CN110338912A - One kind is every bacterium structure, surgical instrument more exchange device and operating robot - Google Patents
One kind is every bacterium structure, surgical instrument more exchange device and operating robot Download PDFInfo
- Publication number
- CN110338912A CN110338912A CN201910789027.6A CN201910789027A CN110338912A CN 110338912 A CN110338912 A CN 110338912A CN 201910789027 A CN201910789027 A CN 201910789027A CN 110338912 A CN110338912 A CN 110338912A
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- Prior art keywords
- bacterium
- hook
- plate
- bacterium plate
- loading port
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 241000894006 Bacteria Species 0.000 title claims abstract description 143
- 238000009434 installation Methods 0.000 claims abstract description 12
- 238000003825 pressing Methods 0.000 claims abstract description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 5
- 239000000741 silica gel Substances 0.000 claims description 5
- 229910002027 silica gel Inorganic materials 0.000 claims description 5
- 230000008859 change Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 11
- 238000001356 surgical procedure Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 10
- 230000008901 benefit Effects 0.000 description 8
- 230000001954 sterilising effect Effects 0.000 description 6
- 238000004659 sterilization and disinfection Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 208000015181 infectious disease Diseases 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Classifications
-
- 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
- A61B90/08—Accessories or related features not otherwise provided for
-
- 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
Abstract
The present invention provides one kind every bacterium structure, surgical instrument more exchange device and operating robot, is related to robot field, described every bacterium structure, including every bacterium plate；It is described every being provided with multiple hook loading ports on bacterium plate；The hook loading port is suitable for connecting with hook；It is described to be additionally provided with key every bacterium plate；After the hook installation, it is detached from the hook every bacterium structure from described by pressing the key.It is of the present invention simple every bacterium structure, effectively every bacterium, and interference will not be generated to the spatial position change of mechanical arm.
Description
Technical field
The present invention relates to robotic technology field, in particular to one kind every bacterium structure, surgical instrument more exchange device and
Operating robot.
Background technique
With the extensive use of conventional laparoscopic technology, modern surgery enters minimally invasiveization epoch, Minimally Invasive Surgery and tradition
Operation is compared, undoubtedly revolutionary progress.It is called one of 21 century surgery developing direction, is electronic display system and height
The cutting edge technology that scientific and technological surgical instrument and traditional surgery combine.But laparoscopic device is generally large in size, structure
Several more complicated, especially closer from human body surgery mechanical arms, the inside contain a large amount of electronic component and answer
Miscellaneous spatial position switching mechanism, so that sterilization almost becomes impossible thing, since surgery mechanical arm is from patient's ratio
Relatively close, surgery mechanical arm cannot achieve good sterilization effect again, and what this allowed for that the patient in clinical operation infects can
Energy property greatly increases；The frequent different instruments of replacement of meeting, more increase the difficulty every bacterium in clinical operation.
Summary of the invention
In view of this, the present invention is directed to propose one kind every bacterium structure, at least solve at least one in the certainly above problem
A aspect.
To solve the above problems, the present invention provides one kind every bacterium structure, including every bacterium plate；It is described more every being provided on bacterium plate
A hook loading port；The hook loading port is suitable for connecting with hook；It is described to be additionally provided with key every bacterium plate；The hook installation
Afterwards, it is detached from the hook from the hook loading port by pressing the key.
As a result, every bacterium structure can effective sterilization, the risk of the post-surgical infection greatly reduced.
Optionally, it is described on bacterium plate includes every bacterium plate and under every bacterium plate；It is connect under every bacterium plate on described every bacterium plate；Institute
Key is stated to be located on described every the two sides of bacterium plate.
Optionally, the hook loading port quantity is four, it is described it is upper every bacterium plate with it is described under every bacterium plate be respectively set two
A hook loading port.
Optionally, the key includes press section, and the press section upper end is equipped with the first push part, is mounted on suitable for push
On every bacterium plate hook be detached from hook loading port；The press section lower end is provided with the second push part, is mounted on institute suitable for push
The hook stated down every bacterium plate is detached from hook loading port.
Optionally, the press section and it is described on be additionally provided with spring between the inner sidewall of bacterium plate；The key passes through
The spring is resetted.
Optionally, on described every bacterium plate and under between bacterium plate be additionally provided with silica gel sheath.
Compared with the existing technology, of the present invention to be had the advantage that every bacterium structure
It is of the present invention that every bacterium structure, structure is simple, effectively every bacterium, and will not be to the sky of mechanical arm
Between change in location generate interference.
The present invention at least one of solves the above problems aspect to a certain extent, additionally provides a kind of surgical instrument more
Exchange device, including any of the above-described described every bacterium structure, the hook is elastomeric element.
Optionally, the hook includes clamping part, interconnecting piece and hanger bulk；The clamping part, hanger bulk difference
Positioned at the both ends of interconnecting piece；And the buckle part is in the hook loading port.
Optionally, the hook is all after installation, the first push part on every the clamping part of the hook of bacterium plate setting away from
From L1Less than the second push part every the clamping part distance L of the hook of bacterium plate setting on2。
The surgical instrument more exchange device with it is described every bacterium structure compared with the existing technology possessed by advantage it is identical, herein
It repeats no more.
The present invention at least one of solves the above problems aspect to a certain extent, additionally provides a kind of surgical machine
People, including it is described in any of the above embodiments every bacterium structure.
The operating robot with it is described every bacterium structure compared with the existing technology possessed by advantage it is identical, it is no longer superfluous herein
It states.
Detailed description of the invention
Fig. 1 is the main view of the present invention every bacterium structure (being equipped with hook)；
Fig. 2 is the structure chart of the present invention every bacterium structure (being equipped with hook)；
Fig. 3 is the sectional view of the present invention every bacterium structure；
Fig. 4 is the structure chart of key of the present invention；
Fig. 5 is the sectional view of the present invention every bacterium structure (being equipped with hook)；
Fig. 6 is the sectional view of the present invention every the bacterium structure deformation of hook of installation (when).
Description of symbols:
For 1- every bacterium plate, 2- links up with loading port, 3- key, and 4- is linked up with, 5- spring, 6- transition wheel, and 11- is upper every under bacterium plate, 12-
Every bacterium plate, the lower surface of 21- upper hook loading port right side wall, 22- notch, 23- upper hook loading port, 24- lower draw-bar loading port,
The press section 31-, the first push part of 32-, the second push part of 33-, 41- clamping part, 42- interconnecting piece, 43- hanger bulk, in 111-
Side wall, the first detent of 321- portion, the first support portion of 322-, the second detent of 331- portion, the second support portion of 332-.
Specific embodiment
In the prior art, since the laparoscope robot of laparoscopic surgery is generally large in size, structure is more complicated, special
It is not several surgery mechanical arms closer from human body, the inside contains the spatial position of a large amount of electronic component and complexity
Switching mechanism, so that sterilization almost becomes impossible thing, since surgery mechanical arm is closer from patient, surgery mechanical
A possibility that arm cannot achieve good sterilization effect again, this allows for the infection of the patient in clinical operation greatly increases；
The frequent different instruments of replacement of meeting, more increase the difficulty every bacterium in clinical operation.Based on above-mentioned of the existing technology
Technical problem proposes solution technical solution of the invention.
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
In the description of invention, it is to be understood that the instructions such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be merely for convenience of the description present invention and letter based on orientation or positional relationship shown in Figure of description
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.Term " first ", is used for description purposes only " second ", and cannot be understood
For indication or suggestion relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ",
" second ", feature can explicitly or implicitly include at least one of the features.The description of term " some specific embodiments "
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical implementation or example.
Moreover, the particular features, structures, materials, or characteristics of description can be in any one or more of the embodiments or examples with suitable
Mode combine.
As shown in figures 1 to 6, a kind of embodiment provided by the invention is to provide one kind every bacterium structure, including every bacterium plate 1；
Every being provided with multiple hook loading ports 2 on bacterium plate 1；Hook loading port 2 is suitable for connecting with hook 4；Every bacterium plate 1 be additionally provided with by
Key 3；After 4 installation of hook, it is detached from hook 4 from hook loading port 2 by pressing keys 3.Can effectively it be isolated every bacterium structure
Bacterium, the risk of the post-surgical infection greatly reduced.
As shown in Figure 1-3, every bacterium plate 1 include on every bacterium plate 11 and under every bacterium plate 12；On every bacterium plate 11 and under every bacterium plate 12
The fixed form connection of ultrasonic bonding can be used, ultrasonic bonding speed is fast, and intensity is high, good airproof performance and low in cost, clearly
It is clean pollution-free and will not disfiguring workpiece.Above-mentioned ultrasonic bonding is the preferable fixed form of the present invention, and the present invention is on every bacterium
Plate 11 and under fixed form between bacterium plate 12 and without limitation, can by every bacterium plate 11 and under every the fixation of bacterium plate 12 be
It can.
Every the two sides of bacterium plate 11, (shifting of key 3 or so can be accommodated to key 3 by being respectively equipped on i.e. every the two sides of bacterium plate 11 on
Dynamic groove).Key 3 is close to hook loading port 2, convenient for being released the hook 4 linked up in loading port 2 by key 3.Preferably
, key 3 be arranged on every the left and right sides of bacterium plate 11, when being easy to use, facilitate pressing.
Linking up with 2 quantity of loading port is four, it is upper every bacterium plate 11 and under every bacterium plate 12 be respectively set two.On every on bacterium plate 11
Connect respectively there are two hook 4, under also 4 be connected with two hooks every bacterium plate 12, on be suitable for and surgical instrument every the hook 4 of bacterium plate 11
Connection, under be suitable for being connected with instrument drive assembly every the hook 4 of bacterium plate 12.Hook loading port 2 be four be easy for hook 4 with
While surgical instrument and fixed reliable instrument drive assembly, other fixed structures are reduced, the setting of four hook loading ports 2 is
Preferred embodiment in the present embodiment, the present invention is directed to the setting quantity of hook loading port 2 with no restrictions, as long as can be realized
The effect that hook 4 is fixedly connected.
As shown in Fig. 3,4,5, key 3 includes press section 31, and 31 upper end of press section is equipped with the first push part 32, is suitable for
Push is mounted on the disengaging hook of hook 4 loading port 2 (i.e. upper hook loading port 23) every bacterium plate 11；The setting of 31 lower end of press section
Have the second push part 33, suitable for push be mounted on it is described under every bacterium plate 12 hook 4 be detached from hook loading port 2 (i.e. lower draw-bar fill
Entrance 24).
In certain embodiments, every the upper half for accommodating press section 31 in bacterium plate 11 and the first push part 32 on
Action space；First push part 32 further includes the first detent portion 321 and the first support portion 322, the first support portion 322
It is vertically arranged with the first detent portion 321, and is connect with the marginal end of the upper surface of press section 31, is vertically arranged only of the invention
The shape of preferred embodiment, the first support portion 322 may be other shapes, and the hook 4 that can be pushed every bacterium plate 11 pushes away
Out.First detent portion 321 is parallel with the upper surface of press section 31, and (i.e. the first support portion 322 is also perpendicularly to press section 31
Upper surface)；In hook 4 after all pop-ups, the upper surface in the first detent portion 321 is located in upper hook loading port under right side wall
Surface 21, and the two is bonded.First push part 32 described in the present embodiment is preferred embodiments of the present invention, the first push part 32
It can also be other structures or shape, can be realized the push effect of the first push part 32 of the invention.
The space of the action of the lower half of press section 31 and the second push part 33 is under every in bacterium plate 12
Portion；Second push part 33 further includes the second detent portion 331 and the second support portion 332, the second detent portion 331 under press section 31
The edge on surface connects, and the upper surface in the second detent portion 331 is parallel with the first detent portion 321；Second detent portion 331 passes through circle
Arc transition is connect with the second support portion 332.Preferably, the top of the second support portion 332 is (i.e. after installation hook 4, close to hook 4
One end) arbitrary shape can be arranged to, hook 4 can be released.Second push part 33 described in the present embodiment is this
Invention preferred embodiment, the second push part 33 can be other structures or shape, can be realized the second push part 33 of the invention
Push effect.
The hook that key 3 can be controlled in upper hook loading port 23 by the first push part 32 pops up, and passes through the second push
Portion 33 controls the hook pop-up in lower draw-bar loading port 24, i.e. key 3 can control the extension of phase two hook loading ports 2 up and down simultaneously
Hook 4.When the hook 4 in upper hook loading port 23 can not pop up, the hook 4 in lower draw-bar loading port 24 can not also be popped up, when
After the hook 4 of upper hook loading port 23 pops up, continues to press press section 31, the hook 4 in lower draw-bar loading port 24 is made to continue bullet
Out.
Press section 31 and on be additionally provided with spring 5 between the inner sidewall 111 of bacterium plate 11；Key 3 is answered by spring 5
Position.Specifically, spring 5 is set at the position between the first push part 32 and the second push part 33 (the i.e. both ends difference of spring 5
Every on 11 space side inner wall of bacterium plate on the right side wall of the right side wall and press section 31 that connect press section 31 is corresponding, the present embodiment
The right side wall of press section 31 be it is described by taking the key 3 in the left side of attached drawing 3 as an example, right button 3 in this way is then opposite with left side to be set
It sets.) preferably, spring 5 is set in inside key slot, there is no connection relationship every bacterium plate 11 on, depended on pressure is squeezed in plane
On.The present embodiment is directed to the fixed form of spring 5 and without limitation, can be realized the function of spring 5.
On every bacterium plate 11 and under between bacterium plate 12 be additionally provided with silica gel sheath.Silica gel sheath, which extends out, to be played every bacterium effect.
The silica gel sheath of the present embodiment setting is preferred embodiments of the present invention, it is upper every bacterium plate 11 and under be arranged between bacterium plate 12
The material every bacterium effect, it is and with no restrictions, all to can be realized the material every bacterium effect.
Before clinical operation, it will be sleeved in instrument drive assembly every bacterium structure (every bacterium plate 12 under i.e.) by hook 4, really
It protects the corresponding hook 4 of lower draw-bar loading port 24 to hang tightly, transition wheel 6 installs instrument after resetting again, is stuck in instrument end by hook 4
Every on bacterium structure (every in the upper hook loading port 23 of bacterium plate 11 on i.e.), when disassembly, first presses the key 3 every bacterium structure both ends,
Instrument end hook 4 deformation after withstand every bacterium structure upper plate inner wall (i.e. the inner wall of upper hook loading port 23), at this point, if instrument with
And the corresponding hook of upper hook loading port 23 4 does not depart from, the key 3 every bacterium structure both ends can not continue to press, every bacterium structure with
Instrument drive assembly can not be detached from, only when instrument completely disengage the key 3 every bacterium structure, every bacterium structure two sides could continue by
Pressure, could be detached from every bacterium structure and instrument drive assembly.When instrument and hook 4 are not departed from after bacterium structure and instrument driving group
Part can not be detached from.
As shown in Fig. 1,2,3,5,6, the present invention also provides a kind of surgical instrument more exchange devices, including described above every bacterium
Structure, hook 4 are elastomeric element.Hook 4 itself has the function of flexible deformation, is realized by the deformation of itself and is packed into hook
The fastening of mouth 2.The hook 4 of upper hook loading port 23 is connected with surgical instrument, and the hook 4 and instrument of lower draw-bar loading port 24 drive
Dynamic component is connected.
Hook 4 includes clamping part 41, interconnecting piece 42 and hanger bulk 43；Clamping part 41, hanger bulk 43 are located at
The both ends of interconnecting piece 42；And clamping part 41 is located in hook loading port 2.Clamping part 41 and hanger bulk 43 can by riveting with
Interconnecting piece 42 connects.Above-mentioned only preferred embodiments of the present invention, the invention is not limited to clamping parts 41 and hanger bulk 43
It is connected by any one form, it is all three to be connected.Hook 4 realizes bending by 42 self-deformation of interconnecting piece
Mode be detached from hook loading port 2.
Clamping part 41 be corner block, due to hook loading port 2 wherein side opening be equipped with a notch 22, convenient for hook
When 4 installation, clamping part 41 by 22 slide downward of notch, can directly be slid into hook loading port 2, the clamping part 41 after installation
It is bonded with hook 2 left side side wall lower surface of loading port.The shape of clamping part 41 can be adapted according to the shape of notch 22 and be set
It sets, all to enter in hook loading port 2 convenient for clamping part 41, the present embodiment is with no restrictions.
Hanger bulk 43 is equipped with a connector, for being attached (not shown) with the fixation device on mechanical arm,
It is screw fixation method connection, installation easy to disassemble that the present embodiment, which uses,.After hanger bulk 43 is fixed, clamping part 41 with
After linking up with the buckle of loading port 2, its hook 4 can be made mobile in addition to key 3 presses, other times are in stable state (i.e. such as
State shown in fig. 5).Connector in the present embodiment can be set to a variety of connection types, it is all can be realized in the present invention with
Device connection is fixed on mechanical arm.
During installation, surgical instrument is connected by the hook 4 of upper hook loading port 23.The hook 4 of lower draw-bar loading port 24
It is fixed on the instrument driving motor seat on instrument arm, i.e., connection is tangled by hook 4 with motor cabinet every bacterium structure.
As shown in figure 5, after hook 4 is all installed, the clamping part for the hook 4 that the first push part 32 is arranged on every bacterium plate 11
41 distance L1Less than the 41 distance L of clamping part for the hook 4 that the second push part 33 is arranged on every bacterium plate 112.In upper hook
If hook 4 in loading port 23 is without departing from therefore the second push part 33 can not be further by the hook 4 in lower draw-bar loading port 24
It releases, it is ensured that the corresponding surgical instrument use in 23 side of upper hook loading port finishes, then will be entirely every bacterium structure and surgical engine
Tool arm is detached from.Such as L1More than or equal to L2, then being had not been used in surgical instrument, the surgery mechanical being entirely just detached from every bacterium structure
Arm.Being detached from surgery mechanical arm i.e. every bacterium structure cannot use, and cause unnecessary loss.
It before clinical operation, will be sleeved in instrument drive assembly every bacterium structure, it is ensured that elastic hook 4 is hung tightly, transition wheel 6
Installed again after reset surgical instrument (upper hook loading port 23 at this time it is corresponding hook 4 hanger bulk 43 fixed,
Surgical instrument is then installed), so that the hook 4 (i.e. the hook 4 of upper hook loading port 23) at surgical instrument end is stuck in upper hook loading
In mouthfuls 23, when disassembly, first presses the key 3 every bacterium structure both ends, surgical instrument end elastic hook, that is, upper hook loading port 23 extension
Hook 4) deformation disengaging hook loading port 23, instrument is pulled up, the key 3 every bacterium structure two sides is pressed again while stirring upwards every bacterium
Structure is detached from every bacterium structure and instrument drive assembly, of the invention simple and efficient every bacterium structure installation and removal.
The configuration of the present invention is simple, it is novel in design reasonable, it is low in cost, it is obvious every bacterium effect, it is set with easy removal, outside
Type is beautiful.It is disposable products due to hook 4 of the invention and every bacterium structure, is destroyed after use, do not need cleaning and sterilizing,
The quality time of doctor is saved, convenient for promoting the use of.
Other advantages of surgical instrument of the present invention more exchange device compared with the existing technology are with described every bacterium structure phase
Identical for the advantage of the prior art, details are not described herein.
The present invention also provides a kind of operating robot, surgical instrument described above.Operating robot of the invention is fine
Solve the problems, such as in above-mentioned operation, it is simple with structure, will not to the spatial position change of mechanical arm generate interference, every
The features such as bacterium effect is excellent.
Other advantages of operating robot of the present invention compared with the existing technology and the surgical instrument more exchange device
Advantage compared with the existing technology is identical, and details are not described herein.
Although the present invention discloses disclosure as above, protection scope disclosed by the invention is not limited only to this.Art technology
Personnel can make various changes and modify under the premise of not departing from public spirit and scope of the present invention, these change and repair
Protection scope of the present invention will be fallen by changing.
Claims (10)
1. one kind is every bacterium structure, which is characterized in that including every bacterium plate (1)；It is described to be packed into every being provided with multiple hooks on bacterium plate (1)
Mouth (2)；The hook loading port (2) is suitable for connecting with hook (4)；It is described to be additionally provided with key (3) every bacterium plate (1)；The extension
After hook (4) installation, it is detached from the hook (4) every bacterium structure from described by pressing the key (3).
2. according to claim 1 every bacterium structure, which is characterized in that it is described on bacterium plate (1) includes every bacterium plate (11) and
Under every bacterium plate (12), it is described on connect under every bacterium plate (12) every bacterium plate (11)；And the key (3) is located on described every bacterium plate
(11) two sides.
3. according to claim 2 every bacterium structure, which is characterized in that hook loading port (2) quantity is four, described
On every bacterium plate (11) and it is described under every bacterium plate (12) two hook loading ports (2) are respectively set.
4. according to claim 2 every bacterium structure, which is characterized in that the key (3) includes press section (31), described to press
Splenium (31) upper end is equipped with the first push part (32), is detached from hook dress suitable for pushing the hook (4) being mounted on every bacterium plate (11)
Entrance (2)；Press section (31) lower end is provided with the second push part (33), suitable for push be mounted on it is described under every bacterium plate (12)
Hook (4) be detached from hook loading port (2).
5. according to claim 4 every bacterium structure, which is characterized in that the press section (31) and it is described on every bacterium plate (11)
Inner sidewall (111) between be additionally provided with spring (5)；The key (3) is resetted by the spring (5).
6. according to claim 2 every bacterium structure, which is characterized in that on described every bacterium plate (11) and under every bacterium plate (12) it
Between be additionally provided with silica gel sheath.
7. a kind of surgical instrument more exchange device, which is characterized in that it is described in any item every bacterium structure including such as right 1-6, it is described
Linking up with (4) is elastomeric element.
8. surgical instrument according to claim 7 more exchange device, which is characterized in that the hook (4) includes clamping part
(41), interconnecting piece (42) and hanger bulk (43)；The clamping part (41), hanger bulk (43) are located at the interconnecting piece
(42) both ends；And the clamping part (41) is located in the hook loading port (2).
9. surgical instrument according to claim 8 more exchange device, which is characterized in that after the hook (4) is all installed, the
One push part (32) with it is described on every bacterium plate (11) setting the hook (4) clamping part (41) distance L1It is pushed away less than second
Send portion (33) with it is described on every bacterium plate (11) setting the hook (4) clamping part (41) distance L2。
10. a kind of operating robot, which is characterized in that set including the described in any item surgical instrument replacements of such as claim 7-9
It is standby.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910789027.6A CN110338912A (en) | 2019-08-26 | 2019-08-26 | One kind is every bacterium structure, surgical instrument more exchange device and operating robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910789027.6A CN110338912A (en) | 2019-08-26 | 2019-08-26 | One kind is every bacterium structure, surgical instrument more exchange device and operating robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113679475A (en) * | 2021-08-25 | 2021-11-23 | 苏州康多机器人有限公司 | Docking mechanism and docking method of surgical robot instrument |
| CN113679474A (en) * | 2021-08-25 | 2021-11-23 | 苏州康多机器人有限公司 | Hanging mechanism and hanging method of surgical robot instrument |
| CN115887015A (en) * | 2022-11-25 | 2023-04-04 | 哈尔滨工业大学 | Prostate operation robot |
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