CN111685885A - Surgical instrument mounting rack - Google Patents
Surgical instrument mounting rack Download PDFInfo
- Publication number
- CN111685885A CN111685885A CN201911303337.9A CN201911303337A CN111685885A CN 111685885 A CN111685885 A CN 111685885A CN 201911303337 A CN201911303337 A CN 201911303337A CN 111685885 A CN111685885 A CN 111685885A
- Authority
- CN
- China
- Prior art keywords
- groove
- limiting groove
- seat
- surgical instrument
- block
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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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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
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
Abstract
The invention discloses a surgical instrument mounting frame which comprises an instrument seat, a sterile isolation seat and a motor mounting seat, wherein the instrument seat and the sterile isolation seat are detachably connected in a buckling manner. The instrument seat and the buckle type component of the sterile isolation seat are mutually matched to fix the instrument seat on the sterile isolation seat, so that the instrument seat can be quickly installed and detached.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a surgical instrument mounting frame.
Background
In computer-assisted telerobotic surgery, a surgeon typically operates master controllers to control the movement of surgical instruments at a surgical site from a location that may be remote from the patient (e.g., through an operating room, in a different room, or in a completely different building than the patient). The master controller typically includes one or more input devices coupled to the surgical instrument with servo motors for articulating the instrument at the surgical site. The servo motor is typically part of an electromechanical device or surgical manipulator ("slave") that supports and controls a surgical instrument that has been introduced directly into an open surgical site or into a body cavity, such as the abdominal cavity of a patient, through a trocar sleeve. During surgery, the surgical manipulator provides mechanical articulation and control of various surgical instruments (such as tissue graspers, needle drivers, electrosurgical cautery probes, etc.), each of which performs various functions for the surgeon, such as holding or driving a needle, grasping a blood vessel, or dissecting, cauterizing, or coagulating tissue. Computer assisted surgery via remote manipulation reduces the size and number of incisions required in the surgery to improve patient recovery rates, while also helping to reduce patient trauma and discomfort.
Surgical instruments passes through the mounting bracket setting on the slip table, and the mounting bracket includes instrument seat, aseptic isolation seat and motor mount pad, and the installation between current instrument seat and the aseptic isolation seat is through the screw detachable connection to it is low to lead to the installation efficiency, and is also very inconvenient during the change.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to improve the installation efficiency of the instrument seat and the sterile isolation seat.
In order to solve the above technical problem, the present invention provides a surgical instrument mounting bracket, including:
a instrument mount comprising a slot component;
and the sterile isolation seat comprises a clamping block component, wherein the clamping block component is clamped into the clamping groove component so as to fixedly connect the instrument seat with the sterile isolation seat.
Further, the card slot means includes:
the limiting groove comprises a closed end and an open end extending out of one edge of the instrument seat;
the clamping block is arranged at the closed end of the limiting groove, and a first clamping groove is formed between the clamping block and the bottom surface of the limiting groove.
Further, the cartridge member includes:
the boss is clamped in the limiting groove;
the lug is arranged at one end of the boss in a protruding mode and clamped into the first clamping groove.
Further, the card slot component further includes:
and the through groove is arranged on the side surface, far away from the clamping block, of the instrument seat and is positioned above the opening end.
Further, the cartridge member further includes:
and the limiting block is clamped into the through groove, wherein the limiting block is clamped into the through groove, and the lug is clamped into the first clamping groove.
Furthermore, the limiting groove comprises a front section limiting groove and a rear section limiting groove, the boss is clamped into the rear section limiting groove, the width of the front section limiting groove is larger than that of the rear section limiting groove, and a step structure is formed at the joint of the front section limiting groove and the rear section limiting groove.
Furthermore, the clamping groove part also comprises a stop block, the stop block is arranged on the front section limiting groove, and a stop groove is formed between the stop block and the step surface.
Furthermore, the fixture block component also comprises a stop block arranged on the side surface of the boss, and the stop block is clamped in the stop groove.
Furthermore, the stop block and the boss form an included angle, so that the stop block is clamped into the stop groove.
Furthermore, the instrument seat is provided with a communication interface copper block in the limiting groove, and the sterile isolation seat is provided with a contact corresponding to the communication interface copper block on the boss.
Further, the lug is provided with a guide groove, so that the communication interface copper block slides to the contact along the guide groove.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
the instrument seat and the buckle type component of the sterile isolation seat are mutually matched to fix the instrument seat on the sterile isolation seat, so that the instrument seat can be quickly installed and detached.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of a surgical instrument mounting bracket provided in accordance with the present invention;
FIG. 2 is a schematic illustration of the components of the present invention providing a pocket assembly on an instrument holder;
FIG. 3 is a schematic diagram of the cartridge assembly of the present invention in a sterile isolator mount;
fig. 4 is a schematic structural view of the stop block.
List of reference numerals:
10-a surgical instrument mounting bracket; 20-sterile isolation seat; 40-a motor mounting seat;
50-a tool seat; 501-card slot parts; 5011-through groove;
5012-a catch groove; 5013-a limit groove; 5014-a stopper;
5015-a capture block; 5016-first communication interface; 5017-a first clamping groove;
5018-second raised rim; 5019-first raised rim; 5020-the bottom of the instrument seat;
5021-closed end; 5022-open end; 5023-a third raised edge;
201-a cartridge component; 2010-an upper surface of a sterile isolation seat; 2011-guide grooves;
2012-contacts; 2013-bump; 2014-a stop block;
2015-boss; 2016-a limiting block; 2017-the inner side surface of the sterile isolation seat;
2018-a second clamping groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the following will describe in detail an implementation method of the present invention with reference to the accompanying drawings and embodiments, so that how to apply technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented.
In one embodiment of the present invention, as shown in fig. 1, a surgical instrument mounting frame 10 comprises an instrument base 50, a sterile isolation base 20 and a motor mounting base 40, wherein the instrument base 50 is used for mounting a transmission component of an instrument, and the sterile isolation base 20 is used for mounting a coupling for connecting the transmission component with a driving component; the motor mount 40 is used to mount the drive assembly of the instrument.
As shown in fig. 2 to 4, the instrument holder 50 is provided with 501, the sterile isolation holder 20 is provided with a latch member 201 for latching into the latch member 501, and it should be noted that, the latch member 501 is disposed on the sterile isolation holder 20, and the latch member 201 is disposed on the instrument holder 50, which is also within the scope of the present invention.
In this embodiment, the latch member 201 is latched into the latch member 501 to limit the degrees of freedom of the instrument holder 50 in 6 directions, where the degrees of freedom in 6 directions refer to the degrees of freedom in 6 directions, i.e., up, down, left, right, front, and rear; namely, the fastening type components of the instrument seat 50 and the sterile isolation seat 20 are mutually matched to fixedly connect the instrument seat 50 and the sterile isolation seat 20, so that the instrument seat 50 can be quickly mounted and dismounted.
In the following embodiments, the slot component 501 is disposed on the instrument holder 50, and the latch component 201 is disposed on the sterile isolation holder 20.
As shown in fig. 2, the slot assembly 501 includes a limit slot 5013, the limit slot 5013 includes a closed end 5021 and an open end 5022 extending out of one edge of the instrument holder 50, the instrument holder 50 has a bottom 5020 and a first side 5021, the bottom 5020 of the instrument holder is provided with a first protruding edge 5019, a second protruding edge 5018 and a third protruding edge 5023, and the first protruding edge 5019, the second protruding edge 5018 and the third protruding edge 5023 are sequentially connected to form the limit slot 5013 with an opening.
As shown in fig. 3, sterile isolator mount 20 is L-shaped, with sterile isolator mount 20 having an upper surface 2010 and an inner side surface 2017; the cartridge component 201 includes a boss 2015, the boss 2015 is disposed on an upper surface 2010 of the sterile isolation seat, a cross-sectional area of the boss 2015 is smaller than an area of the upper surface 2010 of the sterile isolation seat, and the boss 2015 and the upper surface 2010 of the sterile isolation seat form a step.
In some preferred embodiments, the cross-section of the boss 2015 is rectangular, and it should be specifically noted that the cross-sectional shape is defined according to the ability of the boss 2015 to extend into the limit slot 5013 from the opening of the limit slot 5013, and the cross-sectional shape of the boss 2015 is within the scope of the present invention as long as the ability of the boss 2015 to extend into the limit slot 5013 from the opening of the limit slot 5013 is achieved.
After the instrument seat 50 is mounted on the sterile isolation seat 20, three side surfaces of the boss 2015 are respectively abutted to the third convex edge 5023, the second convex edge 5018 and the first convex edge 5019, i.e. the boss 2015 is clamped in the limiting groove 5013, and the third convex edge 5023 and the first convex edge 5019 are used for limiting the freedom degree of the boss 2015 in the front and back directions, so that the freedom degree of the instrument seat 50 in the front and back directions is limited, i.e. the instrument seat 50 is prevented from moving in the front and back directions relative to the sterile isolation seat 20.
As shown in fig. 2, the slot assembly further includes a locking block 5015, the locking block 5015 is disposed at a side of the second protruding edge 5018 close to the slot 5013, i.e., the locking block 5015 is located at a closed end 5021 of the slot, a gap is formed between the locking block 5015 and the bottom 5020 of the instrument holder, and a first locking slot 5107 is formed between the locking block 5015 and the bottom 5020 of the instrument holder.
As shown in fig. 3, the latch member 201 further includes a protrusion 2013, the protrusion 2013 is protrudingly disposed at an end of the boss 2015 away from the inner side surface 2017 of the sterile spacer, a gap is formed between the protrusion 2013 and the upper surface 2010 of the sterile spacer, and a second latching groove 2018 is formed between the protrusion 2013 and the upper surface 2010 of the sterile spacer.
In some embodiments, the distance between the catch block 5015 and the bottom surface 5020 of the instrument holder is equal to the thickness of the bump 2013, and the distance between the bump 2013 and the upper surface 2010 of the sterile isolator holder is equal to the thickness of the catch block 5015.
As shown in fig. 2-3, the slot component 501 includes a through slot 5011, the through slot 5011 is opened on a first side 5021 of the instrument holder and is located above an open end 5022; the fixture block component 201 further comprises a limiting block 2016 arranged on the inner side surface 2017 of the sterile isolation seat, and the limiting block 2016 is in contact fit with the instrument seat 50 on the inner wall of the through groove 5011.
After the instrument seat 50 and the sterile isolation seat 20 are mounted, the limiting block 2016 is clamped into the through groove 5011, the protrusion 2013 is clamped into the first clamping groove 5107, and the clamping block 5015 is clamped into the second clamping groove 2018, so that the degree of freedom of the instrument seat 50 or the sterile isolation seat 20 in the vertical direction is limited, that is, the instrument seat 50 is prevented from moving in the vertical direction relative to the sterile isolation seat 20.
As shown in fig. 2, a side of the first protruding edge 5019 close to the third protruding edge 5023 is step-shaped, and a side of the third protruding edge 5023 close to the first protruding edge 5019 is also step-shaped, that is, the first protruding edge 5019, the second protruding edge 5018 and the third protruding edge 5023 form a limiting groove 5013 including a front limiting groove 5013b and a rear limiting groove 5013a, a distance between the first protruding edge 5019 and the third protruding edge 5023 at the front limiting groove 5013b is greater than a distance between the first protruding edge 5019 and the third protruding edge 5023 at the rear limiting groove 5013a, an opening of the limiting groove 5013 is located at the front limiting groove 5013b, and a step surface (not labeled in the figure) is formed at a connection part of the front limiting groove 5013b and the rear limiting groove 5013 a.
The slot component 501 further comprises two stoppers 5014, the two stoppers 5014 are arranged on the bottom 5020 of the instrument seat, the two stoppers 5014 are respectively arranged in the front limiting groove 5013b, and a retaining groove 5012 is formed between each of the two stoppers 5014 and the corresponding step surface (not marked in the figure).
In some embodiments, two stoppers 5014 are positioned at both sides of the rear stopper slot 5013a, and a distance between the two stoppers 5014 is greater than a distance between the first protruding rim 5019 and the third protruding rim 5023 at the rear stopper slot 5013 a.
As shown in FIG. 3, the latch member 201 further includes two stops 2014, and the two stops 2014 are respectively disposed on two sides of the protrusion 2015 contacting with the third protrusion edge 5023.
After the instrument seat 50 and the sterile isolation seat 20 are installed, the two stop blocks 2014 are respectively clamped into the corresponding stop grooves 5012, one end of each stop block 2014 is in contact fit with a step surface (not marked in the figure), and the other end of each stop block 2014 is in contact fit with the stop 5014 so as to limit the degree of freedom of the instrument seat 50 or the sterile isolation seat 20 in the left and right 2 directions, namely, the instrument seat 50 is prevented from moving in the left and right directions relative to the sterile isolation seat 20.
In some preferred versions of the embodiment, the distance between the two stops 5014 is greater than the distance between the first protruding rim 5019 and the third protruding rim 5023 at the rear segment of the limit slot 5013a, so that the boss 2015 is conveniently clamped into the rear segment of the limit slot 5013 a; the thickness of the stop block 5014 is smaller than the depth of the limit groove 5013, so that the stop block 2014 can be clamped into the stop groove 5012 conveniently.
As shown in fig. 2-4, there is a passage (not labeled in the figures) between the first protruding edge 5019 and the third protruding edge 5023 and the corresponding stopper 5014, the stopper 2014 includes a bottom plate 2014a connected to the boss 2015, a side plate 2014b is disposed on the bottom plate 2014a, the side plate 2014b forms an included angle with the boss 2015, that is, the side plate 2014b forms a bell mouth with the boss 2015, so that the side plate 2014b is conveniently clamped into the stopper slot 5012 from the passage.
The bottom 5020 of the instrument seat is provided with a plurality of communication interface copper blocks 5016, and the plurality of communication interface copper blocks 5016 are positioned in the limit slots 5013; the sterile isolation seat 20 is provided with a plurality of contacts 2012 corresponding to the communication interface copper block 5016 on a boss 2015.
In some preferred embodiments, the protrusion 2013 is provided with a guiding slot 2011, so that the communication interface copper block 5016 slides to the contact 2012 along the guiding slot 2011, thereby effectively avoiding damaging the communication interface copper block 5016.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (11)
1. A surgical instrument mounting bracket, comprising:
a instrument mount comprising a slot component;
and the sterile isolation seat comprises a clamping block component, wherein the clamping block component is clamped into the clamping groove component so as to fixedly connect the instrument seat with the sterile isolation seat.
2. The surgical instrument mount of claim 1, wherein the pocket feature comprises:
the limiting groove comprises a closed end and an open end extending out of one edge of the instrument seat;
the clamping block is arranged at the closed end of the limiting groove, and a first clamping groove is formed between the clamping block and the bottom surface of the limiting groove.
3. The surgical instrument mount of claim 2, wherein the cartridge member comprises:
the boss is clamped in the limiting groove;
the lug is arranged at one end of the boss in a protruding mode and clamped into the first clamping groove.
4. The surgical instrument mount of claim 3, wherein the pocket component further comprises:
and the through groove is arranged on the side surface, far away from the clamping block, of the instrument seat and is positioned above the opening end.
5. The surgical instrument mount of claim 4, wherein the cartridge member further comprises:
and the limiting block is clamped into the through groove, wherein the limiting block is clamped into the through groove, and the lug is clamped into the first clamping groove.
6. The surgical instrument mounting bracket as claimed in claim 2, wherein the limiting groove comprises a front limiting groove and a rear limiting groove, the boss is clamped in the rear limiting groove, the width of the front limiting groove is greater than that of the rear limiting groove, and a step structure is formed at the joint of the front limiting groove and the rear limiting groove.
7. The surgical instrument mounting bracket as set forth in claim 6, wherein the slot member further comprises a stopper disposed in the front section limiting groove, and a stopper groove is formed between the stopper and the step surface.
8. The surgical instrument mounting bracket of claim 7, wherein the latch member further comprises a stop block disposed on a side surface of the boss, the stop block being engaged in the stop groove.
9. The surgical instrument mounting bracket as defined in claim 8, wherein the stopper forms an included angle with the boss so that the stopper snaps into the stopper groove.
10. The surgical instrument mounting bracket of claim 3, wherein the instrument base is provided with a communication interface copper block in the limiting groove, and the sterile isolation base is provided with a contact corresponding to the communication interface copper block on the boss.
11. The surgical instrument mount of claim 10, wherein the tab is provided with a guide slot to allow the communication interface copper block to slide along the guide slot to the contact.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911303337.9A CN111685885A (en) | 2019-12-17 | 2019-12-17 | Surgical instrument mounting rack |
| US17/428,069 US20220125528A1 (en) | 2019-12-17 | 2020-12-17 | Surgical instrument and operation robot |
| AU2020404307A AU2020404307A1 (en) | 2019-12-17 | 2020-12-17 | Surgical operating instrument and surgical robot |
| PCT/CN2020/137277 WO2021121331A1 (en) | 2019-12-17 | 2020-12-17 | Surgical operating instrument and surgical robot |
| EP20901870.4A EP4088680A1 (en) | 2019-12-17 | 2020-12-17 | Surgical operating instrument and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911303337.9A CN111685885A (en) | 2019-12-17 | 2019-12-17 | Surgical instrument mounting rack |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111685885A true CN111685885A (en) | 2020-09-22 |
Family
ID=72476212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911303337.9A Pending CN111685885A (en) | 2019-12-17 | 2019-12-17 | Surgical instrument mounting rack |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111685885A (en) |
-
2019
- 2019-12-17 CN CN201911303337.9A patent/CN111685885A/en active Pending
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