CN110074868B - Robot for orthopaedic surgery special equipment clamping device - Google Patents
Robot for orthopaedic surgery special equipment clamping device Download PDFInfo
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- CN110074868B CN110074868B CN201910562914.XA CN201910562914A CN110074868B CN 110074868 B CN110074868 B CN 110074868B CN 201910562914 A CN201910562914 A CN 201910562914A CN 110074868 B CN110074868 B CN 110074868B
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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
- 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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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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- Animal Behavior & Ethology (AREA)
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Abstract
The invention discloses a kind of robot for orthopaedic surgery special equipment clamping devices comprising shell, shell is interior to be equipped with interior central siphon；Interior central siphon offers round platform hole, is embedded with ball in round platform hole；The first axle sleeve is arranged on interior central siphon；The inner wall left end of first axle sleeve offers accommodation groove；First axle sleeve outer cover is equipped with first bearing；The right part of interior central siphon has the first convex shoulder, and the left side of the first convex shoulder is equipped with second bearing；The first retaining ring is connected with outside second bearing；First retaining ring outer cover, which is equipped with, adjusts sleeve；It adjusts and offers the first track groove on sleeve；Shell is installed with the first pin shaft, and the first pin shaft is arranged in the first track groove；It is installed with the second pin shaft on first retaining ring, adjusts and offers the second track groove on sleeve；Kidney slot is offered on shell；Second pin shaft is arranged in the second track groove and kidney slot simultaneously.Clamping device of the invention both quickly can be locked firmly with surgical instrument, can also quickly and light unloading surgical instrument.
Description
Technical field
The present invention relates to the field of medical instrument technology, in particular to a kind of robot for orthopaedic surgery special equipment clamping dress
It sets.
Background technique
As there are more and more surgical engines in clinical medical field of surgery in the development of operating robot technology
Device people.In bone surgery field, operating robot has a wide range of applications.In bone surgery, especially in bone displacement
In operation, need using a plurality of types of bone surgery sets, to carry out the cutting to the higher bone of hardness, polishing, splicing
Deng operation.The mechanical arm of robot for orthopaedic surgery needs to clamp a plurality of types of bone surgery sets as a result,.Bone used at present
There is the defects of inconvenient clamping, unloading trouble, have a single function, be unable to satisfy bone surgery in section's surgical instrument clamping device
Demand.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of orthopaedics hand to overcome drawbacks described above of the existing technology
Art robot special equipment clamping device.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of robot for orthopaedic surgery special equipment clamping device comprising shell, shell is interior to be equipped with interior central siphon；Interior central siphon
Round platform hole is offered, ball is embedded in round platform hole, the diameter of ball is greater than the wall thickness of interior central siphon；It is arranged on interior central siphon controllable
First axle sleeve of the ball processed along inner shaft pipe radial displacement；The inner wall left end of first axle sleeve offers the accommodating that can accommodate ball end
Slot；First axle sleeve outer cover is equipped with first bearing, and first bearing is fixed in the inner wall of shell；The right part of interior central siphon has first
The left side of convex shoulder, the first convex shoulder is equipped with second bearing, and second bearing is sheathed on interior central siphon；Is connected with outside second bearing
One retaining ring；First retaining ring outer cover, which is equipped with, adjusts sleeve；It adjusts and is offered on sleeve for controlling to adjust sleeve inside the shell
First track groove of movement routine；Shell is installed with the first pin shaft, and the first pin shaft is arranged in the first track groove；It is solid on first retaining ring
Equipped with the second pin shaft, adjusts and offered on sleeve for controlling the first retaining ring along second track in the axial movement path of interior central siphon
Slot；Kidney slot, axial direction distribution of the kidney slot along interior central siphon are offered on shell；Second pin shaft be arranged in simultaneously the second track groove and
Kidney slot.
First track groove includes sequentially connected first circumferential groove, first axis slot and the second circumferential groove；First circumferential groove
It extends downwardly, first axis slot extends to the right, and the first circumferential groove is located at the lower section of first axis slot.
Second track groove includes sequentially connected first circular groove, oblique slot, the second axial groove and the second circular groove；Oblique slot court
Lower left is obliquely extended, and the second axial groove is located at the lower section of the second axial groove towards right extension, the second circular groove.
The junction of first circular groove and oblique slot is equipped with the first lug boss for preventing the second pin shaft to be detached from the first circular groove.
The junction of second circular groove and the second axial groove is equipped with for preventing the second pin shaft to be detached from the second convex of the second circular groove
The portion of rising.
When the second pin shaft is located at the first circular groove, oblique slot and the second axial groove, ball is respectively positioned on the inner wall of the first axle sleeve
Inside；When the second pin shaft is located at the second circular groove, ball is located at the inside of accommodation groove.
First convex shoulder outer cover be equipped with the first spring, the both ends of the first spring be connected to respectively adjust sleeve inner wall and
Second bearing.
It is arranged with 3rd bearing in the middle part of interior central siphon, the second axle sleeve is installed with outside 3rd bearing, the second axle sleeve is fixed in outer
The inner wall of shell.
The left side of 3rd bearing is equipped with the second retaining ring, and the second retaining ring and interior central siphon are affixed；The left side of second retaining ring is equipped with the
Two springs, the left part of second spring are connected to the first axle sleeve；The right part of first axle sleeve has the second convex shoulder；Second convex shoulder
Portion is connected to the right end of first bearing.
Third spring is equipped between second axle sleeve and adjusting sleeve；The both ends of third spring are connected to respectively adjusts sleeve
Left part and the second axle sleeve.
The beneficial effects of the present invention are: clamping device of the invention, there are three types of working conditions for tool, both can be to surgical device
Tool carries out rotation process, implements to perform the operation to subjects bones in a manner of " brill ", can also tap to surgical instrument, to tap
Mode is implemented to perform the operation to subjects bones, effectively meets the operation needs of various bone surgery sets.Clamping device of the invention,
Central siphon in need to only bone surgery set stem being inserted into, rotating regulating sleeve, so that it may quick lock in bone surgery set；Only
Need rotating regulating sleeve, so that it may the unlock to bone surgery set is rapidly realized, easily and rapidly by bone surgical instrument
Tool is detached from this clamping device.
Detailed description of the invention
Fig. 1 is the external structure schematic diagram of present pre-ferred embodiments.
Fig. 2 is the shell mechanism schematic diagram of present pre-ferred embodiments.
Fig. 3 is the interior of shell structural schematic diagram of present pre-ferred embodiments.
Fig. 4 is the stereoscopic schematic diagram of present pre-ferred embodiments each component in shell in locking and rotatable state.
Fig. 5 is schematic cross-sectional view of the present pre-ferred embodiments in Fig. 4 state.
Fig. 6 is the stereoscopic schematic diagram of present pre-ferred embodiments each component in shell when locking and can tap state.
Fig. 7 is schematic cross-sectional view of the present pre-ferred embodiments in Fig. 6 state.
Fig. 8 is the stereoscopic schematic diagram of present pre-ferred embodiments each component in shell in normal loose state.
Fig. 9 is schematic cross-sectional view of the present pre-ferred embodiments in Fig. 8 state.
Specific embodiment
A preferred embodiment is named, and completely illustrates the present invention in conjunction with attached drawing to become apparent from.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 and Fig. 9, a kind of robot for orthopaedic surgery special equipment
Clamping device comprising shell 10, shell 10 is interior to be equipped with interior central siphon 20.The outer cover of shell is equipped with hand holding handle 15, hand holding handle
Upper end is ring part, and lower end is hand-held part.The ring part of hand holding handle is arranged and shell.The hand-held part of hand holding handle is for holding.
Interior central siphon 20 offers round platform hole 21, and ball 22 is embedded in round platform hole 21, and the diameter of ball 22 is greater than inner shaft 20
The wall thickness of pipe.Round platform hole has multiple, and multiple round platform holes are circumferentially distributed along the outer wall of interior central siphon.One is equipped in each round platform hole
Ball.Round platform hole is equipped with the stage portion of annular in the inner wall close to interior central siphon, which can prevent ball from falling into interior central siphon
Inner cavity.
First axle sleeve 31 of the controllable ball along inner shaft pipe radial displacement is arranged on interior central siphon 20.First axle sleeve 31 it is interior
Wall left end offers the accommodation groove 23 that can accommodate ball end.
First axle sleeve, 31 outer cover is equipped with first bearing 41, and first bearing 41 is fixed in the inner wall of shell 10.First bearing
For tubulose.First axle sleeve and interior central siphon can rotate in the first axle sleeve.
The right part of interior central siphon 20 has the first convex shoulder 51, and the first convex shoulder is circumferentially distributed along the outer wall of interior central siphon.The
The left side of one convex shoulder 51 is equipped with second bearing 42, and second bearing 42 is sheathed on interior central siphon 20.Second bearing is tubulose.Interior central siphon
It can be rotated in second bearing.When the present apparatus is located at often loose state, the first convex shoulder can prevent interior central siphon to be detached to the left
The present apparatus.
The first retaining ring 61 is connected with outside second bearing 42；First retaining ring, 61 outer cover, which is equipped with, adjusts sleeve 60.First gear
Snare is set to the outside of second bearing；It is interference fit between second bearing and the first retaining ring.
The right end for adjusting sleeve 60 is equipped with regulation handle 70.It adjusts in sleeve and regulation handle and is equipped with hollow portion.It adjusts
The hollow portion of handle is connected to the hollow portion of interior central siphon.The hollow portion of regulation handle and the hollow portion of interior central siphon are bone surgical instrument
The channel of the stem of tool.
The outer diameter of first convex shoulder of interior central siphon is greater than the internal diameter of the hollow portion of regulation handle, when the present apparatus is by locking and can strike
Hit state shift often loose state when, apply power to the left in regulation handle, the adjusting sleeve with regulation handle can be by inner shaft
Pipe pushes away to the left.
Adjust the first track groove 80 offered on sleeve 60 for controlling to adjust the movement routine of sleeve inside the shell.
Shell 10 is installed with the first pin shaft 71, and the first pin shaft 71 is arranged in the first track groove 80.
First track groove 80 includes sequentially connected first circumferential groove 81, first axis slot 82 and the second circumferential groove 83；The
One circumferential groove extends downwardly, and first axis slot extends to the right, and the first circumferential groove is located at the lower section of first axis slot.
Since the first pin shaft is fixed on shell, it adjusts sleeve and is only capable of moving in the range of the first track groove limits.
It is installed with the second pin shaft 72 on first retaining ring 61, adjusts and is offered on sleeve 60 for controlling the first retaining ring along inner shaft
Second track groove 90 in the axial movement path of pipe.
Kidney slot 30, axial direction distribution of the kidney slot along interior central siphon are offered on shell 10；Second pin shaft 72 is arranged in simultaneously
Second track groove 90 and kidney slot 30.
Second track groove 90 includes sequentially connected first circular groove 91, oblique slot 92, the second axial groove 93 and the second circular groove
94；Oblique slot is obliquely extended towards lower left, and the second axial groove is located at the lower section of the second axial groove towards right extension, the second circular groove.
The movement of second pin shaft, while being limited by the second track groove and kidney slot.Kidney slot limits the second pin shaft only
It can be moved axially in kidney slot along interior central siphon.Second track groove is equipped with oblique slot, when the second pin shaft moves in oblique slot,
It, can be mobile towards the left end of kidney slot by the right end of the second pin shaft from kidney slot under the inner wall effect of oblique slot.
The junction of first circular groove 91 and oblique slot 92 is equipped with for preventing the second pin shaft to be detached from the first convex of the first circular groove
Play portion 95.When second pin shaft is located in the first circular groove, the present apparatus is in locking and rotatable state, the first lug boss can prevent
Second pin shaft is detached from the first circular groove, in this way, the present apparatus can be kept to be in locking and rotatable state.When needing disengaged position
When, it is only necessary to adjusting sleeve is pressed lightly on, the first lug boss is moved to the left with sleeve is adjusted, and the second pin shaft can be detached from first
Circular groove.Rotating regulating sleeve, the second pin shaft can be located in oblique slot.
The junction of second circular groove 94 and the second axial groove 93 is equipped with for preventing the second pin shaft to be detached from the second circular groove
Two lug bosses 96.
When second pin shaft is located in the second circular groove, the present apparatus, which is in often loose state, the second lug boss, can prevent the second pin
Axis is detached from the second circular groove, in this way, the present apparatus can be kept to be in often loose state.When needing disengaged position, it is only necessary to gently press
Pressure adjusts sleeve, and the second lug boss is moved to the left with sleeve is adjusted, and the second pin shaft can be detached from the second circular groove.Rotate adjusting set
Cylinder, the second pin shaft can be located in the second axial groove.
When the second pin shaft 72 is located at the first circular groove 91, oblique slot 92 and the second axial groove 93, ball 22 is respectively positioned on first
The inside of the inner wall of axle sleeve.
When the second pin shaft 72 is located at the second circular groove 94, ball 22 is located at the inside of accommodation groove 23.
In the present embodiment, to keep stability when adjusting sleeve rotating, the first pin shaft and the second pin shaft are two.Two
A second pin shaft is symmetrically distributed in the two sides of the first retaining ring.
First convex shoulder, 51 outer cover is equipped with the first spring 11, and the both ends of the first spring 11 are connected to respectively adjusts sleeve 60
Inner wall and second bearing 42.
First spring is in compressive state.The left end of first spring applies in the association of second bearing and the first retaining ring
Towards left power, the right end of the first spring applies on the inner wall for adjusting sleeve towards right power.First pin shaft and the second pin shaft are worn
Set on sleeve is adjusted, can prevent from adjusting the sleeve disengaging present apparatus.
It is arranged with 3rd bearing 43 in the middle part of interior central siphon 20, the second axle sleeve 32, the second axle sleeve are installed with outside 3rd bearing 43
32 are fixed in the inner wall of shell 10.
The left side of 3rd bearing 43 is equipped with the second retaining ring 62, and the second retaining ring 62 and interior central siphon 20 are affixed；Second retaining ring 62
Left side is equipped with second spring 12, and the left part of second spring 12 is connected to the first axle sleeve 31；The right part of first axle sleeve 31 has
Second convex shoulder 52；Second convex shoulder 52 is connected to the right end of first bearing 41.
Since first bearing is fixed in shell, the second convex shoulder can prevent the first axle sleeve from sliding to the left.Second bullet
Spring is in compressive state, and the left end of second spring applies on first axle set towards left power.Second spring is applied to the first axle sleeve
Power, the first axle sleeve can be prevented to slide to the right.The present apparatus in use, the first axle sleeve is only capable of rotating in first bearing, without
It can be moved left and right along the axial direction of interior central siphon.
Third spring 13 is equipped between second axle sleeve 32 and adjusting sleeve 60；The both ends of third spring 13 are connected to tune respectively
Save left part and the second axle sleeve 32 of sleeve 60.Third spring is in compressive state.
Since the second axle sleeve is fixed in shell, the right end of third spring applies to the left part for adjusting sleeve towards the right side
Power.Adjusting sleeve can be provided and moved right towards sleeve extruding third spring, third spring when moving left, is adjusted when adjusting sleeve
Dynamic power.
In the present apparatus, first bearing is fixed in shell, and the first axle sleeve inside first bearing can be rotated with interior central siphon.But
It is that the first axle sleeve is only capable of rotating, and cannot move left and right along the axial direction of interior central siphon.And the interior central siphon in the first axle sleeve both can be with
It rotates together, can also be moved left and right in the first axle sleeve with the first axle sleeve.
In the present apparatus, the second axle sleeve is fixed in shell, and 3rd bearing is fixed in the second axle sleeve, and internal axle sleeve can be in third axis
It holds interior rotation or moves left and right.
In the present apparatus, the second retaining ring is fixed in interior central siphon, and the second retaining ring can rotate with interior central siphon, and the second retaining ring can be with
It is moved left and right within the scope of the left side of 3rd bearing with interior central siphon.When second retaining ring is moved to the left, it is pressed further by the second bullet
Spring.Second spring provides the power that the second retaining ring moves right.
In the present apparatus, the first pin shaft is fixed in shell, and the first pin shaft is arranged in adjusting sleeve, and adjusting sleeve can be first
The range of track groove is rotated or is moved left and right.When adjusting sleeve towards when moving left, sleeve extruding third spring, third bullet are adjusted
Spring, which can provide, adjusts the power that sleeve moves right.
In the present apparatus, second bearing and the first retaining ring are affixed, and the first retaining ring and the second pin shaft are affixed, second bearing, first
Retaining ring and the second pin shaft form the association moved jointly.Second bearing is sheathed on interior central siphon, and interior central siphon can be in second bearing
It is interior to rotate and move left and right.Second pin shaft is arranged in adjusting sleeve, in the range of the second track groove, second bearing, first gear
The association of circle and the second pin shaft can move left and right along interior central siphon.
In the present apparatus, the first pin shaft has in position of the position and the second pin shaft in the first track groove in the second track groove
There is linkage.When the first pin shaft is located at the upper end of the first circumferential groove, the second pin shaft is located in the first circular groove.When the first pin shaft
When in the first circumferential groove, the second pin shaft is located in oblique slot.When the first pin shaft is located in first axis slot, the second pin shaft
In the second axial groove.When the first pin shaft is located in the second circumferential groove, the second pin shaft is located in the second circular groove.Conversely, root
Position of first pin shaft in the first track groove can be determined in the second track groove according to the second pin shaft.
The present apparatus when in use, there are three types of working condition, respectively locking and rotatable state, lock and state can be tapped
With normal loose state.
Working condition one: locking and rotatable state.Bone surgery set stem is located at the inner cavity of interior central siphon, the present apparatus
Bone surgery set can be locked.
When the second pin shaft is located in the first circular groove, the second pin shaft is located at the right end of kidney slot.At this point, ball is located at the
The inside of the inner wall of one axle sleeve, the i.e. inner wall of the first axle sleeve are by the inner cavity of the inside central siphon in ball top.The end of ball is located at inner shaft
Pipe it is interior intracavitary.
The outer wall of bone surgery set stem offers groove compatible with ball.The groove card of ball and stem
It closes, bone surgery set can be locked in interior central siphon by the present apparatus.
At this point, the present apparatus is in locking and rotatable state.Structure of the present apparatus in the state, such as Fig. 4 and Fig. 5 institute
Show.
In lock state, the left end of bone surgery set stem is working end, the working end can for taper or its
His shape.The right end of bone surgery set stem can connect power tool.Under the drive of power tool, bone surgical instrument
Tool stem can rotate.First bearing, second bearing and 3rd bearing can support turning for bone surgery set stem
It is dynamic.
Working condition two: it locks and state can be tapped.Bone surgery set stem and interior central siphon lock, bone surgical instrument
Tool stem can be moved left and right along axial direction.
On the basis of locking and rotatable state, rotating regulating sleeve makes the first pin shaft in the first circumferential groove, adjusts
Sleeve rotates along the first circumferential groove.When adjusting sleeve rotates, oblique slot moves outside the second pin shaft, the
Two pin shafts are moved to the left along kidney slot simultaneously.First retaining ring and second bearing affixed with the second pin shaft, with the second pin shaft
It is past to move left.At this point, ball be located at first be located at the first axle sleeve inner wall inside, i.e., the inner wall of the first axle sleeve by ball top to
The inner cavity of interior central siphon, bone surgery set stem and inner shaft pipe clamp close.
When oblique slot moves outside the second pin shaft, the second pin shaft is along interior central siphon towards moving left, and the first spring is to the
The association of two bearings, the first retaining ring and the second pin shaft applies power to the left.
When the second pin shaft is located at the junction of oblique slot and the second axial groove, the second pin shaft is located at the most left of kidney slot
End.At this point, ball is located at the inside of the inner wall of the first axle sleeve.
When the second pin shaft is located at the junction of oblique slot and the second axial groove, under the action of the first spring, the second pin
The association of axis, the first retaining ring and second bearing is located at the leftmost side of its stroke, i.e. its position for being located at Fig. 6 and Fig. 7, no longer moves
It is dynamic.
When the second pin shaft is located at the junction of oblique slot and the second axial groove, it is no longer dynamic to adjust sleeve.At this point, due to rolling
Pearl is located at the inside of the inner wall of the first axle sleeve, and bone surgery set stem and interior central siphon are still within fastening state.Orthopaedics hand
Art instrument stem, which has, extends to the part outside regulation handle, i.e., the right end of bone surgery set stem, which is located at, adjusts handle
The right side of hand.It is tapped on the right end of bone surgery set stem, that is, applies power to the left, bone surgery set and interior central siphon
It is moved to the left simultaneously.
After the power to the left of the right end application in bone surgery set stem disappears, under the action of second spring,
Second retaining ring drives interior central siphon and bone surgery set to move right, i.e., interior central siphon and bone surgery set reset.So circulation
Operation, may be implemented bone surgery set and is performed the operation in a manner of tapping to patient.
This state is to lock and can tap state, also referred to as elastic stage.
When locking and can tap state, ball is always positioned at the inside of the inner wall of the first axle sleeve, keeps interior central siphon and bone
The locking of section's surgical instrument.
When locking and can tap state, the association of the second pin shaft, the first retaining ring and second bearing is motionless, adjusts sleeve
Also motionless.
Working condition three: often pine state.Bone surgery set stem and interior central siphon are in disengaged position, bone surgical instrument
Tool stem can arbitrarily pass in and out interior central siphon.
When the second pin shaft is located at the junction of oblique slot and the second axial groove, under the action of the first spring, the second pin
The association of axis, the first retaining ring and second bearing is located at the leftmost side of its stroke, i.e. its position for being located at Fig. 7, no longer moves.
Pressing adjusts sleeve, i.e., applies power to the left on adjusting sleeve, is moved to the left adjusting sleeve, adjusts sleeve band
Central siphon is moved to the left in dynamic, and ball is moved left in company with interior central siphon court.
It adjusts sleeve to be moved to the left, the second axial groove is moved to the left in the outside of the second pin shaft, until the second pin shaft is located at
The junction of second circular groove and the second axial groove, at this point, the end of ball enter the first axle sleeve accommodation groove, i.e., ball can including
Central siphon moves radially.Rotating regulating sleeve is located at the second pin shaft in the second circular groove.It is circumferential to be located at second for the first pin shaft at this time
In slot.
Since the end of ball is located in the accommodation groove of the first axle sleeve, it is slight on bone surgery set stem
Force, bone surgery set stem can be detached from rapidly interior central siphon.
This state is normal loose state.The present apparatus is as shown in Figure 8 and Figure 9 in the structure of the state.
Often pine state when, bone surgery set can not be locked with the present apparatus, bone surgery set stem can arbitrarily into
Interior central siphon out.
The clamping device of the present embodiment, there are three types of working conditions for tool, both can carry out rotation process to surgical instrument, with
The mode of " brill " is implemented to perform the operation to subjects bones, can also tap to surgical instrument, to subjects bones' reality in a manner of tapping
It operates on.The clamping device of the present embodiment effectively meets the operation needs of various bone surgery sets.
The clamping device of the present embodiment, only need to be by central siphon in the insertion of bone surgery set stem, rotating regulating sleeve, just
Can have the advantages that quickly firmly to lock with quick lock in bone surgery set.
The clamping device of the present embodiment, only needs rotating regulating sleeve, so that it may rapidly realize to bone surgery set
Unlock, easily and is rapidly detached from this clamping device for bone surgery set, has quick and light unloading surgical instrument
Advantage.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that this is only
For example, protection scope of the present invention is to be defined by the appended claims.Those skilled in the art without departing substantially from
Under the premise of the principle and substance of the present invention, many changes and modifications may be made, but these change and
Modification each falls within protection scope of the present invention.
Claims (10)
1. a kind of robot for orthopaedic surgery special equipment clamping device comprising shell, which is characterized in that be equipped with inner shaft in shell
Pipe；Interior central siphon offers round platform hole, and ball is embedded in round platform hole, and the diameter of ball is greater than the wall thickness of interior central siphon；On interior central siphon
Controllable ball is arranged with along the first axle sleeve of inner shaft pipe radial displacement；The inner wall left end of first axle sleeve, which offers, can accommodate ball
The accommodation groove of end；First axle sleeve outer cover is equipped with first bearing, and first bearing is fixed in the inner wall of shell；The right end of interior central siphon
Portion has the first convex shoulder, and the left side of the first convex shoulder is equipped with second bearing, and second bearing is sheathed on interior central siphon；Outside second bearing
Portion is connected with the first retaining ring；First retaining ring outer cover, which is equipped with, adjusts sleeve；It adjusts and offers on sleeve for controlling to adjust sleeve
First track groove of movement routine inside the shell；Shell is installed with the first pin shaft, and the first pin shaft is arranged in the first track groove；The
It is installed with the second pin shaft on one retaining ring, adjusts the axial movement path offered on sleeve for controlling the first retaining ring along interior central siphon
The second track groove；Kidney slot, axial direction distribution of the kidney slot along interior central siphon are offered on shell；Second pin shaft is arranged in simultaneously
Two track grooves and kidney slot.
2. robot for orthopaedic surgery special equipment clamping device as described in claim 1, which is characterized in that the first track groove packet
Include sequentially connected first circumferential groove, first axis slot and the second circumferential groove；First circumferential groove extends downwardly, first axis slot to
Right extension, the second circumferential groove are located at the lower section of first axis slot.
3. robot for orthopaedic surgery special equipment clamping device as claimed in claim 2, which is characterized in that the second track groove packet
Include sequentially connected first circular groove, oblique slot, the second axial groove and the second circular groove；Oblique slot is obliquely extended towards lower left, and second
Axial groove is located at the lower section of the second axial groove towards right extension, the second circular groove.
4. robot for orthopaedic surgery special equipment clamping device as claimed in claim 3, which is characterized in that the first circular groove and tiltedly
The first lug boss for preventing the second pin shaft to be detached from the first circular groove is equipped with to the junction of slot.
5. robot for orthopaedic surgery special equipment clamping device as claimed in claim 3, which is characterized in that the second circular groove and
The junction of two axial grooves is equipped with the second lug boss for preventing the second pin shaft to be detached from the second circular groove.
6. robot for orthopaedic surgery special equipment clamping device as claimed in claim 3, which is characterized in that when the second pin shaft position
When the first circular groove, oblique slot and the second axial groove, ball is respectively positioned on the inside of the inner wall of the first axle sleeve；When the second pin shaft is located at
When the second circular groove, ball is located at the inside of accommodation groove.
7. robot for orthopaedic surgery special equipment clamping device as described in claim 1, which is characterized in that outside the first convex shoulder
Portion is arranged with the first spring, and the both ends of the first spring are connected to the inner wall and second bearing for adjusting sleeve respectively.
8. robot for orthopaedic surgery special equipment clamping device as described in claim 1, which is characterized in that set in the middle part of interior central siphon
Equipped with 3rd bearing, the second axle sleeve is installed with outside 3rd bearing, the second axle sleeve is fixed in the inner wall of shell.
9. robot for orthopaedic surgery special equipment clamping device as claimed in claim 8, which is characterized in that a left side for 3rd bearing
Side is equipped with the second retaining ring, and the second retaining ring and interior central siphon are affixed；The left side of second retaining ring is equipped with second spring, the left end of second spring
Portion is connected to the first axle sleeve；The right part of first axle sleeve has the second convex shoulder；Second convex shoulder is connected to the right side of first bearing
End.
10. robot for orthopaedic surgery special equipment clamping device as claimed in claim 8, which is characterized in that the second axle sleeve and
It adjusts and is equipped with third spring between sleeve；The both ends of third spring are connected to the left part for adjusting sleeve and the second axle sleeve respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910562914.XA CN110074868B (en) | 2019-06-26 | 2019-06-26 | Robot for orthopaedic surgery special equipment clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN113288326B (en) * | 2020-11-12 | 2024-06-14 | 骨圣元化机器人(深圳)有限公司 | Bone file switching device for hip joint |
| CN113288428A (en) * | 2021-04-30 | 2021-08-24 | 北京长木谷医疗科技有限公司 | Surgical instrument clamping device for orthopedic surgery robot |
| CN113243964B (en) * | 2021-07-08 | 2021-09-28 | 上海龙慧医疗科技有限公司 | Quick-insertion type bone saw directional gear-shifting locking mechanism |
| CN113796964B (en) * | 2021-09-27 | 2023-06-20 | 天衍医疗器材有限公司 | Terminal device of orthopedic surgery robot |
| CN113598956B (en) * | 2021-09-30 | 2021-12-10 | 杭州键嘉机器人有限公司 | Orthopedic surgery robot tail end execution device |
| CN114652444A (en) * | 2022-02-10 | 2022-06-24 | 中国医学科学院北京协和医院 | Spine grinding robot and control method |
| CN115781738B (en) * | 2023-01-31 | 2023-05-12 | 上海龙慧医疗科技有限公司 | Bone surgery robot surgical instrument clamping device capable of being locked in multi-angle rotation mode |
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| CN202086524U (en) * | 2011-05-10 | 2011-12-28 | 天津市津东希翼医疗器械厂 | Drill bit of electric puncture drainage drill and drilling depth positioning structure thereof |
| CN202843780U (en) * | 2012-09-24 | 2013-04-03 | 上海市第六人民医院 | Medical all-purpose screw driver capable of switchover, labor-saving and accelerating modes |
| CN203677172U (en) * | 2014-01-06 | 2014-07-02 | 重庆西山科技有限公司 | Detachable abrasive drilling handle |
| CN103908327A (en) * | 2014-04-15 | 2014-07-09 | 闫军 | Fracture reduction lifting needle |
| CN208958995U (en) * | 2018-03-12 | 2019-06-11 | 杭州师范大学钱江学院 | Insulin pen injectors syringe needle wins surge drum |
| CN208823001U (en) * | 2018-04-27 | 2019-05-07 | 河南达睿生物科技有限公司 | A kind of dental handpiece component |
| CN109350190A (en) * | 2018-12-04 | 2019-02-19 | 浙江大学 | A kind of detachable scalpel |
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