamping unit 150 is clamped with the clamping groove 120, so that the connection is firmer and more stable, the driving effect is better, and the operation of the operating arm 23 is better and more accurate. Further, the slave operation device having the above-described structure can be connected quickly, reducing the time taken to connect the operation arm 23 or replace the operation arm 23.

As shown in fig. 4 and 5, in the present embodiment, the connecting slot 110 is located in the middle region of the connecting mechanism 10. For example, the connecting slot 110 is one, and the center thereof coincides with the center of the connecting mechanism 10. For another example, the connecting slots 110 are plural, are located in the middle of the connecting mechanism 10, and are symmetrically distributed around the center of the connecting mechanism 10. In other embodiments, the connecting slot 110 may be located in other areas, for example, the connecting slot 110 is plural and distributed along the circumference of the connecting mechanism 10. Note that, when the connecting groove 110 is plural, the clamping portion 140 is provided corresponding to the clamping unit 150. That is, each connecting groove 110 is connected with at least one clamping portion 140.

As shown in fig. 6, in an embodiment, the clamping unit 150 of the power mechanism 22 and the clamping unit 150 of the operating arm 23 are clamped in the same clamping slot 120. For example, the connection slot 110 is a through slot, and the power mechanism 22 and the connection arm respectively extend into the connection slot 110 from two sides of the through slot and are both clamped with the clamping slot 120 in the connection slot 110. In other embodiments, the clamping unit 150 of the power mechanism 22 is clamped with the clamping unit 150 of the operating arm 23, and may also be clamped in different clamping slots 120, in this case, different clamping slots 120 may be either clamping slots 120 in one connecting slot 110 or clamping slots 120 in different connecting slots 110. For example, as shown in fig. 7, only the clamping portion 140 of the actuating mechanism 22 or the operating arm 23 is received in the connecting groove 110, and the clamping groove 120 thereon is clamped with the corresponding clamping unit 150. As shown in fig. 8, the connection groove 110 accommodates therein the clamping portions 140 of the actuating mechanism 22 and the operating arm 23, and at this time, the connection groove 110 has a plurality of clamping slots 120 therein, and each clamping slot 120 is clamped with the clamping unit 150 of the actuating mechanism 22 or the operating arm 23, wherein the plurality of clamping slots 120 may be distributed along the periphery of the connection groove 110, and the plurality of clamping slots 120 may be arranged in one or more rows along the extending direction of the connection groove 110.

In one embodiment, the clamping unit 150 is movable relative to the clamping portion 140 to clamp or separate the clamping unit 150 from the clamping slot 120. For example, the card unit 150 is rotatably disposed on the card portion 140 so that the card unit 150 can be engaged with or disengaged from the card slot 120. Specifically, when the clamping portion 140 extends into the connecting groove 110, the free end of the clamping unit 150 is disposed adjacent to the clamping portion 140 to extend into the connecting groove 110 together with the clamping portion 140, and then the clamping unit 150 is rotated to be clamped with the clamping groove 120; when the clamping slot 120 is released, the clamping unit 150 is rotated to make the free end of the clamping unit 150 adjacent to the clamping portion 140, so that the clamping unit 150 is separated from the clamping slot 120. Wherein, the free end of the clamping unit 150 refers to the end not connected with the clamping part 140. For another example, the clamping unit 150 is telescopically disposed on the clamping portion 140, so that the clamping unit 150 is clamped or separated from the clamping slot 120, and when clamping is performed, the clamping unit 150 extends out, and when separating, the clamping unit 150 retracts.

Specifically, the clamping unit 150 can be connected to a motor to control the relative movement of the clamping unit 150 with respect to the clamping portion 140, so that the clamping unit 150 can be clamped to or separated from the clamping slot 120. Alternatively, the latch unit 150 may be connected to an elastic mechanism, for example, when the latch unit 150 is in a latched state (as shown in fig. 6 to 8), that is, when the free end of the latch unit 150 moves to a position far away from the latch portion 140, the latch unit 150 is latched to the latch slot 120 by the elastic force of the elastic mechanism, at this time, the power portion or the operating arm 23 has a release mechanism for separating the latch unit 150 from the latch slot 120, for example, the release mechanism is a switch for placing the latch unit 150 in a housed state, that is, the latch unit 150 moves to a position near the latch portion 140 (as shown in fig. 5), so as to extend into the connecting slot 110.

Further, the clamping portion 140 is provided with an accommodating groove 160 for accommodating the clamping unit 150, and when the clamping portion 140 needs to extend into the connecting groove 110 or be taken out from the connecting groove 110, the clamping unit 150 is accommodated in the accommodating groove 160. In one embodiment, the latch unit 150 is completely received in the receiving slot 160, so that the operation arm 23 and the power mechanism 22 are connected to the connection unit more stably. In other embodiments, the clamping unit 150 can be partially received in the receiving slot 160.

In one embodiment, the clamping portion 140 is provided with a plurality of clamping units 150, and the plurality of clamping units 150 are distributed along the periphery of the clamping portion 140. In this way, the connection stability is further improved. For example, four snap units 150 are symmetrically arranged along the circumference of the snap part 140.

In an embodiment, as shown in fig. 9, the extending direction of the clamping unit 150 and the clamping portion 140 forms an acute angle, it can also be understood that the clamping unit 150 and the clamping portion 140 form an umbrella shape, and at this time, the clamping groove 120 is disposed corresponding to the clamping unit 150.

In one embodiment, as shown in fig. 10, the clamping unit 150 has a blade shape, and the surface thereof abuts against the sidewall of the clamping groove 120. The thicknesses of the blade-shaped engaging units 150 may be the same or different. For example, the thickness of the region where the card-contacting unit 150 contacts the card slot 120 is gradually increased in a direction away from the bottom surface of the card slot 120.

As shown in fig. 5, in an embodiment, a limiting unit 170 is disposed on an inner wall of the slot 120 to enable the clamping unit 150 to move along a limited path, specifically, the limiting unit protrudes relative to a sidewall of the slot 120, and a limiting groove (not shown) is disposed on the clamping unit 150 for sleeving the limiting unit to move along the limited path of the limiting unit. When the clamping unit 150 is rotatably disposed on the clamping portion 140, the path is an arc path, and when the clamping unit 150 is telescopically disposed on the clamping portion 140, the path is a straight path. In other embodiments, a stopper unit may be provided in the storage groove 160.

In the embodiment shown in fig. 10 and 11, the slave operation device includes: a connecting mechanism 10, a power mechanism 22 and an operating arm 23. Specifically, the connecting mechanism 10 has a clamping portion 140 and a clamping unit 150 disposed on the clamping portion 140, wherein the two clamping portions 140 are disposed on two surfaces of the connecting mechanism 10 connected to the power mechanism 22 and the operating arm 23, respectively; the power mechanism 22 is provided with a connecting groove 110, the side wall of the connecting groove 110 is provided with a clamping groove 120, the clamping portion 140 corresponding to the connecting groove is accommodated in the connecting groove 110, and the clamping unit 150 is clamped with the clamping groove 120; the operation arm 23 is provided with a connecting groove 110, a clamping groove 120 is provided on a side wall of the connecting groove 110, the corresponding clamping portion 140 is accommodated in the connecting groove 110, and the clamping unit 150 is clamped with the clamping groove 120.

In other embodiments, only the actuating mechanism 22 or the operating arm 23 may be connected to the connecting mechanism 10 through the slot 120 in the connecting slot 110, and the clamping portion 140 and the clamping unit 150 may be disposed accordingly.

In the present embodiment, the clamping portion 140 is disposed on the connecting mechanism 10, and the connecting groove 110 is disposed on the actuating mechanism 22 and/or the operating arm 23, but the clamping portion 140, the clamping unit 150, the connecting groove 110, the clamping groove 120, and the relative positions and structures thereof are the same as those of the above embodiments, and will not be repeated here.

In the embodiment shown in fig. 12 and 13, the slave operation device includes: a connecting mechanism 10, a power mechanism 22 and an operating arm 23. Specifically, the connecting mechanism 10 is provided with a connecting groove 110, and the connecting mechanism 10 has a clamping unit 150 located in the connecting groove 110; the power mechanism 22 has a clamping portion 140, the clamping portion 140 is provided with a clamping groove 120, the clamping portion 140 is accommodated in the connecting groove 110, and the clamping unit 150 is clamped with the clamping groove 120; the operating arm 23 has a clamping portion 140, the clamping portion 140 has a clamping groove 120, the clamping portion 140 is received in the connecting groove 110, and the clamping unit 150 is clamped with the clamping groove 120.

In other embodiments, only the power mechanism 22 or the operating arm 23 may be connected to the connecting mechanism 10 through the slot 120 of the clamping portion 140, and the connecting slot 110 and the clamping unit 150 may be correspondingly disposed.

It should be noted that, at this time, the accommodating groove 160 is opened on the side wall of the connecting groove 110, and is used for accommodating the clamping unit 150 disposed in the connecting groove 110, and the clamping unit 150 is movable relative to the connecting groove 110. The remaining related structures and relative positions are the same as those of the above embodiments, for example, as shown in fig. 13, the limiting unit 170 is disposed in the receiving groove 160, and the locking unit 150 is disposed with a limiting groove 180 for sleeving the limiting unit 170 to move along the path limited by the limiting unit 170.

In the embodiment shown in fig. 14, the slave operation device includes: a connecting mechanism 10, a power mechanism 22 and an operating arm 23. Specifically, the connecting mechanism 10 has two clamping portions 140, and the clamping portions 140 are provided with clamping slots 120, wherein the two clamping portions 140 are respectively disposed on two surfaces of the connecting mechanism 10 connected to the power mechanism 22 and the operating arm 23; the power mechanism 22 is provided with a connecting groove 110, the power mechanism 22 is provided with a clamping unit 150 which is positioned in the connecting groove 110, the clamping part 140 is accommodated in the connecting groove 110, and the clamping unit 150 is clamped with the clamping groove 120; the operating arm 23 has a connecting slot 110, the operating arm 23 has a clamping unit 150 located in the connecting slot 110, the clamping portion 140 is accommodated in the connecting slot 110, and the clamping unit 150 is clamped with the clamping slot 120.

In other embodiments, only the actuating mechanism 22 or the operating arm 23 may be connected to the connecting mechanism 10 through the connecting slot 110 and the latch unit 150, and the latch portion 140 and the latch slot 120 may be correspondingly disposed.

It should be noted that, at this time, the accommodating groove 160 is opened on the side wall of the connecting groove 110, and is used for accommodating the clamping unit 150 disposed in the connecting groove 110, and the clamping unit 150 is movable relative to the connecting groove 110. The rest of the related structures are the same as the above embodiments, and will not be repeated here.

Fig. 15 to 22 are schematic structural diagrams of different embodiments of the present invention.

In the embodiment shown in fig. 15 and 16, the slave operation device includes: a connecting mechanism 10, a power mechanism 22 and an operating arm 23. Specifically, the connecting mechanism 10 includes an elastic unit 130, a clamping portion 140 connected by the elastic unit 130, and two clamping units 150 disposed on the clamping portion 140, wherein the clamping units 150 include two groups, and are respectively disposed on two sides of the connecting mechanism 10 connected to the power mechanism 22 and the operating arm 23; the power mechanism 22 and the operating arm 23 are respectively provided with a connecting groove 110 and a clamping groove 120 of the connecting groove 110, the clamping portion 140 is accommodated in the connecting groove 110, and the clamping portion 140 connected by the elastic unit 130 is relatively movable, so that the clamping unit 150 is clamped with or separated from the clamping groove 120 along with the movement of the clamping portion 140.

In other embodiments, only the actuating mechanism 22 or the operating arm 23 may be connected to the connecting mechanism 10 through the slot 120, and the latch portion 140 and the latch unit 150 on the connecting mechanism 10 may be correspondingly disposed, for example, in this case, only one side connected to the actuating mechanism 22 or the operating arm 23 has the latch unit 150.

In the embodiment shown in fig. 15 and 16, the sets of latch units 150 on both sides of the connecting mechanism 10 move independently, i.e. the movement of one latch unit 150 does not affect the movement of the other latch unit 150. For example, the connecting mechanism 10 includes two sets of clamping units 150 and clamping portions 140, the two sets are respectively located at two sides of the connecting mechanism 10, the two sets of clamping portions 140 independently move to enable the clamping units 150 arranged thereon to independently move, specifically, one end of the clamping portion 140 is arranged on the connecting mechanism 10, and the other end is connected to the clamping unit 150. In the embodiment shown in fig. 17 and 18, the sets of clamping units 150 on both sides can also move synchronously. For example, the connecting mechanism 10 includes two clamping portions 140 connected by an elastic unit 130, two ends of the clamping portion 140 are respectively located at two sides of the connecting mechanism 10, the two ends of the clamping portion 140 are respectively provided with the elastic unit 130, so that the clamping units 150 at the two ends are respectively clamped with the power mechanism 22 and the clamping slot 120 on the operation arm 23, when the clamping portion 140 moves relatively, the clamping units 150 respectively located at two sides of the connecting mechanism 10 are arranged to move along with the clamping units, that is, the two groups of clamping units 150 move synchronously. In one embodiment, when there are multiple sets of clamping units 150 on each side of the coupling mechanism 10, the sets of clamping units 150 on that side move in unison. In other embodiments, when there are multiple sets of clamping units 150 on each side of the coupling mechanism 10, at least some of the clamping units 150 in the multiple sets of clamping units 150 on that side move independently.

In one embodiment, each set of clamping units 150 is clamped with the clamping slot 120 in one connecting slot 110, wherein each set of clamping units 150 has a plurality of clamping units 150 therein, and the plurality of clamping units 150 are distributed along the circumference of the connecting slot 110 to which they are clamped. For example, each set of clamping units 150 has four clamping units 150, evenly distributed along the center of the coupling slot 110. For another example, each set of clamping units 150 has two clamping units 150 symmetrically distributed along the center of the connecting slot 110.

Further, each set of clamping units 150 may be located in the same plane or different planes, and the clamping slots 120 clamped with the clamping units are correspondingly arranged. For example, each set of clamping units 150 includes a plurality of clamping units 150, each of which is located in two different planes, and the clamping units 150 in each plane are evenly distributed along the center of the connecting slot 110.

In this embodiment, each of the clamping portions 140 is provided with a clamping unit 150, and in other embodiments, as shown in fig. 19, other numbers of connecting units may be provided on one clamping portion 140. For example, two connecting units are stacked and spaced on each clamping portion 140, and the two connecting units are located in different planes. For another example, the clamping unit 150 is not disposed on a portion of the clamping portion 140.

In one embodiment, the clamping unit 150 and the clamping portion 140 form an included angle, which is a non-flat angle, that is, the clamping unit 150 and the clamping portion 140 are not in a same plane. For example, the included angle is a right angle, and for example, the included angle is 100 to 120 degrees.

It should be noted that the relevant structures and relative positional relationships of the clamping unit 150, the clamping slot 120, the connecting slot 110, etc. are the same as those in the above embodiments, and will not be repeated here.

As shown in fig. 20, in an embodiment, two adjacent clamping portions 140 are elastically connected by an elastic unit 130, that is, two ends of the elastic unit 130 are respectively connected to two adjacent clamping portions 140. In other embodiments, the plurality of engaging portions 140 may be connected by radial connecting units, that is, one ends of the plurality of connecting units are connected to each other, and the other ends are correspondingly connected to the engaging portions 140.

In one embodiment, the plurality of engaging portions 140 are rotatably connected by a rotating shaft. In other embodiments, the plurality of clamping portions 140 are connected by a connecting portion, and the plurality of clamping portions 140 move relative to each other through elastic deformation of the connecting portion. It should be noted that the plurality of engaging portions 140 may be driven to move relatively by a motor, or may be manually moved by a control switch. For example, the switch has a link structure, and when the switch is pressed, the link pushes the engaging portion 140 to move it.

In one embodiment, the connecting slot 110 is located in a middle region of the actuating mechanism 22 or the operating arm 23. One or more connecting slots 110 are correspondingly provided with a clamping portion 140 and a clamping unit 150 matched with the connecting slots. In other embodiments, the connecting slot 110 may be located in other regions.

In the embodiment shown in fig. 21 and 22, the slave operation device includes: a connecting mechanism 10, a power mechanism 22 and an operating arm 23. Specifically, the connecting mechanism 10 is provided with a connecting groove 110, and a side wall of the connecting groove 110 is provided with a clamping groove 120; the actuating mechanism 22 and the operating arm 23 each include two clamping portions 140 connected by the elastic unit 130, and a clamping unit 150 disposed on the clamping portions 140, wherein the clamping portions 140 are accommodated in the connecting grooves 110, and the clamping portions 140 connected by the elastic unit 130 are relatively movable, so that the clamping unit 150 is clamped with or separated from the clamping groove 120 along with the movement of the clamping portions 140.

In other embodiments, only the power mechanism 22 or the operating arm 23 may be connected to the connecting mechanism 10 through the clamping portion 140, and the connecting slot 110 and the clamping slot 120 on the connecting mechanism 10 may be correspondingly disposed.

The clamping portion 140, the clamping unit 150, the connecting slot 110, the clamping slot 120 and the related structure and position relationship thereof may be the same as those of the previous embodiments, and will not be repeated here.

Fig. 23 to 26 are schematic structural diagrams of different embodiments of the present invention.

In the embodiment shown in fig. 23, the slave operation device includes: a connecting mechanism 10, a power mechanism 22 and an operating arm 23. Specifically, the connecting mechanism 10 is provided with a connecting groove 110, a receiving groove 160 is provided on a side wall of the connecting groove 110, and the connecting mechanism 10 further includes a clamping unit 150 elastically disposed in the receiving groove 160; the power mechanism 22 and the operating arm 23 are both provided with a clamping portion 140, the clamping portion 140 is accommodated in the connecting groove 110, and the clamping unit 150 is movable along the accommodating groove 160, so that the clamping portion 140 and the clamping unit 150 abut against or separate from each other.

In other embodiments, only the actuating mechanism 22 or the operating arm 23 may be connected to the connecting mechanism 10 through the snap-in portion 140, and the connecting slot 110 on the connecting mechanism 10 may be correspondingly disposed.

In one embodiment, the plurality of receiving slots 160 are distributed around the connecting slot 110, and each receiving slot 160 is provided with a locking unit 150 therein, so that the connecting mechanism 10 is more firmly connected with the operating arm 23 and the actuating mechanism 22. The corresponding side surfaces of the receiving slots 160 may be located in the same plane, or in different planes, that is, the clamping units 150 may be located in the same plane or in different planes. In this embodiment, the clamping unit 150 is perpendicular to the clamping portion 140, and in other embodiments, the clamping unit 150 may form an acute angle or an obtuse angle with the clamping portion 140. When there are a plurality of receiving grooves 160 and engaging units 150, any receiving groove 160 and/or engaging unit 150 may be configured as described above.

In this embodiment, the clamping unit 150 is disposed in the accommodating groove 160 through the elastic unit 130. As in the previous embodiments, in one embodiment, the connecting mechanism 10 further includes a releasing mechanism for separating the engaging unit 150 from the engaging portion 140. Specifically, the latch unit 150 may be moved by a motor or manually to be separated from or abutted against the latch unit 150. For example, when the connecting mechanism 10 is connected to the actuating mechanism 22 or the operating arm 23, the pressing switch holds the engaging unit 150 in the receiving slot 160, and the releasing switch causes the engaging unit 150 to engage with the engaging portion 140 under the action of the elastic unit 130. For another example, when the clamping portion 140 is connected to the clamping unit 150, the clamping portion 140 supports the clamping unit 150, so that the clamping unit 150 moves along the receiving groove 160, and the clamping portion 140 extends into the connecting groove 110 and supports the clamping unit 150, and when the clamping portion 140 is separated from the clamping unit 150, the switch is pressed to separate the clamping portion from the connecting groove.

In this embodiment, the clamping portion 140 is formed with a clamping groove 120, and the clamping unit 150 is at least partially accommodated in the clamping groove 120 and abuts against the clamping groove 120, so that the clamping is more secure. Specifically, the slot 120 is a U-shaped slot, and the end of the clamping unit 150 abutting against the U-shaped slot is matched with the slot 120. In other embodiments, the slot 120 may have other shapes, such as a V-shaped slot. In addition, the card slot 120 may be omitted, and the card unit 150 is directly engaged with the card portion 140.

In one embodiment, the slots 120 are distributed along the periphery of the engaging portion 140. For example, the card slot 120 is disposed around the card portion 140. For another example, the plurality of slots 120 are arranged at intervals and distributed around the periphery of the clamping portion 140.

In the embodiment shown in fig. 24, the slave operation device includes: a connecting mechanism 10, a power mechanism 22 and an operating arm 23. Specifically, the connecting mechanism 10 is provided with a snap-in portion 140; the power mechanism 22 and the operation arm 23 are both provided with a connection groove 110, the clamping portion 140 is accommodated in the connection groove 110, a side wall of the connection groove 110 is provided with an accommodating groove 160, the power mechanism and the operation arm further include a clamping unit 150 elastically arranged in the accommodating groove 160, and the clamping unit 150 is movable along the accommodating groove 160 to abut against or separate from the clamping portion 140.

In other embodiments, only the actuating mechanism 22 or the operating arm 23 may be connected to the connecting mechanism 10 through the latch unit 150, and the latch portion 140 on the connecting mechanism 10 may be correspondingly disposed.

The clamping portion 140, the clamping unit 150, the connecting groove 110, the clamping groove 120, and the relative structures and relative positions thereof may be the same as those of the foregoing embodiments, and will not be repeated here. It should be understood that although the clamping portion 140 is disposed on the connecting mechanism 10 and the connecting slot 110 is disposed on the actuating mechanism 22 and/or the operating arm 23 in the present embodiment, the related structure and relative position relationship thereof may be the same as the clamping portion 140 is disposed on the actuating mechanism 22 and/or the operating arm 23, and the connecting slot 110 and the clamping unit 150 are disposed on the connecting mechanism 10 in the present embodiment.

In the embodiment shown in fig. 25, the slave operation device includes: a connecting mechanism 10, a power mechanism 22 and an operating arm 23. Specifically, the connecting mechanism 10 has a clamping portion 140 and a clamping unit 150 elastically disposed on the clamping portion 140; the power mechanism 22 and the operating arm 23 are both provided with a connecting groove 110, wherein the clamping portion 140 is accommodated in the connecting groove 110, and the clamping unit 150 abuts against the connecting groove 110, so as to connect the power mechanism 22 and the connecting mechanism 10.

In an embodiment, a clamping groove 120 may be formed on a side wall of the connecting groove 110, so that the clamping unit 150 is clamped with the clamping groove 120. It is also possible that only the actuating mechanism 22 or the operating arm 23 is connected to the connecting mechanism 10 through the connecting slot 110, and the snap-in part 140 on the connecting mechanism 10 is correspondingly provided. In one embodiment, the clamping portion 140 has a receiving slot 160 for receiving the clamping unit 150.

In the embodiment shown in fig. 26, the slave operation device includes: a connecting mechanism 10, a power mechanism 22 and an operating arm 23. Specifically, the connecting mechanism 10 is provided with a connecting groove 110; the power mechanism 22 and the operating arm 23 both have a clamping portion 140 and a clamping unit 150 elastically disposed on the clamping portion 140, the clamping portion 140 is accommodated in the connecting groove 110, and the clamping unit 150 abuts against the connecting groove 110, so that the power mechanism 22 is connected to the connecting mechanism 10.

In other embodiments, the side wall of the connecting groove 110 may also be provided with a slot 120, so that the clamping unit 150 is clamped with the slot 120. It is also possible to connect only the actuating mechanism 22 or the actuating arm 23 to the connecting mechanism 10 via the latch unit 150 and to arrange the connecting slot 110 on the connecting mechanism 10 accordingly. In one embodiment, the clamping portion 140 has a receiving slot 160 for receiving the clamping unit 150.

The clamping portion 140, the clamping unit 150, the connecting slot 110, the clamping slot 120 and the related structure and position relationship thereof may be the same as those of the previous embodiments, and will not be repeated here. It should be understood that although the clamping portion 140 and the clamping unit 150 are disposed on the actuating mechanism 22 and/or the operating arm 23 and the connecting slot 110 is disposed on the connecting mechanism 10 in the present embodiment, the related structure and relative position relationship thereof may be the same as the clamping portion 140 disposed on the actuating mechanism 22 and/or the operating arm 23 and the connecting slot 110 and the clamping unit 150 disposed on the connecting mechanism 10 in each embodiment.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A slave operation device characterized by comprising:

2. The slave manipulator according to claim 1, wherein the connection mechanism comprises two sets of snap-fit units, two sets being located on either side of the connection mechanism for connection to the manipulator arm and the power mechanism.

3. The slave operation device according to claim 1, wherein the connection mechanism includes two sets of clamping units and clamping portions, the two sets are respectively located at two sides of the connection mechanism, one end of each clamping portion is arranged on the connection mechanism, and the other end of each clamping portion is connected with the clamping unit.

4. The slave manipulator according to claim 1, wherein each side of the connection mechanism includes a plurality of sets of clamping units, each clamping unit in each set is clamped with one of the first clamping groove or the second clamping groove, each set of clamping units includes a plurality of clamping units, and the plurality of clamping units are distributed along the periphery of the first connecting groove or the second connecting groove to be clamped.

5. A slave manipulator according to claim 4, characterized in that the clamping units in each group are located in the same plane or in different planes.

6. The slave manipulator according to claim 1, characterized in that the clamping unit forms an angle with the clamping portion.

7. The slave manipulator according to claim 1, characterized in that the first or second coupling slot is located in a middle region of the power mechanism or the manipulator arm.

8. The slave operation device according to claim 1, wherein the first connection groove or the second connection groove is plural, and the clamping portion is provided corresponding to the clamping unit.

9. An operating arm according to any one of claims 1 to 8.

10. A power mechanism according to any one of claims 1 to 8, wherein the power mechanism is as defined in any one of claims 1 to 8.

11. A coupling mechanism according to any one of claims 1 to 8.