CN105997254B - A kind of Minimally Invasive Surgery instrument fast replacing device - Google Patents
A kind of Minimally Invasive Surgery instrument fast replacing device Download PDFInfo
- Publication number
- CN105997254B CN105997254B CN201610536550.4A CN201610536550A CN105997254B CN 105997254 B CN105997254 B CN 105997254B CN 201610536550 A CN201610536550 A CN 201610536550A CN 105997254 B CN105997254 B CN 105997254B
- Authority
- CN
- China
- Prior art keywords
- instrument
- wheel
- quick change
- hole
- jacking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
Abstract
The invention discloses a kind of Minimally Invasive Surgery instrument fast replacing devices, it includes the buckle structure of the quick change pedestal of the instrument case base and quick change ontology for connecting instruments box and the barrier assembly that is arranged between instrument case base and quick change pedestal, the quick change pedestal is connected with the one end for the axis that is rotatably connected by screw thread, and the other end of the rotatable connection axis is mounted on end of the robot from hand by bearing rotary；It is equipped on the quick change pedestal multiple from connection drive component and multiple instrument transmission components.The present apparatus improves the safety of robot, reduces the disinfection frequency of robot body, reduces medical treatment cost.
Description
Technical field
The present invention relates to a kind of quick replacement device of Minimally Invasive Surgery instrument, more particularly to a kind of splanchnocoel minimally invasive surgery
The quick replacement device of operating robot surgical instrument.
Background technology
Minimally Invasive Surgery refers to a kind of hand carried out using the Medical Devices of modernizations such as thoracoscope, laparoscope and mating instrument
Art operates, and minimally invasive surgery technology occurs and is able to extensively using the thing for being the nearest more than ten years in medical domain.With tradition opening hand
Art is compared, and Minimally Invasive Surgery more focuses on psychology, society, physiology (pain), mental outlook, the improvement of quality of life and the health of patient
It is multiple, it utmostly shows a patient every consideration, mitigates the pain of patient, because its wound is small, bleeding is few, pain is light, recovery is fast etc.
Advantage and as doctor and patient preferred modus operandi.However, mis instruments are due to being constrained by notch in Minimally Invasive Surgery
Limitation, surgical procedure difficulty greatly increases, and fatigue of doctor during long-term surgery, the actions such as tremble can be amplified,
This becomes the key factor for restricting minimally invasive surgery technology development.With the development of robot technology, one kind can overcome the deficiency, after
The minimally invasive medical field new technology-micro-wound operation robot technology for holding advantage is come into being.
During robot assisted micro-wound surgical operation, doctor implements surgical procedure by elongated Minimally Invasive Surgery instrument
Task.One end of surgical instrument is placed in robot from the rapid replacing interface device of manipulator end, and the other end passes through human body table
The miniature incision in face is insinuated into be operated in vivo, and therefore, surgical instrument is uniquely to be in contact with human lesion tissue
Part, and directly execute surgical procedure robot part.In operation is implemented, to meet different surgical procedure tasks
The action demand of (clamping, suture, knotting etc.), robot should replace the instrument to match with requirement at any time, so rapidly and efficiently
Instrument replacement function be also embody minimally-invasive surgery robot system overall performance level one of key factor.
For adapt to modernization Minimally Invasive Surgery requirement, surgical instrument should meet delicate structure, operation it is flexible, various informative,
Be suitble to the requirements such as medical environment, this requires matched instrument fast replacing device should have size it is small, it is efficient, be easy to grasp
Make, connect the features such as reliable.The fast replacing device of current domestic and international researched and developed minimally-invasive surgery robot system is also in work(mostly
It can realize in level, be only capable of executing the replacement between different instruments, in operability, intelligent level and reliability etc.
There is larger gap with actual surgery demand.Therefore, the performance to match with multiple degrees of freedom, high flexibility surgical instrument is developed
More stable efficient fast replacing device promotes related-art technology progress to be of great significance to filling the domestic gaps.
Invention content
It is an object of the invention to overcome the shortcomings of prior art, provide it is a kind of have from linkage function it is compact-sized,
Rapidly and efficiently, easily operated minimally invasive surgical operation robot instrument fast replacing device.
In order to achieve the above object, the technical solution adopted by the present invention is：
A kind of Minimally Invasive Surgery instrument fast replacing device, it includes the instrument case base and quick change ontology for connecting instruments box
Quick change pedestal buckle structure and the barrier assembly that is arranged between instrument case base and quick change pedestal, the quick change base
Seat is connected with the one end for the axis that is rotatably connected by screw thread, the other end being mounted on by bearing rotary of the rotatable connection axis
Robot is from the end of hand；
The buckle structure includes the symmetrical card slot being opened on quick change pedestal two side, in instrument case base
It is symmetrical to be provided with sliding slot, it is mounted in two sliding slots and forces spring again, the cunning of press handle is inserted in the sliding slot
Dynamic section, the glissile segment can slide with sliding slot to be coordinated, described answering force spring inner end withstand on it is on the cell wall of sliding slot and outer
End is extend into the glissile segment trepanning of the press handle, and vertical section is connected on the glissile segment, described vertical
The moving left and right of section position limiting structure is both provided on direction with constrain its along slot to slippage, the glissile segment can be multiple
It forces and is inserted into the card slot on quick change pedestal two side under the action of spring；
The barrier assembly includes isolation board, and multiple round holes are provided on the isolation board, in each circle
It is provided with groove in the inner wall circumferential direction of hole, there are one intermediate fifth wheels for installation in each round hole, in the intermediate fifth wheel
It is provided with the circumference boss more than intermediate fifth wheel wheel body diameter on outer wall, the circumference boss is mounted in groove can be
It moves up and down and rotates in groove, two top surfaces are had on the top and bottom of the intermediate fifth wheel described in each
Circular hole and two bottom surface circular holes are attracted by magnet between the isolation board and quick change pedestal and are connected；
Multiple connection drive components certainly are installed on the quick change pedestal, each includes drive from connection drive component
Dynamic system is fixed with the axis that is slidably connected on the rotation output end of the drive system, and jacking has jacking shaft part, described
Be slidably connected on axis and jacking shaft part on be provided with axial long hole, the shaft part of jacking is inserted in the intermediate shaft hole for the axis that is slidably connected
The interior and connection by being inserted in the two axial long hole has strong market potential and the two is made to be connected, the shaft part in the jacking and the axis that is slidably connected
On be cased with goring push spring, the upper and lower side of the goring push spring is separately positioned between jacking and the bottom boss for the axis that is slidably connected
With limit, the connection, which is had strong market potential, to be moved up and down in slot hole in an axial direction under the action of goring push spring, in the jacking
Top surface on setting there are two circular protrusions, two circular protrusions on the jacking and the intermediate fifth wheel that is correspondingly arranged
Two bottom surface circular holes are seated cooperation；
Multiple instrument transmission components are installed on the instrument case base, in the transmission of the instrument transmission component
The circular protrusions being correspondingly arranged with the top surface circular hole on intermediate fifth wheel are provided on the bottom surface of axis；On the quick change pedestal
Proximity sensor is installed, the proximity sensor passes through the trepanning setting on isolation board, the proximity sensor and control
System processed is connected, when the lower surface of the instrument case base is bonded with proximity sensor detecting head, the proximity sensor
Toggled output detects signal, and the control system is to driving according to the detection signal that the proximity sensor of reading exports
System output starts control signal, and the intermediate fifth wheel can rotate under the drive of drive system to be made on intermediate fifth wheel
Circular protrusions on the transmission shaft bottom surface of top surface circular hole and instrument transmission component are in corresponding position and intermediate fifth wheel can
Being jacked up under the action of goring push spring makes the circular protrusions on the transmission shaft bottom surface of instrument transmission component be inserted on intermediate fifth wheel
Top surface circular hole in, until the top surface of intermediate fifth wheel is bonded with the bottom surface of the transmission shaft of instrument transmission component；Described in each
Intermediate fifth wheel two top surface circular holes center it is unequal at a distance from the disc center of intermediate fifth wheel top surface, each
The center of two protrusions of the bottom surface of the instrument transmission component transmission shaft and the bottom center of instrument transmission component transmission shaft
Apart from unequal.
Compared with prior art, the invention has the advantages that：
1. a kind of Minimally Invasive Surgery instrument of the present invention has with fast replacing device from linkage function, can effectively improve different minimally invasive
Quick change efficiency among surgical instrument, the intelligent level of hoisting machine people.
2. a kind of Minimally Invasive Surgery instrument of the present invention is with fast replacing device using the connection type being vertically bonded, drive system exists
When any position is broken down, unclamps locking device and instrument can easily be taken out, improve the safety of robot.
3. a kind of each composition component of Minimally Invasive Surgery instrument fast replacing device of the present invention is all made of modularized design, reduce
The complexity of mechanism, reduces structure size, is conducive to the overall simplification of robot system.
4. a kind of Minimally Invasive Surgery instrument of the present invention introduces isolation design with fast replacing device, surgical instrument and machine are realized
People reduces the disinfection frequency of robot body from the physical isolation of hand, reduces medical treatment cost.
5. a kind of Minimally Invasive Surgery of the Minimally Invasive Surgery instrument fast replacing device towards chest and abdomen hysteroscope field of the present invention, can meet
The demand of Different hospital medical condition has the potentiality extended to other medical fields.
Description of the drawings
Fig. 1 is a kind of mounting arrangement schematic diagram of Minimally Invasive Surgery instrument fast replacing device of the present invention；
Fig. 2 is a kind of overall structure diagram of Minimally Invasive Surgery instrument fast replacing device of the present invention；
Fig. 3 is a kind of diagrammatic cross-section of the retaining mechanism of Minimally Invasive Surgery instrument fast replacing device of the present invention；
Fig. 4 is a kind of barrier assembly structural schematic diagram of Minimally Invasive Surgery instrument fast replacing device of the present invention；
Fig. 5-1 is a kind of illustrating from connection drive component STRUCTURE DECOMPOSITION for Minimally Invasive Surgery instrument fast replacing device of the present invention
Figure；
Fig. 5-2 is a kind of drive component structure installation signal of connection certainly of Minimally Invasive Surgery instrument fast replacing device of the present invention
Figure；
Fig. 6-1 is a kind of locking process schematic of Minimally Invasive Surgery instrument fast replacing device of the present invention；
Fig. 6-2 is a kind of Minimally Invasive Surgery instrument fast replacing device of the present invention from connection procedure schematic diagram；
Wherein：
1- robots are rotatably connected axis from hand 2-instruments box, 3-quick change ontology 4-
1-1- instrument transmission component 1-2- elastic cards end 1-3- instrument case base 1-4- barrier assemblies
1-5- quick change pedestals 1-6- connects drive component 1-7- proximity sensors certainly
101- press handle 102- round buttons 103- answers power spring 104- limit mounting 105- anode magnet
106- cathode magnet
The bottom ends fifth wheel 203- seal ring among 201- isolation boards 202-
The 301- drive systems 302- axis 303- jackings 304- connections that are slidably connected are had strong market potential 305- goring push springs
R1- rotation degree of freedom r2- slides up and down degree of freedom r3- transmission component rotary motions
Movement R2- is from connection component rotary freedom R3- from connection component pushing tow degree of freedom for the fitting of R1- surgical instruments
Specific implementation mode
With reference to specific embodiment, the present invention will be described in detail.
A kind of Minimally Invasive Surgery instrument fast replacing device as shown in drawings, it includes the instruments box for connecting instruments box 2
The buckle structure of the quick change pedestal 1-5 of pedestal 1-3 and quick change ontology 3 and setting are in instrument case base 1-3 and quick change pedestal 1-5
Between barrier assembly 1-4, the quick change pedestal 1-5 and the one end for the axis 4 that is rotatably connected be connected by screw thread, the rotation
The other end of connecting shaft 4 is mounted on robot from the end of hand 1 by bearing rotary；
The buckle structure includes the symmetrical card slot being opened on the two sides quick change pedestal 1-5, in instruments box base
It is symmetrical in seat 1-3 to be provided with sliding slot, it is mounted in two sliding slots and forces spring 103 again, be inserted in the sliding slot
The glissile segment of press handle 101, the glissile segment can slide with sliding slot to be coordinated, and the inner end that described answering forces spring 103 withstands on cunning
On the cell wall of slot and outer end is extend into the glissile segment trepanning of the press handle 101, is connected on the glissile segment
Vertical section, it is preferred that round button 102 is connected in the vertical section in order to operate, on a left side for the vertical section
Move right position limiting structure is both provided on direction with constrain its along slot to slippage, the glissile segment can force spring again
It is inserted into the card slot on the two sides quick change pedestal 1-5 under the action of 103.The position limiting structure includes limit mounting 104, described
Limit mounting 104 be fixedly mounted on the instrument case base 1-3 and gland is forcing spring 103 and press handle again
On 101, and it is provided with limit hole on the limit mounting, the vertical section is arranged in the limit hole and energy
It is enough to be moved left and right in limit hole.Limit mounting on the one hand to realize the gland to forcing spring 103 and press handle 101 again,
On the other hand, the slot opened up on the limit mounting 104 can limit press handle 101 to constrain it along slot
To slippage.Described answer forces 103 non-stress of spring and is made of the glissile segment and vertical section of press handle 101 in natural length
Elastic card end 1-2 be in overhanging state, two round button 102 of Manual press, press handle 101 is under force along described
The rectangular channel of instrument case base 1-3 inwardly moves, while oppressing described answering and forcing the contraction of spring 103, when moving to limit mounting
When 104 inside constrained, elastic card end 1-2 is in interior receipts state；Two round buttons 102 are unclamped, press handle 101 is in multiple power
It is moved out under the action of compression spring 103, when the multiple power spring 103 is restored to natural length, the press handle 101 arrives
Up to the outboard containment position of limit mounting 104, elastic card end 1-2 returns to overhanging state.
The barrier assembly 1-4 includes isolation board 201, multiple round holes is provided on the isolation board 201, every
It is provided with groove in one round hole inner wall circumferential direction, there are one intermediate fifth wheels 202 for installation in each round hole, described
The circumference boss more than 202 wheel body diameter of intermediate fifth wheel, circumference boss peace are provided on 202 outer wall of intermediate fifth wheel
It can move up and down and rotate in groove in groove, realize rotation degree of freedom r1 and slide up and down degree of freedom r2,
Two top surface circular holes and two bottom surface circular holes, institute are had on the top and bottom of intermediate fifth wheel 202 described in each
It is attracted and is connected by magnet between the isolation board 201 stated and quick change pedestal 1-5.
It is corresponding on 201 bottom surface of isolation board for convenience of mounting and dismounting as one embodiment of the present invention
The position for being provided with round hole is fixed with bottom end seal ring 203, interference fit can be utilized to be connected with isolation board 201, the isolation
Round hole and groove on plate 201 is by being partly arranged the round hole in bottom end seal ring 203 and groove and part setting
Round hole and groove on isolation board 201 collectively constitute.The flange step of rounded opening edge is with bottom end seal ring 203 to described
The degree of freedom r2 that slides up and down of intermediate fifth wheel 202 limited.
The magnet includes two positive magnet 105 being inlaid in 201 counterbore of isolation board and is mounted on quick change base
Two cathode magnet in seat 1-5, the two are attracted, to which the seat for alloing entire barrier assembly 1-4 to stablize is mounted in quick change
On pedestal 1-5.The barrier assembly 1-4 mainly plays two, on the one hand can surgical instrument and robot body into
Row isolation, for surgical instrument easily by bacterium infection due to being in direct contact with pathological tissues, fast replacing device is then not easy to high-frequency disappear
Poison, therefore the two should be separated as possible；On the other hand the preferred isolation board 201, intermediate fifth wheel 202, bottom end seal ring
203 material selection medical engineering plastics, can make barrier assembly 1-4 play insulating effect, preventing surgical instrument, there are leakage currents
In the case of electric current to robot body conduct.
Multiple connection drive component 1-6 certainly are installed on the quick change pedestal 1-5, each connects drive component certainly
Including drive system 301, the axis 302 that is slidably connected, jacking 303 are fixed on the rotation output end of the drive system 301
With jacking shaft part, it is slidably connected on axis 302 described and is provided with axial long hole, the axis of jacking 303 on jacking shaft part
Section is inserted in the intermediate shaft hole of the axis 302 that is slidably connected and the connection by both being inserted in axial long hole is had strong market potential 304 both make it is solid
Even, it is cased with goring push spring 305 on the shaft part of the jacking 303 and the axis 302 that is slidably connected, the goring push spring 305
Upper and lower side is separately positioned on jacking and is slidably connected between the bottom boss of axis 302 to limit, and the connection is had strong market potential 304 can
It is moved up and down in slot hole in an axial direction under the action of goring push spring 305, there are two circles for setting on the top surface of the jacking 303
Shape is raised, and two bottom surface circular holes of two circular protrusions and the intermediate fifth wheel 202 being correspondingly arranged on the jacking 303 are inserted
Tight fit.
When the axis 302 that is slidably connected rotates under the action of drive system 301, being had strong market potential by connection 304 can realize jacking
303 with the axis 302 that is slidably connected synchronous rotation.The goring push spring 305 is arranged in jacking and is slidably connected between axis, not
When applying outer active force to jacking 303, jacking 303 is in upper limit position under the action of goring push spring 305, when jacking 303
When by downward active force, along be slidably connected axis 302 axial hole slide downward and oppress goring push spring 305 contraction, directly
To moving to lower limit position.After by barrier assembly 1-4 on quick change pedestal 1-5, rotation adjustment is intermediate to be connected
Cock wheel 202 makes two circular protrusions on the jacking 303 as described in two circular holes alignment of its lower face (if figure is four), to
The two is set to snap together.
Multiple instrument transmission component 1-1 are installed on the instrument case base 1-3, in the instrument transmission component
The circular protrusions being correspondingly arranged with the top surface circular hole on intermediate fifth wheel are provided on the bottom surface of the transmission shaft of 1-1；
Proximity sensor 1-7, the proximity sensor 1-7 are installed on the quick change pedestal 1-5 and pass through isolation
Trepanning setting on plate, the proximity sensor 1-7 are connected with control system.The lower surface of the instrument case base 1-3
It is bonded with proximity sensor 1-7 detecting heads, realizes surgical instrument fitting movement R1, the proximity sensor 1-7 is by instrument
With the triggering output detection signal of pedestal 1-3, the control system is believed according to the proximity sensor 1-7 of the reading detections exported
It number is exported to drive system and to start control signal, it is described to be revolved under the action of drive system 301 from connection drive component 1-6
Turn, realizes that the intermediate fifth wheel can be rotated under the drive of drive system in making from connection component rotary freedom R2
Between top surface circular hole on fifth wheel and the circular protrusions on the transmission shaft bottom surface of instrument transmission component 1-1 be in corresponding position and
Intermediate fifth wheel can jack up the circle made on the transmission shaft bottom surface of instrument transmission component 1-1 under the action of goring push spring 305
Protrusion is inserted into the top surface circular hole on intermediate fifth wheel, is realized from connection component pushing tow degree of freedom R3, until intermediate fifth wheel 202
Top surface be bonded with the bottom surface of the transmission shaft of instrument transmission component 1-1, be driven to realize from connection drive component 1-6 and instrument
The connection of component 1-1, in the case where being driven from the 1-6 rotations of connection drive component, instrument transmission component realizes rotary freedom r3.
Disc center of the two top surface center of circular hole of the intermediate fifth wheel 202 described in each to intermediate fifth wheel top surface
Distance it is unequal, i.e., with respect to center be asymmetric arrangement, corresponding, the instrument transmission component 1-1 transmission shafts described in each
Bottom surface two protrusion center to instrument transmission component 1-1 transmission shafts bottom center distance it is unequal, be also asymmetric
Arrangement, thus in the rotation docking operation of intermediate fifth wheel 202 and transmission shaft, only in a relative position, two protrusions
The case where being just corresponding with two circular holes, can avoid protrusion thread alternating circular hole.
The locking of specific fast replacing device with it is as described below from connection procedure：The instruments box 2 is moved to quick change ontology 3
Surface, downwards quickly adjustment instruments box 2 so that it is moved closer to quick change ontology 3, the elastic card end 1-2's described in Manual press
Two round buttons 102 make elastic card end be in interior receipts state, and then, the instruments box 2 is mounted in the quick change ontology 3
On, when the instrument case base 1-3 and quick change pedestal 1-5 fits together, unclamp the elastic card end 1-2
Two round buttons 102, the elastic card end 1-2 switchs to rapidly overhanging state under the action of multiple power spring 103, at this point,
101 front end of press handle plugs together in the card slot of quick change pedestal 1-5, to realize lock of the fast replacing device to surgical instrument
Tight function；When the instrument case base 1-3 is bonded with quick change pedestal 1-5, the jacking 303 is in instrument transmission component 1-1
Transmission shaft bottom surface on the circular protrusions compressing lower edge axis 302 that is slidably connected move downward, meanwhile, under instrument case base 1-3
Surface is bonded with proximity sensor 1-7 detecting heads, and the proximity sensor 1-7 is exported control signal by triggering, and described connects
Nearly sensor 1-7 exports startup control signal makes drive system 301 at the uniform velocity rotate to drive system 301, and makes intermediate fifth wheel
202 rotations.When the protrusion on transmission shaft bottom surface of the top surface circular hole with instrument transmission component 1-1 on intermediate fifth wheel 202 is in
When corresponding position, under the action of goring push spring 305, the intermediate fifth wheel 202 can be jacked up rapidly, and the bottom of transmission shaft is made
Face protrusion buckles into rapidly in the top surface circular hole of corresponding intermediate fifth wheel 202, until the top surface of intermediate fifth wheel 202 is passed with instrument
The bottom surface fitting of the transmission shaft of dynamic component 1-1.To realize between instrument transmission component 1-1 and certainly connection drive component 1-6
Automatic butt (structure type shown in patent 201110025933 may be used in instrument transmission component).
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
Only one of the embodiments of the present invention shown, actual structure is also not limited thereto.If those skilled in the art by
It is enlightened, without departing from the spirit of the invention, transmission, driving device and the connection type taken other form
Frame mode similar with the technical solution and embodiment are not inventively designed, is within the scope of protection of the invention.
Claims (5)
1. a kind of Minimally Invasive Surgery instrument fast replacing device, it is characterised in that：It includes the instrument case base for connecting instruments box
And the quick change pedestal of quick change ontology buckle structure and the barrier assembly that is arranged between instrument case base and quick change pedestal, institute
The quick change pedestal stated is connected with the one end for the axis that is rotatably connected by screw thread, and the other end of the rotatable connection axis is revolved by bearing
What is turned is mounted on end of the robot from hand；
The buckle structure includes the symmetrical card slot being opened on quick change pedestal two side, the left and right in instrument case base
It symmetrically is provided with sliding slot, is mounted in two sliding slots and forces spring again, the glissile segment of press handle is inserted in the sliding slot,
The glissile segment can slide with sliding slot to be coordinated, and the inner end that described answering forces spring is withstood on the cell wall of sliding slot and outer end is stretched into
Into the glissile segment trepanning of the press handle, it is connected with vertical section on the glissile segment, on a left side for the vertical section
The slippage that position limiting structure is both provided on direction to constrain it along sliding slot direction is moved right, the glissile segment can be in multiple power
It is inserted into the card slot on quick change pedestal two side under the action of compression spring；
The barrier assembly includes isolation board, and multiple round holes are provided on the isolation board, in each round hole
It is provided with groove in wall circumferential direction, there are one intermediate fifth wheels for installation in each round hole, in the intermediate fifth wheel outer wall
On be provided with the circumference boss more than intermediate fifth wheel wheel body diameter, the circumference boss is mounted on can be in groove in groove
It inside moves up and down and rotates, two top surface circular holes are had on the top and bottom of the intermediate fifth wheel described in each
With two bottom surface circular holes, it is attracted and is connected by magnet between the isolation board and quick change pedestal；
Multiple connection drive components certainly are installed on the quick change pedestal, each includes driving to be from connection drive component
System is fixed with the axis that is slidably connected on the rotation output end of the drive system, and jacking has jacking shaft part, in the cunning
It is provided with axial long hole in dynamic connecting shaft and on jacking shaft part, the shaft part of jacking is inserted in the intermediate shaft hole for the axis that is slidably connected simultaneously
Being had strong market potential by the connection being inserted in the two axial long hole makes the two be connected, and is covered on the shaft part and the axis that is slidably connected of the jacking
There are goring push spring, the upper and lower side of the goring push spring to be separately positioned between jacking and the bottom boss for the axis that is slidably connected to limit
Position, the connection, which is had strong market potential, to be moved up and down in slot hole in an axial direction under the action of goring push spring, on the top of the jacking
Setting is there are two circular protrusions on face, two circular protrusions on the jacking and be correspondingly arranged two of intermediate fifth wheel
Bottom surface circular hole is seated cooperation；
Multiple instrument transmission components are installed on the instrument case base, in the transmission shaft of the instrument transmission component
The circular protrusions being correspondingly arranged with the top surface circular hole on intermediate fifth wheel are provided on bottom surface；It is installed on the quick change pedestal
There are proximity sensor, the proximity sensor to pass through the trepanning setting on isolation board, the proximity sensor and control system
System be connected, when the lower surface of the instrument case base is bonded with proximity sensor detecting head, the proximity sensor by
Triggering output detection signal, the control system are defeated to drive system according to the detection signal that the proximity sensor of reading exports
Go out to start control signal, the intermediate fifth wheel can rotate the top surface made on intermediate fifth wheel under the drive of drive system
Circular protrusions on the transmission shaft bottom surface of circular hole and instrument transmission component are in corresponding position and intermediate fifth wheel can push up
Jack-up makes the circular protrusions on the transmission shaft bottom surface of instrument transmission component be inserted into the top on intermediate fifth wheel under the action of pushing away spring
In the circular hole of face, until the top surface of intermediate fifth wheel is bonded with the bottom surface of the transmission shaft of instrument transmission component；In described in each
Between fifth wheel two top surface circular holes center it is unequal at a distance from the disc center of intermediate fifth wheel top surface, described in each
Instrument transmission component transmission shaft bottom surface two protrusion centers at a distance from the bottom center of instrument transmission component transmission shaft
It is unequal.
2. Minimally Invasive Surgery instrument fast replacing device according to claim 1, it is characterised in that：The position limiting structure includes
Mounting is limited, the limit mounting is fixedly mounted on the instrument case base and gland is forcing spring and pressing again
On handle, it is provided with limit hole on the limit mounting, the vertical section is arranged in the limit hole and can be
It is moved left and right in limit hole.
3. Minimally Invasive Surgery instrument fast replacing device according to claim 1, it is characterised in that：Connect in the vertical section
It is connected to round button.
4. Minimally Invasive Surgery instrument fast replacing device according to claim 1, it is characterised in that：In the isolation board bottom surface
The position that upper correspondence is provided with round hole is fixed with bottom end seal ring, and round hole and groove are provided in the bottom end seal ring.
5. Minimally Invasive Surgery instrument fast replacing device according to claim 4, it is characterised in that：The isolation board, centre
The material selection medical engineering plastics of fifth wheel and bottom end seal ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610536550.4A CN105997254B (en) | 2016-07-08 | 2016-07-08 | A kind of Minimally Invasive Surgery instrument fast replacing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610536550.4A CN105997254B (en) | 2016-07-08 | 2016-07-08 | A kind of Minimally Invasive Surgery instrument fast replacing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105997254A CN105997254A (en) | 2016-10-12 |
| CN105997254B true CN105997254B (en) | 2018-08-17 |
Family
ID=57109752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610536550.4A Active CN105997254B (en) | 2016-07-08 | 2016-07-08 | A kind of Minimally Invasive Surgery instrument fast replacing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105997254B (en) |
Families Citing this family (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107334534B (en) * | 2017-07-31 | 2021-09-17 | 成都博恩思医学机器人有限公司 | Instrument transmission assembly, surgical instrument of surgical robot and surgical robot |
| CN107334533B (en) * | 2017-07-31 | 2023-02-28 | 成都博恩思医学机器人有限公司 | Bracket component, surgical instrument of surgical robot and surgical robot |
| CN107595394B (en) * | 2017-09-29 | 2024-02-23 | 重庆金山医疗机器人有限公司 | Surgical instrument quick-change mechanism |
| US20200397521A1 (en) * | 2018-03-12 | 2020-12-24 | Shenzhen Jingfeng Medical Technology Co., Ltd. | Power mechanism and slave operating device |
| CN108888345B (en) * | 2018-06-22 | 2021-01-01 | 深圳市精锋医疗科技有限公司 | Power mechanism and slave operation equipment |
| CN110384556B (en) * | 2018-04-20 | 2021-04-02 | 赛诺微医疗科技（浙江）有限公司 | Quick change mechanism, instrument clamping hand adopting same and surgical operation robot |
| CN110384557B (en) * | 2018-04-20 | 2021-03-30 | 赛诺微医疗科技（浙江）有限公司 | Combined positioning mechanism, instrument clamping hand adopting same and surgical operation robot |
| CN108670320B (en) * | 2018-04-26 | 2021-01-26 | 微创（上海）医疗机器人有限公司 | Snake-shaped surgical instrument |
| CN109171966B (en) * | 2018-09-29 | 2021-05-07 | 上海微创医疗机器人（集团）股份有限公司 | Quick change device for surgical instrument |
| CN111166486A (en) * | 2018-11-13 | 2020-05-19 | 重庆金山医疗机器人有限公司 | Sterile separator and surgical operation auxiliary robot instrument system |
| CN111166485B (en) * | 2018-11-13 | 2024-04-30 | 重庆金山医疗机器人有限公司 | Surgical auxiliary robot instrument long rod end fixing structure, instrument and fixing method |
| CN111166481B (en) * | 2018-11-13 | 2024-04-30 | 重庆金山医疗机器人有限公司 | Instrument reducer and instrument system of surgical auxiliary robot |
| CN111374771A (en) * | 2018-12-29 | 2020-07-07 | 深圳市达科为智能医学有限公司 | Sterile adapter |
| CN109528307B (en) * | 2018-12-29 | 2021-02-09 | 苏州康多机器人有限公司 | Laparoscopic surgery robot surgical instrument replacing device and replacing method |
| CN110063792B (en) * | 2019-05-28 | 2024-03-26 | 锐志微创医疗科技（常州）有限公司 | Portable minimally invasive surgery robot auxiliary device |
| CN110755157B (en) * | 2019-12-24 | 2020-05-05 | 锐志微创医疗科技（常州）有限公司 | Actuating device, transmission mechanism, instrument structure and robot |
| CN111000636B (en) * | 2019-12-30 | 2021-08-27 | 上海微创医疗机器人（集团）股份有限公司 | Transmission assembly, drive box, surgical instrument system and robot system |
| CN111658150A (en) * | 2020-06-24 | 2020-09-15 | 哈尔滨思哲睿智能医疗设备有限公司 | Peritoneoscope separates fungus locking interface and laparoscopic surgery robot |
| CN114098845B (en) * | 2020-08-28 | 2023-07-25 | 中国科学院沈阳自动化研究所 | Modularized surgical robot driving device |
| CN112370169B (en) * | 2020-11-12 | 2021-04-27 | 山东威高手术机器人有限公司 | Rotatable minimally invasive surgery instrument quick-change device |
| CN112472162A (en) * | 2020-12-19 | 2021-03-12 | 深圳市精锋医疗科技有限公司 | Surgical instrument device and surgical robot |
| CN113048137B (en) * | 2021-03-10 | 2022-03-15 | 极限人工智能有限公司 | Steel wire and transmission shaft connecting structure, surgical robot and method |
| CN113855248B (en) * | 2021-10-25 | 2024-02-23 | 佗道医疗科技有限公司 | Zero point positioning method for surgical robot instrument assembly |
| CN114081630B (en) * | 2021-11-11 | 2023-04-07 | 常州唯精医疗机器人有限公司 | Instrument quick change device and minimally invasive surgery robot |
| CN114052919A (en) * | 2021-11-18 | 2022-02-18 | 武汉联影智融医疗科技有限公司 | Power connecting device, tail end execution equipment and laparoscopic robot |
| CN114224404B (en) * | 2021-12-31 | 2023-08-15 | 佗道医疗科技有限公司 | Instrument assembly assembling and detecting mechanism, detecting method and instrument assembly thereof |
| WO2023165389A1 (en) * | 2022-03-04 | 2023-09-07 | 深圳市精锋医疗科技股份有限公司 | Power apparatus, surgical robot and joint method |
| CN114983571B (en) * | 2022-04-22 | 2024-03-26 | 吉林大学 | Convenient replacement type rigid surgical instrument for pleuroperitoneal cavity minimally invasive surgery |
| CN115005997B (en) * | 2022-08-08 | 2022-11-04 | 科弛医疗科技(北京)有限公司 | But manipulator of real-time detection apparatus box installation state |
| CN117442344A (en) * | 2023-12-01 | 2024-01-26 | 春风化雨(苏州)智能医疗科技有限公司 | Surgical instrument for electromagnetic positioning and navigation of orthopedic operation robot |
| CN117398138B (en) * | 2023-12-13 | 2024-03-15 | 苏州康多机器人有限公司 | Surgical instrument |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6331181B1 (en) * | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
| CN101340852B (en) * | 2005-12-20 | 2011-12-28 | 直观外科手术操作公司 | Instrument interface of a robotic surgical system |
| AU2008308868B2 (en) * | 2007-09-30 | 2014-12-04 | DePuy Synthes Products, Inc. | Customized patient-specific orthopaedic surgical instrumentation |
| CN101411630B (en) * | 2007-10-19 | 2011-03-02 | 北京航空航天大学 | Terminal operating system of robot and minimally invasive surgery robot with vision navigation |
| CN101627921B (en) * | 2009-08-05 | 2011-12-14 | 天津大学 | Rapid replacing interface for assisted minimally invasive surgical operation robot |
| CN102119872B (en) * | 2011-01-10 | 2012-11-07 | 天津大学 | Compact quick-change mechanism of robot for minimally invasive surgery |
| CN103340687B (en) * | 2013-07-29 | 2015-06-10 | 吉林大学 | Decoupled quick change surgical device for robot assisted minimally invasive surgery |
-
2016
- 2016-07-08 CN CN201610536550.4A patent/CN105997254B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105997254A (en) | 2016-10-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105997254B (en) | A kind of Minimally Invasive Surgery instrument fast replacing device | |
| JP6999541B2 (en) | Powered support arm that can be quickly repositioned | |
| CN211381520U (en) | Surgical instrument connecting device capable of being rapidly installed and detached | |
| CN107080588A (en) | A kind of new micro-wound operation robot control device driven by line | |
| US20140249421A1 (en) | Locking Mechanism for Probe Connector and Portable Ultrasound Device Having the Same | |
| CN107260307A (en) | A kind of six degree of freedom micro-wound operation robot clamping device driven by line | |
| CN113558770A (en) | Instrument operation box for vascular intervention surgical robot | |
| CN112472160A (en) | Surgical instrument and surgical robot | |
| CN209564207U (en) | A kind of operating robot | |
| CN206080684U (en) | High frequency electric sword control switch suitable for endoscopic surgery | |
| US20200337788A1 (en) | Robotic surgical systems, instrument drive assemblies, and drive assemblies | |
| CN214181409U (en) | Handle for controlling directional bending of sheath tube and interventional instrument | |
| JP2013013529A (en) | Device for inserting puncture needle | |
| CN207640485U (en) | Hook electrode component with Telescopic | |
| CN114343832B (en) | Electric coagulation forceps with bipolar wire connection | |
| CN209499810U (en) | Knob assembly and circular-pipe anastomat | |
| CN219289541U (en) | Locking assembly and minimally invasive surgery robot | |
| CN110403648A (en) | A kind of intervening equipment Universal anti-collision mechanism | |
| CN214342593U (en) | Movable platform, telecentric control mechanism and surgical robot | |
| CN108524067A (en) | A kind of medical treatment and nursing disinfection and isolation device | |
| CN103610501B (en) | A kind of Multifunction operating appliances for micro-wound operation robot | |
| CN110464481A (en) | Cranial surgery stereotactic apparatus and locking means with double locking function | |
| CN114983571B (en) | Convenient replacement type rigid surgical instrument for pleuroperitoneal cavity minimally invasive surgery | |
| CN218651966U (en) | Stab card sealing device and minimally invasive surgery robot | |
| CN109646096A (en) | A kind of stapler traction device for department of general surgery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 300350 Haijing garden, Haihe Education Park, Jinnan, Tianjin, 135, Tianjin University. Patentee after: Tianjin University Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |