CN107334537B - Bracket component, surgical instrument of surgical robot and surgical robot - Google Patents
Bracket component, surgical instrument of surgical robot and surgical robot Download PDFInfo
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- CN107334537B CN107334537B CN201710646160.7A CN201710646160A CN107334537B CN 107334537 B CN107334537 B CN 107334537B CN 201710646160 A CN201710646160 A CN 201710646160A CN 107334537 B CN107334537 B CN 107334537B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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Abstract
The invention provides a bracket assembly, a surgical instrument of a surgical robot and the surgical robot, wherein the bracket assembly comprises: the device comprises a first support, a second support and a third support, wherein two sides of the first support are respectively provided with a hollow mounting cavity, and the bottom of the first support is provided with a mounting groove; the number of the spring buckles is two, and the two spring buckles are respectively arranged in the two mounting cavities; the second support is provided with an installation bulge and two positioning holes, the positioning holes are matched with the spring fasteners, and the installation bulge is matched with the installation groove; when the first support is connected with the second support, the first support is fixed on the second support through the matching of the mounting groove and the mounting protrusion and the insertion of the spring fastener into the positioning hole under the action of elastic force. The bracket component provided by the invention realizes the quick-release function between the first bracket and the second bracket through the structure, so that a user can assemble or separate the first bracket and the second bracket at any time.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a bracket assembly, a surgical instrument of a surgical robot and the surgical robot.
Background
At present, robot-assisted minimally invasive surgery gradually becomes a development trend of minimally invasive surgery, in the related art, due to the characteristics of the minimally invasive surgery, the movement space of a robot is greatly limited, so that the robot cannot move freely, and due to the complex structure and large volume of a surgical instrument of the surgical robot, the movement space of the robot is further compressed. Therefore, how to design a surgical robot which can be flexibly assembled, disassembled and moved in a limited space becomes an urgent problem to be solved.
Disclosure of Invention
In order to solve at least one of the above technical problems, an embodiment of the first aspect of the present invention proposes a bracket assembly.
In a second aspect of the embodiment of the invention, a surgical instrument of a surgical robot is also provided.
In a third aspect of the embodiment of the invention, a surgical robot is also provided.
In view of the above, according to an embodiment of the first aspect of the present invention, the present invention provides a bracket assembly for a surgical instrument of a surgical robot, comprising: the device comprises a first support, a second support and a third support, wherein two sides of the first support are respectively provided with a hollow mounting cavity, and the bottom of the first support is provided with a mounting groove; the number of the spring buckles is two, and the two spring buckles are respectively arranged in the two mounting cavities; the second support is provided with an installation bulge and two positioning holes, the positioning holes are matched with the spring fasteners, and the installation bulge is matched with the installation groove; when the first support is connected with the second support, the first support is fixed on the second support through the matching of the mounting groove and the mounting protrusion and the insertion of the spring fastener into the positioning hole under the action of elastic force.
According to the bracket assembly provided by the invention, the first bracket and the second bracket are connected in a fastening manner through the matching of the mounting protrusion and the mounting groove and the matching of the spring fastener and the positioning hole, and the spring fastener can be pulled out of the positioning hole to separate the first bracket from the second bracket. Wherein, to the surgical instruments of the surgical robot in the medical robot field who has adopted this bracket component, can set up different mechanisms on first support and the second support respectively, like drive assembly, driven subassembly, medical device, operation execution portion etc. make the user choose for use different first support and second support to connect fast each other or dismantle at any time through foretell quick detach structure, greatly made things convenient for user's use, promoted surgical instruments or surgical robots's of surgical robots commonality and assembly efficiency simultaneously.
In addition, the bracket assembly provided by the invention in the above embodiment may further have the following additional technical features:
in the above technical solution, preferably, the spring buckle is provided with a first guide slope.
In this technical scheme, through set up first direction inclined plane on the snak link for it can pass in and out the locating hole more smoothly, can play the effect to the snak link direction when first support and second leg joint contact simultaneously, makes the assembly between first support and the second support or dismantles convenient easy more, has promoted the efficiency that both assembled or dismantled.
In any of the above technical solutions, preferably, one end of the second bracket is provided with a second guiding inclined surface, and the second guiding inclined surface is matched with the first guiding inclined surface.
In the technical scheme, through the second direction inclined plane that sets up the one end at the second support, make first support and second support be assembled between/be connected between's in-process, the snak link contacts with second direction inclined plane earlier and contracts, later the snak link laminating first support removes and finally inserts the locating hole to the top of locating hole again, realize being connected of first support and second support, make assembly part snak link just so can be compressed by second guide structure, the operation that the user pressed the snak link has been saved, user's use has also been made things convenient for when improving assembly joint efficiency.
In any of the above technical solutions, preferably, the spring catch includes: a spring; the positioning rod is connected with the spring; the connecting rod is connected with the positioning rod; wherein the positioning rod is moved by pushing the connecting rod.
In the technical scheme, when the first support is connected with the second support, the positioning rod is pushed by the elasticity of the spring and is inserted into the positioning hole to realize the connection of the first support and the second support; the user can promote the connecting rod when separating first support and second support, and then makes the locating lever withdraw from the locating hole, later removes first support and makes both separation, makes the user can more conveniently separate first support and second support through the setting of connecting rod. In addition, the connecting rod can be designed into a lever structure, so that the user can operate the connecting rod more easily and conveniently.
In any one of the above technical solutions, preferably, a positioning column is disposed in the installation cavity, and the spring is sleeved on the positioning column.
In this technical scheme, realize location, spacing and the direction to the spring through the reference column that sets up in the installation cavity for the spring can move according to the route of design, hoisting device's reliability.
In any one of the above technical solutions, preferably, a fitting groove is formed in a wall surface of the mounting cavity, and the connecting rod passes through the fitting groove and is connected with the positioning rod.
In this technical scheme, the connecting rod passes the cooperation groove on the installation cavity wall and is connected with the locating lever, and the cooperation groove also can play the spacing and effect of direction to the connecting rod, and the connecting rod can remove and drive the locating lever motion in the cooperation groove, and the cooperation groove can be spacing to the connecting rod simultaneously, prevents that connecting rod and locating lever from deviating from the installation cavity.
In any of the above technical solutions, preferably, one end of the mounting groove is provided with a third guiding inclined surface; one end of the mounting protrusion is provided with a fourth guide inclined plane, and the fourth guide inclined plane is matched with the third guide inclined plane.
In this technical scheme, through setting up the direction inclined plane respectively on installation arch and mounting groove for the installation arch can pass in and out the mounting groove more smoothly, also makes the assembly between first support and the second support or dismantles convenient and easy more like this, has further promoted the efficiency of both assembles or dismantlements.
Embodiments of the second aspect of the present invention also provide a surgical instrument of a surgical robot, comprising: the bracket assembly is described above.
According to the surgical instrument of the surgical robot, the first support and the second support are connected in a fastening mode through the structure, and meanwhile the spring fastener can be pulled out of the positioning hole to separate the first support from the second support, so that the quick-release function between the first support and the second support is achieved, and a user can assemble or separate the first support and the second support at any time.
In addition, the bracket assembly provided by the invention in the above embodiment may further have the following additional technical features:
in the above technical solution, preferably, the method further includes: the transmission assembly is arranged on the first bracket; the operation executing part is connected with the transmission component; and the driving assembly is detachably arranged on the second support and is connected with the transmission assembly when the first support is connected with the second support.
In this technical scheme, be provided with drive assembly and drive assembly on first support and the second support respectively, be connected with operation execution portion on the drive assembly simultaneously, can set up different operation execution portions on different first supports respectively like this, just can be equivalent to having changed different operation execution portions like this through changing different first supports, promoted the change efficiency to operation execution portion, and then promoted the efficiency and the flexibility of operation.
Embodiments of the third aspect of the invention also provide a surgical robot comprising: the surgical instrument of the surgical robot.
According to the surgical robot provided by the invention, different first supports or second supports can be freely replaced at any time by adopting the surgical instrument of the surgical robot, so that different surgical execution parts can be respectively arranged on the different first supports, and the replacement of the different first supports can be equivalent to the replacement of the different surgical execution parts, thereby improving the replacement efficiency of the surgical execution parts and further improving the efficiency and flexibility of surgical operation.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of a first support structure according to an embodiment of the present invention;
FIG. 2 is a schematic view of the construction of the snap fastener of FIG. 1;
FIG. 3 is a schematic view of a second bracket according to an embodiment of the invention;
FIG. 4 is an enlarged partial schematic view of portion A of the structure shown in FIG. 3;
FIG. 5 is a schematic view of a surgical instrument configuration of a surgical robot in accordance with one embodiment of the present invention;
fig. 6 is a partially enlarged schematic view of a portion B in the structure shown in fig. 5.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 6 is:
12 a first bracket, 122 a mounting cavity, 1222 a matching groove, 124 a mounting groove, 1242 a third guide inclined surface, 126 a spring buckle, 1262 a spring, 1264 a positioning rod, 1266 a connecting rod, 1268 a first guide inclined surface, 14 a second bracket, 142 a mounting bulge, 1422 a fourth guide inclined surface, 144 a positioning hole, 2 a surgical instrument of a surgical robot, 22 a transmission component, 24 a surgical execution part and 26 a driving component.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A bracket assembly, a surgical instrument of a surgical robot, and a surgical robot according to some embodiments of the present invention will be described with reference to fig. 1 to 6.
As shown in fig. 1 to 4, the present invention provides a bracket assembly for a surgical instrument 2 of a surgical robot, including: the first bracket 12, two sides of the first bracket 12 are respectively provided with a hollow mounting cavity 122, and the bottom of the first bracket 12 is provided with a mounting groove 124; the number of the spring buckles 126 is two, and the two spring buckles 126 are respectively arranged in the two mounting cavities 122; the second bracket 14, the second bracket 14 has mounting projections 142 and two locating holes 144, the locating hole 144 is fitted with the spring buckle 126, the mounting projection 142 is fitted with the mounting groove 124; when the first bracket 12 is connected to the second bracket 14, the first bracket 12 is fixed to the second bracket 14 by the engagement of the mounting groove 124 and the mounting protrusion 142 and the insertion of the spring 126 into the positioning hole 144 under the action of elastic force.
According to the bracket assembly provided by the invention, the first bracket 12 is tightly connected with the second bracket 14 through the matching of the mounting protrusion 142 and the mounting groove 124 and the matching of the spring buckle 126 and the positioning hole 144, and the spring buckle 126 can be pulled out of the positioning hole 144 to separate the first bracket 12 from the second bracket 14, so that the quick-release function between the first bracket 12 and the second bracket 14 is realized through the structure, and a user can assemble or separate the first bracket 12 and the second bracket 14 at any time. Wherein, to the surgical instruments 2 of the surgical robot in the medical robot field that has adopted this bracket component, can set up different mechanisms respectively on first support 12 and the second support 14, like drive assembly 26, driven subassembly, medical device, operation execution portion 24 etc. make the user choose for use different first support 12 and second support 14 to connect or dismantle fast mutually at any time through foretell quick detach structure, the user's of having greatly made things convenient for use, surgical instruments 2 or surgical robot's of surgical robot commonality and assembly efficiency have been promoted simultaneously.
In one embodiment of the present invention, the spring catch 126 is preferably provided with a first guide ramp 1268, as shown in fig. 1 and 2.
In this embodiment, the first guiding inclined surface 1268 is provided on the spring fastener 126, so that the spring fastener can enter and exit the positioning hole 144 more smoothly, and at the same time, the first support 12 and the second support 14 can play a role of guiding the spring fastener 126 when being in connection contact, so that the assembly or disassembly between the first support 12 and the second support 14 is more convenient and easier, and the assembly or disassembly efficiency of the two is improved.
In one embodiment of the present invention, it is preferable that one end of the second bracket 14 is provided with a second guide slope that is matched with the first guide slope 1268.
In this embodiment, through the second guiding inclined plane arranged at one end of the second support 14, in the process of assembling and connecting the first support 12 and the second support 14, the spring buckle 126 contacts and contracts with the second guiding inclined plane, then the spring buckle 126 is attached to the first support 12 and moves to the position above the positioning hole 144, and then the spring buckle is inserted into the positioning hole 144, so that the first support 12 is connected with the second support 14, and thus the spring buckle 126 at the assembling position can be compressed by the second guiding structure, the operation of pressing the spring buckle 126 by a user is omitted, the assembling and connecting efficiency is improved, and the use by the user is facilitated.
In one embodiment of the present invention, preferably, as shown in fig. 2, the snap button 126 includes: a spring 1262; a positioning rod 1264, the positioning rod 1264 being connected to the spring 1262; a link 1266, the link 1266 being connected to the positioning rod 1264; wherein the positioning rod 1264 is moved by pushing on the link 1266.
In this embodiment, when the first bracket 12 is connected to the second bracket 14, the positioning rod 1264 is pushed by the elasticity of the spring 1262 and inserted into the positioning hole 144 to connect the two; when the first bracket 12 and the second bracket 14 are separated, the user can push the connecting rod 1266 to withdraw the positioning rod 1264 from the positioning hole 144, and then the first bracket 12 is moved to be separated, so that the user can separate the first bracket 12 from the second bracket 14 more conveniently through the arrangement of the connecting rod 1266. In addition, the link 1266 itself may be designed as a lever structure, which makes it easier and more convenient for the user to operate the link 1266.
In one embodiment of the present invention, it is preferable that a positioning post is disposed in the mounting cavity 122, and the spring 1262 is sleeved on the positioning post.
In this embodiment, positioning, limiting and guiding of the spring 1262 is achieved by positioning posts provided in the mounting cavity 122, so that the spring 1262 can move along a designed path, and the reliability of the device is improved.
In one embodiment of the present invention, as shown in fig. 1, the wall of the mounting cavity 122 is preferably formed with a fitting groove 1222, and the link 1266 is connected to the positioning rod 1264 through the fitting groove 1222.
In this embodiment, the link 1266 is connected to the positioning rod 1264 through a matching groove 1222 on the wall of the mounting cavity 122, and the matching groove 1222 can also play a role of limiting and guiding the link 1266, the link 1266 can move in the matching groove 1222 and drive the positioning rod 1264 to move, and the matching groove 1222 can limit the link 1266 and prevent the link 1266 and the positioning rod 1264 from being released from the mounting cavity 122.
In one embodiment of the present invention, preferably, as shown in fig. 1 to 4, one end of the mounting groove 124 is provided with a third guide slope 1242; one end of the mounting protrusion 142 is provided with a fourth guiding inclined surface 1422, and the fourth guiding inclined surface 1422 is matched with the third guiding inclined surface 1242.
In this embodiment, the guide slopes are respectively disposed on the mounting protrusion 142 and the mounting groove 124, so that the mounting protrusion 142 can enter and exit the mounting groove 124 more smoothly, the assembly or disassembly between the first bracket 12 and the second bracket 14 is more convenient and easier, and the assembly or disassembly efficiency of the two is further improved.
The present invention also provides a surgical instrument 2 of a surgical robot, as shown in fig. 5 and 6, including: the bracket assembly is described above.
According to the surgical instrument 2 of the surgical robot provided by the invention, the first support 12 and the second support 14 are connected firmly through the structure, and the spring buckle 126 can be pulled to be separated from the positioning hole 144 to separate the first support 12 from the second support 14, so that the quick-release function between the first support 12 and the second support 14 is realized, and a user can assemble or separate the first support 12 and the second support 14 at any time.
In one embodiment of the present invention, preferably, as shown in fig. 5 and 6, further comprising: a transmission assembly 22 disposed on the first bracket 12; a surgical executing part 24, wherein the surgical executing part 24 is connected with the transmission component 22; a drive assembly 26 removably disposed on the second frame 14, the drive assembly 26 being coupled to the transmission assembly 22 when the first frame 12 is coupled to the second frame 14.
In this embodiment, the first support 12 and the second support 14 are respectively provided with the transmission assembly 22 and the driving assembly 26, and the transmission assembly 22 is connected with the operation performing part 24, so that different operation performing parts 24 can be respectively arranged on different first supports 12, and thus, by replacing different first supports 12, it is equivalent to replacing different operation performing parts 24, the replacement efficiency of the operation performing part 24 is improved, and further, the efficiency and flexibility of the operation are improved.
The present invention also provides a surgical robot comprising: the surgical instrument 2 of the surgical robot described above.
The surgical robot provided by the invention can freely replace different first supports 12 or second supports 14 at any time by adopting the surgical instrument 2 of the surgical robot, so that different surgical execution parts 24 can be respectively arranged on different first supports 12, and thus, different surgical execution parts 24 can be equivalently replaced by replacing different first supports 12, the replacement efficiency of the surgical execution parts 24 is improved, and the efficiency and flexibility of surgical operation are further improved.
In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A bracket assembly for a surgical instrument of a surgical robot, comprising:
the device comprises a first support, a second support and a third support, wherein two sides of the first support are respectively provided with a hollow mounting cavity, and the bottom of the first support is provided with a mounting groove;
the spring buckles are two in number and are respectively arranged in the two mounting cavities, each spring buckle comprises a spring, a positioning rod connected with the spring and a connecting rod connected with the positioning rod, the connecting rods are pushed to enable the positioning rods to move, a positioning column is arranged in each mounting cavity, and the springs are sleeved on the positioning columns;
the second support is provided with an installation bulge and two positioning holes, the positioning holes are matched with the spring fasteners, and the installation bulge is matched with the installation groove;
when the first support is connected with the second support, the first support is fixed on the second support through the matching of the mounting groove and the mounting protrusion and the insertion of the spring buckle into the positioning hole under the action of elastic force;
a first guide inclined plane is arranged on the spring fastener; a second guide inclined plane is arranged at one end of the second support and is matched with the first guide inclined plane;
a third guide inclined plane is arranged at one end of the mounting groove;
and a fourth guide inclined plane is arranged at one end of the mounting protrusion and is matched with the third guide inclined plane.
2. The bracket assembly of claim 1, wherein the wall of the mounting cavity is provided with a matching groove, and the connecting rod passes through the matching groove to be connected with the positioning rod.
3. A surgical instrument of a surgical robot, comprising: the mount assembly according to any one of claims 1 to 2.
4. A surgical instrument of a surgical robot as recited in claim 3, further comprising:
the transmission assembly is arranged on the first bracket;
the operation execution part is connected with the transmission component;
and the driving assembly is detachably arranged on the second bracket and is connected with the transmission assembly when the first bracket is connected with the second bracket.
5. A surgical robot, comprising: a surgical instrument of a surgical robot as claimed in claim 3 or 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646160.7A CN107334537B (en) | 2017-07-31 | 2017-07-31 | Bracket component, surgical instrument of surgical robot and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646160.7A CN107334537B (en) | 2017-07-31 | 2017-07-31 | Bracket component, surgical instrument of surgical robot and surgical robot |
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| CN107334537A CN107334537A (en) | 2017-11-10 |
| CN107334537B true CN107334537B (en) | 2021-03-19 |
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| CN201710646160.7A Active CN107334537B (en) | 2017-07-31 | 2017-07-31 | Bracket component, surgical instrument of surgical robot and surgical robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108498169B (en) * | 2018-04-17 | 2023-11-17 | 成都博恩思医学机器人有限公司 | Endoscope connection structure of laparoscopic surgery mirror robot |
| CN111012502B (en) * | 2018-10-09 | 2022-10-21 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
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| CN107334537A (en) | 2017-11-10 |
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