CN112370169A

CN112370169A - Rotatable minimally invasive surgery instrument quick-change device

Info

Publication number: CN112370169A
Application number: CN202011261789.8A
Authority: CN
Inventors: 胡骁; 王炳强; 刘思源; 孙之建
Original assignee: Shandong Weigao Surgical Robot Co Ltd
Current assignee: Shandong Weigao Medical Technology Co Ltd
Priority date: 2020-11-12
Filing date: 2020-11-12
Publication date: 2021-02-19
Anticipated expiration: 2040-11-12
Also published as: CN112370169B

Abstract

The invention relates to a rotatable minimally invasive surgical instrument quick-change device, which solves the technical problems of complex installation process and low replacement speed of an endoscope in the existing minimally invasive surgical robot system and comprises an isolation component and a sleeve component; the isolation assembly comprises an isolation plate, a connecting wheel, a rotary seat, a shell, a first gear, a second gear, an arc-shaped conductive strip, a spring needle and a conductive copper sheet, the isolation plate is fixedly connected with the shell, the isolation plate is provided with a first notch and a second notch, the first gear is rotationally connected with the first notch, the second gear is connected with the connecting wheel, the connecting wheel is rotationally connected with the second notch, and the first gear is meshed with the second gear; the rotating seat is fixedly connected with the first gear; the conductive copper sheet is connected with the isolation board; the arc-shaped conductive strips are connected with the shell; the spring needle is connected with the rotating seat, and the lower end of the spring needle is contacted with the arc-shaped conductive strip; the rotating seat is provided with a first clamping groove and a second clamping groove which are symmetrically arranged. The invention is widely applied to the technical field of minimally invasive surgery robots.

Description

Rotatable minimally invasive surgery instrument quick-change device

Technical Field

The invention relates to the technical field of minimally invasive surgery robots, in particular to a rotatable minimally invasive surgery instrument quick-change device.

Background

Referring to the chinese patent application with publication No. CN109091237A and named as an auxiliary system of minimally invasive surgical instruments, minimally invasive surgery represented by laparoscope is known as one of the important contributions of 20 th century medical science to human civilization, and minimally invasive surgical operation refers to a procedure in which a doctor uses a slender surgical tool to insert into the body through a tiny incision on the surface of the body to perform a surgical operation. Compared with the traditional open surgery, the utility model has the advantages of small surgical incision, less bleeding, small postoperative scar, quick recovery time and the like, which greatly reduces the pain of the patient; therefore, minimally invasive surgery is widely used in clinical surgery.

Referring to the chinese patent application with application publication No. CN109091238A entitled split minimally invasive surgical instrument assistance system, a minimally invasive surgical robotic system includes a surgeon console that precisely controls one or more surgical instruments on a robotic arm of a patient console to perform various surgical actions by operating the surgeon robotic arm.

Referring to the invention patent application publication No. CN105286999A and the invention application publication No. CN105286989A, surgical instruments are essential tools for surgical procedures that can perform various functions including clamping, cutting, suturing, stapling, and the like. Surgical instruments come in different configurations, including an execution tip, wrist, instrument shaft, instrument box, etc., through which the surgical instrument is inserted to perform a telesurgical operation. During surgery, the patient robotic arm sets up a sterile drape attachment to isolate the surgical instruments from the surrounding area, maintaining the patient table clean. The surgical instrument needs to be connected to the instrument lift mount on the patient's robotic arm through the instrument adapter on the sterile drape attachment and receive electrical, mechanical, and other signals from the robotic arm. Meanwhile, in order to meet the action requirements of different surgical operation tasks (clamping, suturing, knotting and the like), the surgical instruments can be replaced at any time and reconnected with instrument mounting seats connected to the mechanical arms of the patient.

The endoscope for imaging is an important component of a minimally invasive surgery robot system, and the existing endoscope is complex in installation process and slow in replacement speed.

Disclosure of Invention

The invention provides a rotatable minimally invasive surgical instrument quick-change device, aiming at solving the technical problems of complex installation process and low replacement speed of an endoscope in the existing minimally invasive surgical robot system.

The invention provides a quick-change device for a rotatable minimally invasive surgical instrument, which comprises an isolation assembly and a sleeve assembly; the isolation assembly comprises an isolation plate, a connecting wheel, a rotary seat, a shell, a first gear, a second gear, an arc-shaped conductive strip, a spring needle and a conductive copper sheet, the isolation plate is fixedly connected with the shell, the isolation plate is provided with a first notch and a second notch, the first gear is rotationally connected with the first notch, the second gear is connected with the connecting wheel, the connecting wheel is rotationally connected with the second notch, and the first gear is meshed with the second gear; the rotating seat is fixedly connected with the first gear; the conductive copper sheet is connected with the isolation board; the arc-shaped conductive strips are connected with the shell; the spring needle is connected with the rotating seat, and the lower end of the spring needle is contacted with the arc-shaped conductive strip; the rotating seat is provided with a first clamping groove and a second clamping groove which are symmetrically arranged; the conductive copper sheet is connected with the arc-shaped conductive strips through wires;

the sleeve assembly comprises a clamping sleeve, a locking screw, a first button, a second button, a first spring, a second spring, a first sliding block and a second sliding block, the clamping sleeve is provided with a central through hole, a mounting groove, a first sliding block accommodating groove and a second sliding block accommodating groove, the first sliding block is provided with a first hook connecting part, the second sliding block is provided with a second hook connecting part, and the locking screw penetrates through the left part of the clamping sleeve and is connected with a thread on the right part of the clamping sleeve; the first button and the second button are symmetrically arranged, the first button penetrates through the clamping sleeve, the second button penetrates through the clamping sleeve, the first slider is connected with the first button, the second slider is connected with the second button, the first hooking portion penetrates through the clamping sleeve, the second hooking portion penetrates through the clamping sleeve, the first slider is located in the first slider accommodating groove, the second slider is located in the second slider accommodating groove, the first spring is located in the first slider accommodating groove, the second spring is located in the second slider accommodating groove, the first spring is connected between the first slider and the clamping sleeve, and the second spring is connected between the second slider and the clamping sleeve.

The invention has the advantages of simple structure, low cost, easy operation, quick replacement of instruments, good human-computer interaction, sensitive response, reliable work and the like.

Further features of the invention will be apparent from the description of the embodiments which follows.

Drawings

FIG. 1 is a perspective view of an isolation assembly;

FIG. 2 is a perspective view of the sleeve assembly;

FIG. 3 is an exploded view of the isolation assembly shown in FIG. 1;

FIG. 4 is a top view of the isolation assembly shown in FIG. 1;

FIG. 5 is a bottom view of the spacer assembly shown in FIG. 1;

FIG. 6 is a cross-sectional view taken in the direction D-D of FIG. 4;

FIG. 7 is an enlarged view of a portion of FIG. 6 at P;

FIG. 8 is a schematic structural view of the sleeve assembly;

FIG. 9 is a cross-sectional view taken in the direction M-M of FIG. 8;

FIG. 10 is a sectional view taken in the direction L-L of FIG. 8;

fig. 11 is a structural schematic diagram of the endoscope mounted to the rotatable minimally invasive surgical instrument quick-change device.

The symbols in the drawings illustrate that:

1. the insulation device comprises an insulation assembly, 101, an insulation board, 101-1, a first notch, 101-2, a second notch, 102, a connecting wheel, 103, a rotating seat, 104, a shell, 105, a first gear, 106, a second gear, 107, an arc-shaped conductive strip, 108, a spring pin, 109, a conductive copper sheet and 110, screws; 2. sleeve assembly, 3. endoscope.

Detailed Description

The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.

As shown in fig. 1-2, the rotatable minimally invasive surgical instrument quick-change device comprises an isolation assembly 1 and a sleeve assembly 2, wherein the isolation assembly 1 and the sleeve assembly 2 are two independent structures and can be detached and replaced independently, and the sleeve assembly 2 is fixedly connected with a notch on a rotary seat on the isolation assembly through a translation type buckle structure.

As shown in fig. 3-7, the isolation assembly 1 includes an isolation board 101, a connecting wheel 102, a rotary seat 103, a housing 104, a first gear 105, a second gear 106, a circular arc conductive strip 107, a spring pin 108, a conductive copper sheet 109, and a screw 110, wherein the isolation board 101 and the housing 104 are fixedly connected by the screw 110. The isolation plate 101 is provided with a first notch 101-1 and a second notch 101-2, a first gear 105 is rotatably connected with the first notch 101-1, a second gear 106 is arranged on the connecting wheel 102, the connecting wheel 102 is rotatably connected with the second notch 101-2, and the first gear 105 is meshed with the second gear 106; the rotary base 103 is fixedly connected to the first gear 105 by a screw. The conductive copper sheet 109 is connected to the insulation board 101. The housing 104 is provided with a conductive strip mounting groove 104-1, and the circular arc conductive strip 107 is fixedly mounted on the conductive strip mounting groove 104-1. The pogo pin 108 is connected to the rotary base 103, and the lower end of the pogo pin 108 contacts the circular arc conductive strip 107. The rotary base 103 is provided with a first card slot 103-1 and a second card slot 103-2 which are symmetrically arranged. And a wire is welded between the conductive copper sheet 109 and the circular arc conductive strip 107 to realize connection.

The working principle of the isolation assembly 1 is as follows: an external motor is used as a power source, an output shaft of the motor is connected with a transmission mechanism, the transmission mechanism drives the connecting wheel 102 to rotate (a slot hole which can be connected with the transmission mechanism and matched with the connecting wheel 102 can be arranged on the connecting wheel 102), the connecting wheel 102 drives the second gear 106 to rotate, the first gear 105 rotates, and the first gear 105 drives the rotating seat 103 to rotate.

As shown in fig. 8-10, the sleeve assembly 2 includes a clamping sleeve 2-1, a locking screw 2-2, a first button 2-3, a second button 2-4, a first spring 2-5, a second spring 2-6, the clamping sleeve 2-1 is provided with a central through hole 2-1-1, a mounting groove 2-1-2, a first slider accommodating groove 2-1-3 and a second slider accommodating groove 2-1-4, the first slider 2-7 is provided with a first hook connecting part 2-7-1, the second slider 2-8 is provided with a second hook connecting part 2-8-1, and a locking screw 2-2 penetrates through the left part of the clamping sleeve 2-1 and is connected with a thread on the right part of the clamping sleeve 2-1. The first button 2-3 and the second button 2-4 are symmetrically arranged, the first button 2-3 passes through the clamping sleeve 2-1, the second button 2-4 passes through the clamping sleeve 2-1, the first slider 2-7 is connected with the first button 2-3, the second slider 2-8 is connected with the second button 2-4, the first hook part 2-7-1 passes through the clamping sleeve 2-1, the second hook part 2-8-1 passes through the clamping sleeve 2-1, the first slider 2-7 is positioned in the first slider accommodating groove 2-1-3, the second slider 2-8 is positioned in the second slider accommodating groove 2-1-4, the first spring 2-5 is positioned in the first slider accommodating groove 2-1-3, the second spring 2-6 is positioned in the second slider accommodating groove 2-1-4, the first spring 2-5 is connected between the first slider 2-7 and the clamping sleeve 2-1, and the second spring 2-6 is connected between the second slider 2-8 and the clamping sleeve 2-1. The sleeve assembly 2 can be installed in the isolation assembly 1 by pressing the first button 2-3 and the second button 2-4 with hands to move the first hook portion 2-7-1 and the second hook portion 2-8-1 inwards, then placing the clamping sleeve 2-1 into the rotary base 103, then releasing the first button 2-3 and the second button 2-4 with hands, and further inserting the first hook portion 2-7-1 and the second hook portion 2-8-1 into the first clamping groove 103-1 and the second clamping groove 103-2 of the rotary base 103 respectively.

As shown in fig. 11, the rod of the endoscope 3 passes through the central through hole 2-1-1 of the sleeve component 2, the connecting part of the handle at the rear end of the endoscope 3 and the rod is arranged in the mounting groove 2-1-2 and then locked by the locking screw 2-2, so that the endoscope is completely fixed, no relative sliding exists between the endoscope and the sleeve component 2, and the operation accuracy of a doctor in the operation process is ensured. The snap-fit arrangement allows the sleeve assembly 2 to be securely mounted to the spacer assembly 1. The upper end of the spring needle 108 is in contact with a pin circuit of an identification chip on the endoscope 3, and the conductive copper sheet 109 is connected with the main control circuit through the spring needle or a lead, so that the main control circuit can identify whether the endoscope is installed in place.

The position of the endoscope 3 can be adjusted by rotating the rotary base 103. When the rotary seat 103 rotates, the pogo pin 108 rotates along with the rotary seat 103, and the pogo pin 108 is always in conduction with the circular arc conductive strip 107.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art should be informed by the teachings of the present invention, other configurations of the components, the driving device and the connection means, which are similar to the technical solution and are not designed creatively, shall fall within the protection scope of the present invention without departing from the inventive spirit of the present invention.

Claims

1. A rotatable minimally invasive surgical instrument quick-change device is characterized by comprising an isolation assembly and a sleeve assembly;

the isolation assembly comprises an isolation plate, a connecting wheel, a rotary seat, a shell, a first gear, a second gear, an arc conductive strip, a spring pin and a conductive copper sheet, the isolation plate is fixedly connected with the shell, the isolation plate is provided with a first notch and a second notch, the first gear is rotatably connected with the first notch, the second gear is connected with the connecting wheel, the connecting wheel is rotatably connected with the second notch, and the first gear is meshed with the second gear; the rotating seat is fixedly connected with the first gear; the conductive copper sheet is connected with the isolation board; the arc-shaped conductive strips are connected with the shell; the spring needle is connected with the rotating seat, and the lower end of the spring needle is contacted with the arc-shaped conductive strip; the rotating seat is provided with a first clamping groove and a second clamping groove which are symmetrically arranged; the conductive copper sheet is connected with the arc-shaped conductive strips through electric wires;