CN108498170B - Endoscope connection structure of laparoscopic surgery mirror robot - Google Patents
Endoscope connection structure of laparoscopic surgery mirror robot Download PDFInfo
- Publication number
- CN108498170B CN108498170B CN201810345122.2A CN201810345122A CN108498170B CN 108498170 B CN108498170 B CN 108498170B CN 201810345122 A CN201810345122 A CN 201810345122A CN 108498170 B CN108498170 B CN 108498170B
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- endoscope
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- release device
- quick
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- 238000002357 laparoscopic surgery Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 8
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 abstract description 2
- 230000008439 repair process Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
-
- 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
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Surgical Instruments (AREA)
- Endoscopes (AREA)
Abstract
The invention relates to an endoscope connection structure of a laparoscopic surgery endoscope holding robot, relates to the technical field of surgical robots, and is used for solving the technical problem that in the prior art, the installation and the disassembly of an endoscope in a minimally invasive surgery are complicated. The endoscope connecting structure comprises the bottom plate and the first quick-release device, and the mounting hole is formed in the first quick-release device, so that the purpose of quickly disassembling and mounting the endoscope can be achieved through the first quick-release device after the endoscope is arranged in the mounting hole, the endoscope can be easily connected with the bottom plate without an additional switching mechanism or a mechanical interface, the preparation time of an operation is saved, and the rapidity and the convenience of the first quick-release device provide convenience conditions for maintenance and repair of the endoscope.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to an endoscope connecting structure of a laparoscopic surgery endoscope holding robot.
Background
Minimally invasive surgery has been practiced and rapidly developed based on conventional surgery with many advantages of rapid postoperative recovery, less trauma, etc. Laparoscopic minimally invasive surgery, which is a minimally invasive representation, has become a major revolution in traditional open surgery. Along with the expansion of the field of minimally invasive surgery, the minimally invasive surgery robot system aims at the limitation of the conventional endoscopic technology in clinical application and provides a new way for further perfecting the minimally invasive surgery.
Among them, an endoscope is an important part in a surgical robot system, on which a computer chip is mounted, so that a magnified image which is clearer than visual observation can be obtained, and if a specially designed laparoscopic surgical tool is used while viewing a picture through a monitor, a minimally invasive operation can be performed. However, in the conventional laparoscopic surgical robot system, the endoscope is relatively complicated to install and is generally difficult to disassemble and assemble once, so that the preparation time before the operation is long and the maintenance and the repair cannot be conveniently performed.
Disclosure of Invention
The invention provides an endoscope connecting structure of a laparoscopic surgery endoscope holding robot, which is used for solving the technical problem that the installation and the disassembly of an endoscope in a minimally invasive surgery are complicated in the prior art.
The invention provides an endoscope connecting structure of a laparoscopic surgery endoscope holding robot, which comprises a bottom plate and a first quick-release device arranged on the bottom plate, wherein a mounting hole is formed in the first quick-release device, and an endoscope is fixed on the bottom plate by the first quick-release device after passing through the mounting hole.
In one embodiment, the first quick release device includes a locking mechanism and a connection block, the mounting hole is disposed on the connection block, and the locking mechanism secures the endoscope to the connection block.
In one embodiment, the connecting block comprises an upper connecting block and a lower connecting block which are mutually hinged, and the locking mechanism passes through the upper connecting block and is fixed on the lower connecting block; the upper connecting block is provided with a first semicircular groove, a second semicircular groove is formed in the corresponding position of the lower connecting block, and the first semicircular groove is matched with the second semicircular groove to form the mounting hole.
In one embodiment, the locking mechanism comprises a knob shaft and a pin shaft arranged at the lower part of the knob shaft, a slotted hole is formed in the lower connecting block, and the knob shaft rotates in the slotted hole to enable the pin shaft to be clamped with the bottom surface of the slotted hole.
In one embodiment, the bottom surface of the slot is a wedge surface, the pin moves toward the high side of the wedge surface when the knob shaft is locked, and the pin moves toward the low side of the wedge surface when the knob shaft is released.
In one embodiment, the knob shaft is further sleeved with a split ring, and the split ring is arranged between the upper connecting block and the upper connecting block.
In one embodiment, a second quick release device for fixing the first quick release device is arranged on the bottom plate, the second quick release device comprises an elastic locking mechanism and a pressing part arranged on the elastic locking mechanism, and the pressing part enables the elastic locking mechanism to be inserted into or separated from the connecting block.
In one embodiment, one end of the elastic locking mechanism is connected with the bottom plate through a spring, and the other end of the elastic locking mechanism is provided with a clamping block inserted into the connecting block; the elastic locking mechanism is also provided with an inclined plane contacted with the pressing part, and the pressing part moves up and down along the inclined plane to enable the clamping block to be inserted into or separated from the connecting block.
In one embodiment, the connecting block further comprises a fixing seat arranged at the bottom end of the lower connecting block, one side of the fixing seat is provided with a clamping groove matched with the clamping block, and the other side of the fixing seat is provided with an inserting part connected with the bottom plate.
In one embodiment, a flexible body is provided on a surface of the upper connection block contacting the lower connection block.
Compared with the prior art, the invention has the advantages that: because the mounting hole is formed in the first quick-release device, after the endoscope is arranged in the mounting hole, the purpose of quickly disassembling and installing the endoscope can be achieved through the first quick-release device, so that the endoscope can be easily connected with the bottom plate without an additional switching mechanism or a mechanical interface, the preparation time of an operation is saved, and convenience is provided for maintenance and maintenance of the endoscope.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.
FIG. 1 is an isometric view of an endoscopic attachment structure of an laparoscopic surgical holding robot in an embodiment of the present invention;
FIG. 2 is a schematic perspective view of an endoscope connection structure of an laparoscopic surgery holding robot (an endoscope is not shown in the drawing) in accordance with an embodiment of the present invention;
FIG. 3 is an exploded view of an endoscopic attachment structure of a laparoscopic surgical holding robot according to an embodiment of the present invention (the endoscope and mount are not shown in the drawings);
FIG. 4 is an exploded view of the first quick release device shown in FIG. 3;
FIG. 5 is a front view of an endoscope attachment structure of a laparoscopic surgical endoscope-holding robot (endoscope and mount not shown) in accordance with an embodiment of the present invention;
FIG. 6 is a cross-sectional view at A-A of FIG. 5;
FIG. 7 is a left side view of an endoscopic attachment structure of a laparoscopic surgical holding robot according to an embodiment of the present invention (the endoscope and mount are not shown in the drawings);
FIG. 8 is a cross-sectional view of FIG. 7 at B-B;
FIG. 9 is a schematic perspective view of the lower connecting block shown in FIG. 3;
FIG. 10 is a schematic perspective view of the knob shaft shown in FIG. 3;
fig. 11 is a schematic perspective view of the second quick release device shown in fig. 3.
Reference numerals:
1-a bottom plate; 2-a first quick release device; 3-a second quick release device;
4-an endoscope; 5-mounting seats; 11-cover plate;
12-a guide groove; 21-mounting holes; 22-locking mechanism;
23-connecting blocks; 24-rotating shaft; 25-pins;
31-elastic locking mechanism; 32-a pressing part; 221-a knob shaft;
222-pin shaft; 223-split collar; 224-first card stage;
225-second clamping table 226-knob; 231-upper connection block;
232-lower connecting block; 233-slots; 234-fixing seat;
235-clamping groove; 236-an insertion portion; 237-wedge face;
238-boss; 311-springs; 312-clamping blocks;
313-inclined plane; 314-spring mounting slots.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 and 2, the present invention provides an endoscope connection structure of a laparoscopic surgery endoscope holding robot, which comprises a base plate 1 and a first quick release device 2 arranged on the base plate 1, wherein a mounting hole 21 is arranged on the first quick release device 2, and the endoscope 4 is fixed on the base plate 1 by the first quick release device 2 after passing through the mounting hole 21. The quick detachment of the endoscope 4 can be achieved by the first quick release device 2, thereby saving the time for preparation work for minimally invasive surgery.
As shown in fig. 1, the base plate 1 is mounted on a mount 5, and a control unit of the endoscope 4 is provided in the mount 5. The control components of the mounting base 5 and the endoscope 4 are well known in the art, and will not be described in detail herein.
According to a first aspect of the present invention, a specific implementation of the first quick release device 2 is provided.
The first quick release device 2 includes a lock mechanism 22 and a connection block 23, and the mounting hole 21 is provided on the connection block 23, the lock mechanism 22 fixing the endoscope to the connection block 23. As shown in fig. 1, the front end of the endoscope 4 extends into the mounting hole 21 and is locked on the connection block 23 by the locking mechanism 22, and at the same time, the rear end of the endoscope 4 contacts with the upper surface of the base plate 1 to form another fulcrum, so that unstable connection caused by overlong front end of the endoscope 4 is prevented.
It is therefore preferable that the distance between the rear end of the endoscope 4 and the base plate 1 is the same as the height of the mounting hole 21, thereby ensuring the stability of the endoscope 4 after mounting.
Further, the connection block 23 includes an upper connection block 231 and a lower connection block 232 hinged to each other, and the locking mechanism 22 is fixed on the lower connection block 232 after passing through the upper connection block 231; the upper connection block 231 is provided with a first semicircular groove, the corresponding position of the lower connection block 232 is provided with a second semicircular groove, and the first semicircular groove is matched with the second semicircular groove to form the mounting hole 21. As shown in fig. 3 and 4, one end of the upper connection block 231 and one end of the lower connection block 232 are connected by the rotation shaft 24, so that the upper connection block 231 can be rotated about the axis of the rotation shaft 24, thereby facilitating the placement of the endoscope 4 into the mounting hole 21.
In order to prevent rotation of the rotation shaft 24, a pin 25 is provided in a direction perpendicular to the axial direction of the rotation shaft 24, and the pin 25 passes through the lower connection block 231 and engages with the rotation preventing plane 241 on the side of the rotation shaft 241.
As shown in fig. 5 and 6, the locking mechanism 22 includes a knob shaft 221 and a pin 222 disposed at a lower portion of the knob shaft 221, and a slot 233 is formed in a lower connection block 232, and the knob shaft 221 rotates in the slot 233 to engage the pin 222 with a bottom surface of the slot 233.
The locking mechanism 22 is locked in the following manner:
as shown in fig. 3 and 4, a pin 222 is disposed at the lower part of the knob shaft 221, and the axis of the pin 222 is perpendicular to the axis of the knob shaft 221, so that the pin 222 can be driven to rotate when the knob shaft 221 rotates. The lower connection block 232 is provided with a slot 233, wherein the slot 233 includes a hole having the same extending direction as the knob shaft 221 and a slot having the same extending direction as the pin 222, the centers of the hole and the slot are perpendicular to each other, and the length of the pin 222 is smaller than the length of the slot but larger than the diameter of the hole, so that the pin 222 can enter the bottom of the slot 233 through the slot, and when the knob shaft 221 rotates, the pin 222 rotates at the bottom of the slot 233, so that the axis of the pin 222 is perpendicular to the extending direction of the slot, and the pin 222 can be clamped at the bottom of the slot 233, thereby achieving the locking purpose.
As shown in fig. 9, the bottom surface of the slot 233 is a wedge surface 237, and when the knob shaft 221 is locked (e.g., locked by rotating counterclockwise), the pin 222 moves toward the upper portion of the wedge surface 237, and when the knob shaft 221 is released (e.g., released by rotating counterclockwise), the pin 222 moves toward the lower portion of the wedge surface 237. Since the pin 222 moves toward the height of the wedge 237 (i.e., up-slope) during locking, the difficulty of movement thereof increases gradually, thereby locking the pin 222 to the wedge 237, and moves toward the opposite direction (i.e., down-slope) during unlocking, thereby facilitating the release of the pin 222 from the wedge.
As shown in fig. 9, the pin 222 may extend from the slot to the bottom of the slot 233, and after rotating 90 ° counterclockwise, reach the highest position of the wedge 237, and the boss 238 is disposed at the highest position of the wedge 237, and the height of the boss 238 is greater than the diameter of the pin 222, so that the pin 222 is blocked by the boss 238 when rotating to the boss 238, thereby rotating further. In other words, the maximum rotation angle of the pin 222 is 90 °, and the position corresponding to the maximum rotation angle is the highest position of the wedge surface 237.
Further, in order to reduce the length of the knob shaft 221, a groove may be provided at the bottom of the lower connection block 232, thereby reducing the depth of the slot 233, and reducing the length of the knob shaft 221, thereby reducing the difficulty of processing.
The knob shaft 221 is further sleeved with a split ring 223, and the split ring 223 is arranged between the upper connecting block 231 and the lower connecting block 232.
As shown in fig. 10, a knob 226 is provided at the upper end of the knob shaft 221, so that the knob shaft 221 can be conveniently rotated. The knob shaft 221 is further provided with a first catching step 224, wherein the first catching step 224 is disposed in the stepped hole of the upper connection block 231 for pressing the upper connection block 231 against the lower connection block 232. In addition, a second clamping table 225 is further disposed in the middle of the knob shaft 221, and a circlip 223 is disposed on the second clamping table 225 to prevent the knob shaft 221 from jumping axially.
In addition, as shown in fig. 3, a notch is provided on the bottom surface of the upper connection block 231 at a position corresponding to the circlip 223 for avoiding interference with the circlip 223.
In order to avoid that the rigid contact between the upper connection block 231 and the lower connection block 232 causes difficulty in locking, a flexible body is provided on a surface of the upper connection block 231 in contact with the lower connection block 232, and a degree of locking between the upper connection block 231 and the lower connection block 232 can be ensured by compressing the flexible body when the locking mechanism 22 moves the upper connection block 231 in a direction approaching the lower connection block 232. Wherein, the flexible body can be made of rubber or other materials with certain elastic deformation capability.
Therefore, in the present invention, the locking mechanism 22 eliminates the conventional way of not being fast and fast in the threaded connection, but the pin shaft 222 is locked after rotating 90 ° through the linkage action among the knob shaft 221, the pin shaft 222 and the lower connection block 232, so that the upper connection block 231 and the lower connection block 232 can be fast locked and disassembled, thereby reducing the preparation time of the operation.
According to a second aspect of the present invention, a specific implementation of the second quick release device 3 is provided.
As shown in fig. 7 and 8, the second quick release device 3 for fixing the first quick release device 2 is provided on the base plate 1, specifically, a mounting groove is provided on the base plate 1, the second quick release device 3 is provided in the mounting groove, a cover plate 11 is provided at the bottom of the base plate 1, and the second quick release device 3 is fixed with the base plate 1 through the cover plate 11.
Further, the second quick release device 3 includes an elastic lock mechanism 31 and a pressing portion 32 provided on the elastic lock mechanism 31, the pressing portion 32 causing the elastic lock mechanism 31 to be inserted into or separated from the connection block 23.
Specifically, as shown in fig. 11, one end of the elastic locking mechanism 31 is connected to the base plate 1 through a spring 311, and the other end is provided with a block 312 inserted into the connection block 23; the elastic locking mechanism 31 is further provided with a slope 313 contacting the pressing portion 32, and the pressing portion 32 moves up and down along the slope 313 to insert or separate the clip 312 from the connection block 23.
Further, the connection block 23 further includes a fixing seat 234 disposed at the bottom end of the lower connection block 232, one side of the fixing seat 234 is provided with a clamping slot 235 matched with the clamping block 312, and the other side is provided with an inserting portion 236 connected with the bottom plate 1.
Displacement of the fixing block 234 and the connection block 23 in the lateral direction (the length direction of the base plate 1) and in the vertical direction (the height direction of the base plate 1) can be restricted by the engagement of the clip 321 with the clip groove 234 and the engagement of the insertion portion 236 with the base plate 1; by the mounting groove on the base plate 1, the displacement of the fixing block 234 and the connection block 23 in the longitudinal direction (width direction of the base plate 1) can be restricted, and therefore, it can be ensured that the connection block 23 is restrained in all three directions, thereby locking the connection block 23 to the base plate 1.
Through setting up the fixing base 234, can make things convenient for the assembly between locking mechanism 22 and the lower connecting block 232, the effect of switching is played to the fixing base 234, can conveniently fix the connecting block 23 on base 1 through the fixing base 234. As shown in fig. 3, an assembling boss is provided on an upper end surface of the fixing base 234, and accordingly, the bottom of the lower connection block 232 is provided with an assembling groove, and by disposing the assembling boss in the assembling groove, the lower connection block 232 can be rapidly positioned on the fixing base 234.
Of course, the fixing base 234 and the lower connecting block 232 may be integrally formed.
The elastic lock mechanism 31 is locked as follows:
one end of the elastic locking mechanism 31 is provided with a spring mounting groove 314, one end of the spring 311 is arranged in the spring mounting groove 314, and the other end is fixed on the bottom plate 1; since the other end of the elastic locking mechanism 31 is provided with the clamping block 312, the clamping block 312 is inserted into the clamping groove 235 of the fixing seat 234, and therefore the clamping block 312 and the fixing seat 234 are kept in a clamping state by the pushing force of the spring 311.
The elastic locking mechanism 31 can change the position by compressing the spring 311; therefore, when the elastic locking mechanism 31 moves in a direction away from the fixed seat 234, the locking block 312 is separated from the locking groove 235, so that the elastic locking mechanism 31 is separated from the fixed seat 234.
Specifically, a slope 313 is provided on the elastic locking mechanism 31 between the mounting groove 314 and the catch 312, wherein the slope 313 is a surface inclined in a direction away from the fixing base 234, the bottom of the pressing portion 32 is in contact with the slope 313, and when the pressing portion 32 is acted upon by a downward force, the pressing portion 32 moves downward along the slope 313, thereby moving the elastic locking mechanism 31 in a direction away from the fixing base 234, that is, the spring 311 is compressed, and the catch 312 is separated from the catch 235, thereby separating the elastic locking mechanism 31 from the fixing base 234.
In addition, the bottom plate 1 is provided with a guide groove 12, the pressing portion 32 is provided in the guide groove 12, and the guide groove 12 plays a role in guiding the movement of the pressing portion 32.
Therefore, by the interlocking action of the pressing portion 32 and the elastic locking mechanism 31, a downward movement is converted into a horizontal movement, so that the first quick release device 2 can be quickly detached from the base plate 1, and the preparation time for the operation can be shortened.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (3)
1. The endoscope connecting structure of the laparoscopic surgery endoscope holding robot is characterized by comprising a bottom plate (1) and a first quick-release device (2) arranged on the bottom plate (1), wherein a mounting hole (21) is formed in the first quick-release device (2), and an endoscope (4) passes through the mounting hole (21) and is fixed on the bottom plate (1) by the first quick-release device (2);
the first quick-release device (2) comprises a locking mechanism (22) and a connecting block (23), the mounting hole (21) is formed in the connecting block (23), and the locking mechanism (22) is used for fixing the endoscope on the connecting block (23);
the connecting block (23) comprises an upper connecting block (231) and a lower connecting block (232) which are mutually hinged, and the locking mechanism (22) is fixed on the lower connecting block (232) after passing through the upper connecting block (231); a first semicircular groove is formed in the upper connecting block (231), a second semicircular groove is formed in the corresponding position of the lower connecting block (232), and the first semicircular groove is matched with the second semicircular groove to form the mounting hole (21);
the locking mechanism (22) comprises a knob shaft (221) and a pin shaft (222) arranged at the lower part of the knob shaft (221), a slotted hole (233) is formed in the lower connecting block (232), and the knob shaft (221) rotates in the slotted hole (233) to enable the pin shaft (222) to be clamped with the bottom surface of the slotted hole (233);
the bottom surface of the slot hole (233) is a wedge surface (237), when the knob shaft (221) is locked, the pin shaft (222) moves towards the high position of the wedge surface, and when the knob shaft (221) is loosened, the pin shaft (222) moves towards the low position of the wedge surface;
the knob shaft (221) is also sleeved with an opening check ring (223), and the opening check ring (223) is arranged between the upper connecting block (231) and the lower connecting block (232);
the base plate (1) is provided with a second quick-release device (3) for fixing the first quick-release device (2), the second quick-release device (3) comprises an elastic locking mechanism (31) and a pressing part (32) arranged on the elastic locking mechanism (31), and the pressing part (32) enables the elastic locking mechanism (31) to be inserted into or separated from the connecting block (23);
one end of the elastic locking mechanism (31) is connected with the bottom plate (1) through a spring (311), and the other end of the elastic locking mechanism is provided with a clamping block (312) inserted into the connecting block (23); the elastic locking mechanism (31) is further provided with an inclined surface (313) which is in contact with the pressing part (32), and the pressing part (32) moves up and down along the inclined surface (313) so that the clamping block (312) is inserted into or separated from the connecting block (23).
2. The endoscope connection structure of the laparoscopic surgery holding robot according to claim 1, wherein the connection block (23) further comprises a fixing seat (234) arranged at the bottom end of the lower connection block (232), one side of the fixing seat (234) is provided with a clamping groove (235) matched with the clamping block (312), and the other side is provided with an inserting part (236) connected with the bottom plate (1).
3. The endoscope connection structure of a laparoscopic surgery holding robot according to claim 1 or 2, wherein a flexible body is provided on a surface of the upper connection block (231) contacting the lower connection block (232).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810345122.2A CN108498170B (en) | 2018-04-17 | 2018-04-17 | Endoscope connection structure of laparoscopic surgery mirror robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810345122.2A CN108498170B (en) | 2018-04-17 | 2018-04-17 | Endoscope connection structure of laparoscopic surgery mirror robot |
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| CN108498170A CN108498170A (en) | 2018-09-07 |
| CN108498170B true CN108498170B (en) | 2023-11-17 |
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| CN201810345122.2A Active CN108498170B (en) | 2018-04-17 | 2018-04-17 | Endoscope connection structure of laparoscopic surgery mirror robot |
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| CN109481021B (en) * | 2018-10-25 | 2021-11-16 | 天津大学 | Mode reconstruction type minimally invasive surgery robot slave hand system |
| CN112237411B (en) * | 2020-05-26 | 2022-11-18 | 成都博恩思医学机器人有限公司 | Endoscope centre gripping quick detach mechanism |
| CN112237412B (en) * | 2020-05-26 | 2022-11-18 | 成都博恩思医学机器人有限公司 | Endoscope fixing 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 |
| CN115670367A (en) * | 2022-11-01 | 2023-02-03 | 杭州微新医疗科技有限公司 | Microscope supporting structure of expander |
| CN115486941B (en) * | 2022-11-16 | 2023-03-24 | 江西卓瑞科技有限公司 | Ureter soft mirror robot |
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| CN1302213A (en) * | 1999-04-26 | 2001-07-04 | 高地健 | Mechanical lock mechanism and injector head using the mechanism |
| CN206499527U (en) * | 2016-09-12 | 2017-09-19 | 苏州大学 | Quick-changing mechanism for auxiliary robot of orthopedic surgery end-of-arm tooling |
| CN106983559A (en) * | 2017-04-20 | 2017-07-28 | 广州泰晶智能科技有限公司 | A kind of soft lens clamper and its mounting structure on soft lens operation auxiliary robot |
| CN209074879U (en) * | 2018-04-17 | 2019-07-09 | 成都博恩思医学机器人有限公司 | A kind of endoscope connection structure of laparoscopic surgery Chi Jing robot |
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