CN113229944A - Joint device, slave operation device, and surgical robot - Google Patents

Abstract

One embodiment of the present invention provides an engagement device for engaging an instrument with a drive device, wherein the engagement device comprises a first body and a plurality of clasps, the first body comprising an instrument plate for receiving the instrument and a drive plate for receiving the drive device; each of the buckles includes an instrument side jaw extending through the instrument plate and a driving side jaw extending through the driving plate, the instrument side jaw is configured to be engaged with the instrument, the driving side jaw is configured to be engaged with the driving device, and each of the buckles is pivotally connected to the first body through a pivot, so that the buckle can simultaneously connect the instrument and the driving device, and the connection structure of the joint device becomes simple.

Description

Joint device, slave operation device, and surgical robot

Technical Field

The present application relates to the field of medical devices, and in particular, to a joint device, a slave operation device having the joint device, and a surgical robot having the slave operation device.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation. The surgical instrument is connected to the drive device of the slave manipulator for performing a surgical operation, and the end-effector of the surgical instrument comprises an end-effector for performing the surgical operation and a joint connected to the end-effector and movable in a plurality of degrees of freedom.

The surgical instrument is connected to the driving device of the slave operation device, and the surgical instrument needs to be aseptically processed, but the slave operation device is generally not aseptically processed, so that the surgical instrument is generally connected between the driving devices of the slave operation device and the surgical instrument cassette by aseptic connecting devices so as to prevent the surgical instrument from being polluted.

Disclosure of Invention

In view of the above, in order to solve the above problems, a first aspect of the present application provides an input device, a main operation apparatus having the input device, and a surgical robot including the main operation apparatus, wherein the input device includes:

a first body including an instrument plate and a drive plate disposed opposite the instrument plate;

the buckle, the buckle is connected with first main part, the buckle includes drive side jack catch and apparatus side jack catch, the drive side jack catch is used for connecting drive arrangement, apparatus side jack catch is used for connecting the apparatus.

In a specific embodiment, the instrument side jaw extends through the instrument plate and in a direction away from the drive side jaw, the drive side jaw extends through the drive plate and in a direction away from the instrument side jaw, and the catch is pivotally connected to the first body by a pivot.

In a specific embodiment, the latch is pivotally connected to the driving plate via the pivot.

In a specific embodiment, the instrument side jaw has a length greater than the length of the drive side jaw.

In a particular embodiment, the engagement means further comprises a resilient member abutting between the drive side dog and the drive plate.

In a particular embodiment, the distal end of the instrument-side jaw and the distal end of the drive-side jaw have projections for engaging with snap seats on the instrument and/or the drive means.

In a specific embodiment, the instrument-side jaw and the drive-side jaw are separated from each other.

In a specific embodiment, the instrument side jaws are fixedly mounted on the instrument plate and the drive side jaws are fixedly mounted on the drive plate.

In a particular embodiment, the drive side jaws are integrally formed with the drive plate, the drive side jaws extending from a surface of the drive plate in a direction away from the instrument plate; and/or the instrument side jaws are integrally formed with the instrument plate, the instrument side jaws extending from a surface of the instrument plate in a direction away from the drive plate.

In a particular embodiment, a spring is provided in the drive means for abutting the instrument side jaws to connect the engagement means to the drive means, and/or a spring is provided in the instrument for abutting the instrument jaws to connect the instrument to the engagement means.

In a specific embodiment, the elastic sheet includes a curved section, and the clip has a slot with a shape corresponding to the curved section, and the curved section is used for being clipped in the slot to connect the jointing device with a driving device and/or an instrument.

In a specific embodiment, a release mechanism is further disposed on the instrument, the driving device or the engaging device, and the release mechanism is configured to release the connection between the latch and the resilient tab.

In a specific embodiment, a release mechanism for releasing the connection of the drive means and the drive-side dog is provided on the drive means.

In a specific embodiment, the number of the two buckles is two, the two buckles are respectively located on two sides of the central axis of the first main body, and the release mechanism is used for releasing the connection between the buckle and the elastic sheet by abutting against the elastic sheet located on the same side of the central axis.

In a specific embodiment, the release mechanism is configured to deform the elastic sheet by abutting against a free end of the elastic sheet so as to separate the curved section from the slot on the buckle.

In a specific embodiment, a length of the release mechanism in the first body width direction is less than 1/2 of the first body width.

In a specific embodiment, the bending section is in a shape of ">", or a circular arc, or a wave.

In a specific embodiment, the first main body comprises a first side edge and a second side edge, the first side edge is non-parallel to the second side edge, the buckle is arranged at the first side edge, and the connecting device further comprises a clamp which is arranged at the second side edge and used for being connected with the driving device.

In a specific embodiment, the number of the buckles is multiple, and a first buckle and a second buckle of the plurality of buckles are respectively arranged on two sides of a central axis of the first main body, and the central axis penetrates through the clip.

In a particular embodiment, the clip further comprises an instrument side jaw extending away from the drive plate for gripping the instrument.

In a particular embodiment, the engagement device further includes a receiving slot opening in the first body, the receiving slot having an instrument receiving end located in a medial region of the first body for receiving an instrument shaft of the instrument.

In a specific embodiment, the instrument receiving end is located within a triangular area formed by the first catch, the second catch and the clip.

In a particular embodiment, the receiving slot is a chute.

In a particular embodiment, the receiving slot includes an opening disposed on the first side, the opening communicating with the instrument receiving end, the opening being located in a non-central region of the first side.

In a particular embodiment, the receiving groove includes a first sidewall and a second sidewall on opposite sides of a central axis of the receiving groove, the first sidewall having a length less than a length of the second sidewall.

In a specific embodiment, an included angle between the first side wall and the first side edge is an acute angle, and/or an included angle between the second side wall and the second side edge is an acute angle.

In a specific embodiment, the first clip is located between the first sidewall and the first side edge.

In a particular embodiment, the engagement device further comprises a second body perpendicular to the first body, the second body comprising a straight plate and curved plates at both ends of the straight plate, the second body being adapted to constrain the instrument during engagement of the instrument to the engagement device.

In a particular embodiment, the concave faces of the two curved plates are directed towards the centre of the first body, so that the second body embraces the cartridge of the instrument during its engagement to the engagement means.

In a particular embodiment, the straight plate is provided with a bullet-shaped guide strip for guiding the engagement of the instrument to the engagement means.

In a specific embodiment, the apparatus plate is provided with at least two positioning pins, the two or more positioning pins are respectively located at two sides of the apparatus accommodating end, the apparatus box of the apparatus is provided with positioning slots for receiving the positioning pins, and/or the driving plate is provided with at least two or more positioning slots, the two or more positioning slots are respectively located at two sides of the apparatus accommodating end, and the apparatus box of the apparatus is provided with positioning slots for receiving the positioning pins.

A second aspect of the present application provides a slave manipulator apparatus comprising a robotic arm on which is mounted said drive means and the engagement means described above, the engagement means being connected to the drive means.

The third aspect of the present application provides a surgical robot, which includes a master operation device and the slave operation device, wherein the slave operation device executes corresponding operation according to the instruction of the master operation device.

The connecting structure of the jointing device adopts the buckle to simultaneously connect the instrument and the driving device, simplifies the connecting structure and has lower cost.

Drawings

FIG. 1 is a schematic view of a slave manipulator of a surgical robot according to one embodiment of the present application;

FIG. 2 is a schematic view of the main operating equipment of the surgical robot of one embodiment of the present application;

FIG. 3 is a schematic view of an instrument according to an embodiment of the present application mounted on an instrument support arm;

FIG. 4 is a schematic illustration of an embodiment of the present application prior to attachment of the engagement apparatus to an instrument and drive device;

FIG. 5 is a cross-sectional view of the splice device of FIG. 4;

FIG. 6 is a perspective view of an instrument according to one embodiment of the present application;

FIGS. 7 and 8 are schematic views of the coupling of the engagement device to the drive device in one embodiment of the present application;

FIGS. 9 and 10 are schematic illustrations of the instrument and engagement device attachment process in one embodiment of the present application;

FIG. 11 is a schematic illustration of an instrument according to an embodiment of the present application after being coupled to an engagement device;

FIG. 12 is a schematic illustration of the process of disengaging the engaging means and the driving means in one embodiment of the present application;

FIG. 13 is a side view of an engagement device in one embodiment of the present application;

FIG. 14 is a partial cross-sectional view of the engagement device of FIG. 13 coupled to an instrument and drive device;

FIG. 15 is a top view of an engagement device in an embodiment of the present application;

FIG. 16 is a schematic illustration of an embodiment of the present application with the engagement device disconnected from the instrument and drive device;

FIG. 17 is a schematic view of a spring plate according to an embodiment of the present application;

FIG. 18 is a schematic illustration of the procedure for connecting the disengagement means to the instrument and drive means in the embodiment shown in FIG. 16.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may be present, and the term "coupled" as used herein refers to a coupling in which two elements have power transfer. As used herein, the terms "vertical," "horizontal," "left," "right," "above," "below," and the like are for illustrative purposes only and do not denote a single embodiment, it being understood that such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures, e.g., elements or features described as "below" or "beneath" other elements or features would be oriented "above" the other elements or features if the device were turned over in the figures. Thus, the example term "below" can encompass both an orientation of above and below.

As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure. As used herein, "coupled" may be broadly understood to mean where two or more objects are connected to any event in a manner that allows the objects to be absolutely coupled to operate with each other so that there is no relative movement between the objects in at least one direction, such as a projection and groove coupling, which may be in a radial relative movement but not in an axial relative movement.

The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing a surgical or diagnostic procedure, the instrument including an end effector, which may be a surgical tool such as an electrocautery, a forceps, a stapler, a scissors, an imaging device (e.g., an endoscope or ultrasound probe), and the like, for performing surgical procedures. Some instruments used in embodiments of the present application further include providing the end effector with articulating components (e.g., joint assemblies) such that the position and orientation of the end effector can be manipulated to move in one or more mechanical degrees of freedom relative to the instrument shaft. Further, the end effector includes jaws that also include functional mechanical degrees of freedom, such as opening and closing. The instrument may also include stored information that may be updated by the surgical system, whereby the storage system may provide one-way or two-way communication between the instrument and one or more system components.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the terms "and/or" and/or "include any and all combinations of one or more of the associated listed items.

As shown in fig. 1 and 2, the surgical robot according to an embodiment of the present application includes a slave operation device 10 and a master operation device 20, the slave operation device 10 is located at a side of a patient for performing a surgical operation, wherein the slave operation device 10 includes a plurality of robot arms 11 and instruments 12 mounted on the robot arms 11, the instruments 12 may be an electrocautery device, a forceps holder, a stapler, a scissors device, etc. for performing a surgical operation, or may be a camera or other surgical instruments for acquiring images, and the plurality of instruments 12 are inserted into the body of the patient from different incisions. The robotic arm is configured to be supported by the mast by a plurality of large arms, and in other embodiments the robotic arm of the slave manipulator apparatus may be mounted on a wall or ceiling.

The robotic arm 11 further includes a parallelogram linkage on the distal end of which the instrument 12 is removably mounted, which may allow the instrument 12 to move or move in multiple mechanical degrees of freedom (e.g., all six cartesian degrees of freedom, five or fewer cartesian degrees of freedom, etc.). The parallelogram linkage is used to constrain the motion of the constraint instrument 12 near the Remote Center of Motion (RCM) on the surgical instrument, which is held stationary relative to the patient, which is typically located where the instrument enters the patient's body. In other embodiments, the big arm of the secondary manipulator is configured differently, and a plurality of instruments of the secondary manipulator are detachably mounted on the power mechanism at the far end of the big arm, enter the human body from an incision, and control and restrain the instruments to move near the remote motion center, please refer to chinese patent application CN 201810664598.2.

The slave manipulator 10 comprises a plurality of robot arms 11, the robot arms 11 being provided at their distal end with an instrument support arm 14, the instrument support arm 14 being provided with drive means 13, the drive means 13 being adapted to drive movement of an end effector 17 at the distal end of the instrument 12, the drive means 13 being movable on the instrument support arm 14 along its proximal or distal end. The implement 12 is mounted on a drive mechanism 13, and the implement 12 is movable with the drive mechanism 13 toward the distal or proximal end of the implement support arm 14 to move the distal end of the implement 12 into or out of the body.

During use of the surgical robot, the instrument 12 is entirely sterile, and the robotic arm 11 and the drive device 13 of the slave manipulator 10 are sterile, and these sterile structures are isolated from the sterile environment by sterile enclosures (not shown). As shown in fig. 3, the instrument cassette 19 of the instrument 12 is coupled to the driving device 13 via the coupling device 18, and the coupling device 18 is disposed aseptically during use, so that the coupling device 18 can aseptically isolate the instrument 12 from the driving device 13.

The end effector 17 is supported by an instrument shaft 16 of the instrument 12. in one embodiment, the instrument shaft 16 is hollow, a transmission mechanism within an instrument housing 19 is coupled to the end effector 17 by a cable, and the drive device 13 drives the transmission mechanism to move so that the transmission mechanism retracts or releases the cable to operate the end effector 17 to move.

The instrument shaft 16 passes through the poking card 15 and is restrained by the poking card 15, the poking card 12 is butted with the instrument supporting arm 13 through a poking card clamping device, so that the poking card 12 can be driven to move together through the mechanical arm 11, the mechanical arm 11 can drive the poking card 12 to rotate around a remote motionless point due to the fact that the poking card 12 is butted on the instrument supporting arm 13, and the instrument shaft 16 passing through the poking card 12 also rotates around the remote motionless point, so that the end effector 17 of the instrument 12 has a larger movement range in the human body.

The surgical robot also typically includes an imaging system portion (not shown) that enables an operator to view the surgical site from outside the patient's body. The vision system variously typically includes a video image capture function (e.g., instrument 12 with image acquisition functionality) and one or more video display devices for displaying the captured images. Generally, the instrument 12 with image acquisition capabilities includes optics for one or more imaging sensors (e.g., CCD or CMOS sensors) that will acquire images within the body of the patient. The one or more imaging sensors may be placed at the distal end of the instrument 12 with image acquisition capabilities, and the signals generated by the one or more sensors may be transmitted along a cable or by wireless for processing and display on a video display device.

The main operation device 20 is located on the operator side, the main operation device 20 is used for sending control commands to the slave operation device 10 and displaying images acquired from the slave operation device 10 according to the operation of the operator, the operator can observe three-dimensional stereoscopic imaging in the patient body provided by the imaging system through the main operation device 20, and the operator can control the slave operation device 10 to perform relevant operations (such as performing an operation or acquiring images in the patient body) in an immersive sensation by observing the three-dimensional images in the patient body. The main operation device 20 includes a main console 21 and an input device 22, and the main console 21 includes a display device for displaying an image acquired by the imaging system, an armrest, a control signal processing system, and a viewing device. The armrest is used for placing the arm and/or hand of the operator to make the operator more comfortable operating the input device, and the observation device is used for observing the image displayed by the display device. The handrail can be omitted according to actual requirements; or omitting the observation device, in which case direct observation is possible. The operator controls the movement of the slave operation device 10 by operating the input device 22, the control signal processing system of the master console 21 processes the input signal of the input device 22 and then sends a control command to the slave operation device, and the slave operation device 300 is used for responding to the control command sent by the master console 21 and performing corresponding operation.

Referring to fig. 4, in one embodiment, the instrument 12 is engaged with the driving device 23 by an engaging device 280, the engaging device 280 includes a first body 281 and a plurality of catches rotatably disposed on the first body 281, the plurality of catches includes a first catch 283 and a second catch 284, specifically, the first catch 283 is rotatably disposed near a first side 2811 of the first body 281, the second catch 284 and the first catch 283 are symmetrically disposed on the first body 281 and are rotatable with respect to the first body 281, that is, the first catch 283 and the second catch 284 are symmetrically arranged about a central axis X of the first body 281, which passes through the center of the first body 281 and divides the first body 280 into two along the length direction, and the first catch 283 and the second catch 284 are used for connecting the engaging means 280 to the driving means 23 and the cartridge 19 of the instrument 12 to the engaging means 280.

In one embodiment, as shown in FIGS. 5 and 6, FIG. 5 is a cross-sectional view of FIG. 4 taken along a central plane of first and second catches 283, 284, first body 281 includes an instrument plate 2814 for instrument 12, and a drive plate 2815 for receiving drive device 23, first and second catches 283, 284 are pivotally connected to first body 281 by pivots 2833, 2843, first and second catches 283 each include an instrument side pawl that engages snap seats 1921, 1922 on instrument cartridge 19 through instrument plate 2814, and a drive side pawl that engages snap seats 233, 234 on drive device 23 through drive plate 2815 to connect instrument cartridge 19 and drive device 23 to engagement device 280. Specifically, instrument side pawl 2831 of first catch 283 is configured to engage with a catch receptacle 1921 on instrument cassette 19, and instrument side pawl 2841 of second catch 284 is configured to engage with a catch receptacle 1922 on instrument cassette 19. The driving side jaw 2832 of the first catch 283 is used for engaging with the catch seat 233 at the proximal end of the driving device 23, and the driving side jaw 2842 of the second catch 284 is used for engaging with the catch seat 234 of the driving device 23.

As will be described in detail below with respect to the engagement of the engaging device 280 with the driving device 23 and the instrument 12, when engaging the engaging device 280 with the driving device 23, as shown in FIG. 7, the protrusions 2834b, 2844b at the ends of the driving side claws 2832, 3842 of the first and second catches 283 and 284 first abut against the catches 233, 234 of the driving device 23, and after the inclined surface 2331 of the catch 233 abuts against the protrusion 2834b and the inclined surface 2341 of the catch 234 abuts against the protrusion 2844b, as the engaging device 280 continues to move against the driving device 23, the catch 233, 234 drives the first and second catches 284 to rotate about the pivots 283 33, 2843, so that the driving side claws 2832, 3842 are expanded outwards, and the resilient members 2835, 2845 are further compressed.

As shown in fig. 8, as the engaging device 280 further moves toward the driving device 23, the protrusions 2834b, 2844b move along the inclined surfaces 2331, 2341 into the latch seats 233, 234, the resilient members 2835, 2845 resiliently return to rotate the first latch 283 and the second latch 284 about the pivots 2833, 2843, so that the driving side claws 2832, 3842 move inwardly, the restoring resilient force of the resilient members 2835, 2345 is exerted on the driving side claws 2832, 2842 to cause the protrusion 2834b of the first latch 283 to be latched and held on the latching surface 2332 of the latch seat 233, and likewise, the protrusion 2844b of the second latch 284 is latched and held on the latching surface 2342 of the latch seat 234 while the first latch 283 and the second latch 284 are in a position substantially perpendicular to the first body 281, the resilient members 2835, 2845 provide a restoring resilient force in addition to the self-deforming force of the first latch 283 and the second latch, the restoring resilient force is exerted on the driving side claws 2832, 2842 to tightly engage with the latch receptacles 233, 234. In other embodiments, the resilient members 2835, 2845 may also be in a stretched state at all times, with the resilient members 2835, 2845 disposed between the inner sides of the drive side jaws 2832, 2842 and the first body 281.

After the engagement device 280 is engaged with the driving device 23, the driving device 23 drives the disc 236 to be coupled with the engagement discs 1921, 1922, 1923 and 1924 of the engagement device 280, so that the motor 238 in the driving device 23 drives the engagement discs 1921, 1923, 1923 and 1924 to rotate through the driving disc 236.

After engagement of the coupling device 280 to the driver 23 to begin engaging the instrument 12 and the coupling device 280, as shown in FIG. 9, which only shows a portion of the cartridge 19 of the instrument 12, upon engagement of the cartridge 19 to the coupling device 280, the ramps 1921a of the catches 1921 of the cartridge 19 will initially interfere with the protrusions 2834a of the instrument side pawls 2831, and likewise, the ramps 1922a of the catches 1922 will initially interfere with the protrusions 2844a of the instrument side pawls 2841, and the ramps 1921a, 1922a of the catches 1921, 1922 of the cartridge 19 will be angled in the opposite direction from the ramps 2331, 2341 of the catches 233, 234 of the driver 23. Because drive side pawl 2834,2844 of first catch 283 and second catch 284 snap into catch seats 233, 234, first catch 283 and second catch 284 are pressed by ramps 1921a, 1922a during engagement of cartridge 19 against engagement device 280 and do not rotate about pivots 1833, 1834. Since the device- side jaws 2831, 2841 themselves have a certain amount of deformation, for example, the first catch 283 and the second catch 284 are integrally formed by plastic having a certain elastic deformation, so that the device- side jaws 2831, 2841 are deformed and expanded outwards by the pressing of the catch seats 1921, 1922.

As shown in FIG. 10, after cartridge 19 is fully engaged with engaging means 280, device- side jaws 2831, 2841 elastically deform to return to their original positions, such that protrusions 2834a of device-side jaws 2831 snap onto engaging surfaces 1921b of retainer 1921 and protrusions 2844a of device-side jaws 2841 snap onto engaging surfaces 1921b of retainer 1922, such that first and second snaps 283 and 284 securely connect cartridge 19 to engaging means 280. After instrument 12 is engaged with engagement device 280, drive device 23 drives rotation of instrument disks 1931, 1932, 1933, 1934 by driving rotation of engagement disks 1921, 1923, 1923, 1924.

When it is desired to disengage the instrument 12 and drive device 23 from the engagement device 280, as shown in FIG. 11, FIG. 10 is a top view of the instrument cartridge 19 after it has been engaged to the engagement device 280. when the operator depresses the handle 1911 of the release mechanism 191 in direction B, the handle 1911 rotates the link 1912 of the release mechanism 191 causing one end of the link 1912 to push the protrusions 2834a, 2844a in a direction opposite to direction B, thereby disengaging the protrusions 2834a, 2844a from the engagement surfaces 1921B,1922B and thereby disengaging the instrument cartridge 19 from the engagement device 280. Since the first catch 283 and the second catch 284 are symmetrical about the central axis X, the two release mechanisms 191 may also be symmetrically disposed on both sides of the instrument cartridge 191, which may further facilitate the operator to operate the release mechanisms 191 to disengage the instrument 12 from the engagement device 280.

After removing instrument 12, as shown in fig. 12, the operator squeezes instrument side jaws 2831, 2841 toward engagement mechanism 280 in direction C to rotate first and second clasps 283, 284 about pivots 2833, 2843 to spread side jaws 2832, 2842 away from the center of engagement mechanism 280, such that protrusions 2844b of side jaws 2832 disengage from engagement surface 2332 of catch base 233 and protrusions 2844b of side jaws 2842 disengage from engagement surface 2342 of catch base 234 to disengage drive mechanism 23 from engagement mechanism 280.

In one embodiment, first catch 283 and second catch 284 are pivotally connected to drive plate 2815 and/or the length of the instrument jaws 2831, 2841 is greater than the length of the drive jaws 2832, 2842 such that the moment arm from the ends of the instrument jaws 2831, 2841 to pivots 2833, 2843 is greater than the moment arm from the ends of the drive jaws 2832, 2842 to pivots 2833, 2843, allowing the operator to use less force to release the driver 23.

Referring again to fig. 4, in one embodiment, the engagement means 280 further comprises a clip 285, the clip 285 being disposed at a second side 2812 of the first body 281 and extending along a distal end of the first body 281, the second side 2812 being located opposite the instrument support arm 14 and non-parallel to the first side 2811, the central axis X passing through the clip 285, the clip 285 being adapted to snap into a snap seat 235 on the drive means 23. This allows the clip 285 to form a triangular relationship with the first and second catches 283, 284, with the receiving slot 282 for receiving the instrument shaft 16 located between the three catches, and allows all three sides of the engagement device 280 to have catches for engaging with the driving device 23, thereby providing a very secure engagement of the engagement device 280 with the driving device, avoiding the engagement device from falling off the driving device 23 due to the instrument 12 being forced to overturn during the procedure, and providing surgical safety.

Since the first catch 283 and the second catch 284 are released after the operator presses the release mechanism 191, only the clip 285 is still clipped with the catch seat 285 of the driving device 23, and the operator can release the connection between the fifth catch 285 and the catch seat 235 by only holding the engaging device 280 to move the engaging device 280 away from the instrument support arm 14, without separately providing a release mechanism for releasing the fifth catch, and without increasing the difficulty for the operator to remove the engaging device 280.

Referring to FIGS. 13 and 14, in one embodiment, the clip 285 includes instrument side jaws 2852 extending proximally of the engagement means 280, the instrument side jaws 2852 for gripping the instrument cartridge 19. As shown in FIG. 14, the clip 285 is pivotally connected to the first body 281 of the engagement device 280 via a pivot 2853, and after the engagement device 281 is engaged with the driving device 23, the driving side pawl 2851 of the clip 285 engages with the catch socket 235 on the driving device 23, and the resilient member 2855 located on the first body 281 biases the driving side pawl 2851 to maintain the driving side pawl 2851 in engagement with the catch socket 235.

After the instrument 12 is connected to the interface 280, the instrument case 12 longitudinally compresses the instrument side pawls 2854 of the clips 285 so that the protrusions 2854 at the proximal ends of the instrument side pawls 2852 abut the sides of the instrument case 19, thereby rotating the instrument side pawls 285 clockwise about the pivots 2853 to snap the drive side pawls 2851 into closer engagement with the catch brackets 285, and the instrument side pawls 2852 of the clips 285 clamp the instrument case 19 to prevent deflection of the instrument 12 away from the instrument support arm 14 to more securely engage the instrument 12 to the interface 280.

Referring to fig. 15, in one embodiment, the first body 281 of the engagement device 280 defines a receiving slot 282 for receiving the instrument shaft 16 of the instrument 12, the receiving slot 282 is a tapered slot, specifically, an instrument receiving end 2821 of the receiving slot 282 is located in a central region of the first body 281 for receiving the instrument shaft 16 after the instrument 12 is coupled to the engagement device 280, an opening 2822 of the receiving slot 282 is defined in a non-central region of a first side 2811 of the first body 281, the opening 2822 of the receiving slot 2822 is in communication with the instrument receiving end 2821, and a central axis Y of the receiving slot 282 is at a non-right angle with respect to a central axis X of the first body such that the receiving slot 282 is at a non-right angle with respect to a side of the first body 281. Further, α is acute such that the opening 2822 of the receiving slot 282 faces outwardly from the lateral side, i.e., the distance from the center of the opening 2822 to the first lateral side 2812 is less than the distance from the center of the instrument receiving end 2821 to the first lateral side 2812. In other words, the first sidewall 2823 of the receiving slot 282 forms an acute angle with the first side 2811 of the first body 281, and the second sidewall 2824 of the receiving slot 282 forms an acute angle with the second side 2812 of the first body 281, wherein the length s1 of the first sidewall 2823 is smaller than the length s2 of the second sidewall 2824, and the first sidewall 2823 and the second sidewall 2823 refer to straight portions of the slot walls of the receiving slot 282.

Since the receiving slot for receiving the instrument shaft 16 is the receiving slot 282, the space of the first body 281 between the first side wall 2812 and the first side edge 2811 of the receiving slot 282 is larger than the space of the receiving slot perpendicular to the first side edge 2811, so that the first catch 283 can be made larger in volume, and the larger volume of the first catch 283 and the second catch 281 can make the connection between the instrument 12 and the driving device 23 and the engaging device 280 more secure.

Additionally, because the second side 2812 of the first body 280 faces the operator during use, the opening 2822 of the receiving slot 282 is closer to the operator than the instrument receiving end 2821, during loading of the instrument 12 into the interface 280, the operator holding the instrument 12 translates the instrument receiving end 2821 from the opening 2822 of the receiving slot 282 along the central axis Y thereof to load the instrument 12 more easily by the operator.

As shown in fig. 15, in one embodiment, the plurality of engagement discs 2861, 2862, 3863, 3864 of the engagement device 280 are distributed around the first body 281, the plurality of engagement discs 2861, 2862, 2863, 2864 being for engaging the instrument disc 1931 of the instrument 12 and the drive disc 236 of the drive device 23. The receiving groove 282 is located in the middle of the plurality of engagement discs 2861, 2862, 3863, 3864, and specifically, the first catch 283 is located between the first side wall 2823 and the first connection disc 2861 of the receiving groove 282, and the second connection disc 2862 is located between the second connection disc 2812 and the second side wall 2824.

In one embodiment, the instrument receiving ends 2821 of the receiving slots 282 are located within the triangular area defined by the first catch 283, the second catch 284 and the clip 285 so that the three catches securely lock the instrument case of the instrument 12 regardless of whether the instrument 12 is flipped in any direction. Further, the distance from the center of instrument receiving end 2821 to center plane AA of first catch 283 and second catch 284 is L, and the smaller the distance L, the less the moment that the instrument exerts on first catch 283 and second catch 284, preferably L is less than width M of first catch 283, and further L is less than half of width M of first catch, i.e., L < M/2, such that instrument 12 is stably coupled to engaging device 280.

As shown in fig. 6 and 11, a plurality of instrument trays 1931, 1932, 1933, 1934 corresponding to the plurality of engagement trays 2861, 2862, 2863, 2864 are also positioned about the engagement surface of the instrument cartridge 19, wherein the first engagement tray 283 is positioned between the first catch 283 and the third side 2813 of the engagement device 280 and the second engagement tray 2862 is positioned between the second side 2812 and the second side wall 2824 of the receiving slot 282. The plurality of instrument trays 1931, 1932, 1933, 1934 are coupled to a plurality of capstans 1921, 1922, 1923, 1924, respectively, located within the instrument pod 19, and the plurality of drive disks 236 drive the rotation of the instrument trays 1931, 1932, 1933, 1934 via a plurality of coupling disks 2861, 2862, 2863, 2864, thereby driving the rotation of the plurality of capstans 1921, 1922, 1923, 1924. Accordingly, a corresponding plurality of capstans 1921, 1922, 1923, 1924 are also located near the four corners of the instrument cartridge 19, the proximal end of the instrument shaft 16 is located in a central region of the instrument cartridge 19, and a plurality of drive cables 1925 extend around the capstans 1921, 1922, 1923, 1924 at one end and through the instrument shaft 16 to the distal end of the instrument shaft 16 at the other end.

Because the proximal end of the instrument shaft 16 is located in a central region of the instrument cartridge 19, and the plurality of capstans 1921, 1922, 1923, 1924 may be distributed around the instrument shaft 16, the included angle between the drive cables 1925 wound on different capstans may be relatively large, reducing interference between the drive cables 1925 within the instrument cartridge 19, and facilitating routing of the drive cables 1925.

Referring again to fig. 4, 14 and 15, in one embodiment, the third side edge of engagement means 280 extends proximally out of a second body 287, the second body 287 being perpendicular to the first body 282, the second body 287 being of a plate-like configuration that embraces to restrain the instrument 12 during engagement of the instrument to the engagement means 280, and in particular, the second body 287 includes a straight plate 2871 located in a middle region of the third side edge 2813 and two curved plates 2872 located at both ends of the third side edge 2813, the concave surfaces of the two curved plates 2872 facing the center of the engagement means 280. The cartridge 19 of the instrument 12 has rectangular rounded corners 1911 at both ends adjacent the leading end surface 192 of the second body 287 and a flat end surface 1912 intermediate the two rectangular rounded corners 1911 and aligned with the straight plate 2871 of the second body 287. Thereby, during loading of the instrument 12 into the engaging means 280, the leading end surface 192 of the instrument cartridge 19 slides along the second body 287 of the engaging means 280 from the proximal end to the distal end thereof, and after the leading end surface 192 slides into the embracing region formed by the two curved plates 2872 of the second body 287, the rectangular rounded corners 1911 of the leading end surface 192 are restrained in the embracing region, preventing the instrument cartridge 19 from shifting in direction during loading, and improving the efficiency and accuracy of loading.

In one embodiment, the guide bar 2873 is also provided on the flat end surface 1912 of the second body 287 of the engagement device 280, the guide bar 2873 being bullet shaped, i.e., the guide bar 2873 includes a bullet-head shaped front portion 2874 and an elongated rear portion 2875. Correspondingly, as shown in fig. 7, the straight plate 2871 of the guide end surface 192 of the instrument 12 is provided with a guide groove 1913, and the width of the bottom groove 1914 of the guide groove 1913 is larger than that of the top groove 1915. As the instrument 12 is loaded onto the guide engagement device 280, the forward portion 2874 of the guide bar 2873 advances into the bottom slot 1914, as the instrument 12 is moved further distally, the forward portion 2874 of the guide bar 2873 moves along the bottom slot 1914 toward the top slot 1915, and after the instrument 12 is successfully engaged with the engagement device 280, the forward portion 2874 of the guide bar 2873 is received within the top slot 1915 of the guide slot 1913 and the rearward portion 2875 of the guide bar 2873 is received within the bottom slot 1914 of the guide slot 1913.

The guide bar 2873 and the guide slot 1913, as well as the embracing second body 287, work together to further improve accuracy and efficiency in loading the instrument 12. In some embodiments, the guide bar 2873 and the guide slot 1913 are two, and the cooperation of the two guide bars 2873 with the two guide slots 1913, respectively, further provides for high accuracy and efficiency in loading the instrument 12.

Referring again to fig. 4 and 6, in one embodiment, the engagement device 280 has a positioning pin 288 on the instrument engagement surface and the engagement surface of the instrument 12 has a positioning slot 1941 that mates with the positioning pin 288, the first positioning pin 288 is inserted into the first positioning slot 1941 after the instrument 12 is engaged with the engagement device 280, and the insertion of the first positioning pin 288 into the first positioning slot 1941 can further constrain the movement of the instrument 12 and allow the instrument 12 to be more securely engaged with the engagement device 280. Further, the first positioning pins 288 and the first positioning grooves 1941 are two, the two first positioning pins 288 are respectively located at both sides of the instrument receiving end 2821 of the receiving groove 282 and located on the central axis X of the engaging device, and the two first positioning pins 288 and the two first positioning grooves 1941 can effectively restrain the rotation of the instrument 12.

In one embodiment, the driving device 13 has a second positioning pin 237 disposed on the engagement surface thereof, and correspondingly, the engagement device 280 has a second positioning slot (not shown) disposed on the driving engagement surface thereof adjacent to the driving device 13, wherein the second positioning pin 237 is inserted into the second positioning slot after the engagement device 280 is engaged with the driving device 13, and the second positioning pin 237 is inserted into the second positioning slot to inhibit the rotation of the whole of the instrument 12 and the engagement device 280. In some embodiments, there are two second positioning pins 237 and two second positioning slots, and the second positioning pins are located at two sides of the receiving slot 232 of the driving device 23.

In one embodiment, as shown in fig. 16, the catch 383 of the interface 380 is of a separate type, in particular, the first body of the interface 380 includes an instrument board 3813 and a drive board 3814, the instrument side jaws 3831 and the drive side jaws 3832 of the catch 383 are separate from each other and are not integral, i.e. the instrument side jaws 3831 of the catch 383 are fixedly mounted on the instrument board 3813, the drive side jaws 3832 are fixedly mounted on the drive board 3814, the drive side jaws 3832 extend from a surface of the drive board 3814 in a direction away from the instrument board 3813, and the instrument side jaws 3831 extend from the surface of the instrument board 3813 in a direction away from the drive board 3814. In some embodiments, the drive side jaws 3831 are integrally formed with the instrument plate 3813 and the drive jaws 3832 are integrally formed with the drive plate 3814, which facilitates manufacture of the coupling 380.

Be equipped with shell fragment 321 in the apparatus 32, shell fragment 321 is used for cooperating with the apparatus side jack catch 3831 of buckle 383 to be connected apparatus 32 to joint 383, specifically, shell fragment 321 includes crooked section 3212 and free end 3211, is equipped with the draw-in groove 3833 that receives crooked end 3212 on apparatus side jack catch 3831, and after crooked end 3212 blocked in draw-in groove 3833, apparatus 32 and joint 383 linked together.

Similarly, a spring 331 is disposed in the driving device 33, the spring 331 is configured to cooperate with a driving-side jaw 3832 of the buckle 383 to connect the driving device 33 to the engaging device 380, specifically, the spring 331 includes a curved section 3311 and a free end 3212, a slot 3834 for receiving the curved end 3312 is disposed on the driving-side jaw 3834, and after the curved end 3312 is snapped into the slot 3834, the driving device 33 is connected to the engaging device 380.

The curved sections 3212, 3312 of the resilient strips 321, 331 are ">", the slots 3833, 3834 have a corresponding shape, and the curved ends 3212, 3312 of ">", after being snapped into the slots 3833, 3834, make it more difficult for the instrument 32 and the driving device 33 to disengage from the engaging device 380. In other embodiments, the curved sections 3212, 3312 may also be in the shape of an arc or a wave, as shown in fig. 17, the curved section 4212 of the resilient piece is in the shape of a wave, and the corresponding slot of the buckle 4831 is also in the shape of a wave.

Release mechanisms 322, 332 are further disposed on the instrument 32 and the driving device 33, and the release mechanism 322 is used for releasing the connection between the resilient pieces 321, 331 and the buckle 383, so as to separate the instrument 32 and the driving device 33 from the engaging device 380. Specifically, as shown in fig. 18, when the operator pushes the release mechanisms 322 and 332 along the direction P, the release mechanism 322 deforms the resilient tab 321 by abutting against the free end 3211 of the resilient tab 321, so that the curved end 3212 is separated from the slot 3833, and the resilient tab 321 is separated from the buckle 383. The releasing mechanism 332 deforms the elastic piece 331 by abutting against the free end 3312 of the elastic piece 331, so that the bent end 3311 is separated from the slot 3834, thereby separating the elastic piece 332 from the buckle 383. Because the release mechanism 332 for releasing the connection between the engaging device 380 and the driving device 33 is disposed on the driving device 33, the operation of releasing the instrument 32 and the operation of releasing the driving device 33 are independent of each other, and it is not necessary to selectively release the connection between the driving device and the engaging device to release the connection between the driving device and the engaging device as in the embodiment shown in fig. 10, and this structure of independently releasing the connection between the engaging device 383 and the driving device 33 can still release the connection between the engaging device 383 and the driving device 33 when the connection between the instrument 32 and the engaging device 380 fails, so that the instrument 32 and the engaging device 380 which have failed can be detached from the driving device 33 together, and the new engaging device 380 and the instrument 32 can be replaced, thereby making the operation safer. In some embodiments, a release mechanism 332 for disconnecting the engagement means 383 from the drive means 33 is also provided on the engagement means 380.

Further, two buckles 383 are provided, the two buckles 383 are respectively located on two sides of a central axis (refer to a central axis X of the engaging device in fig. 4) of the first main body of the engaging device 380, the release mechanisms 322 and 332 are used for abutting against the elastic sheets 321 and 331 located on the same side of the central axis to release the connection between the buckles 383 and the elastic sheets 321 and 331, the release mechanisms 322 and 332 are in an integrated L shape, and since the release mechanisms 322 and 332 abut against the elastic sheets 321 and 331 located on the same side of the central axis, the length L of the release mechanisms 322 and 332 in the width direction of the first main body of the engaging device 383 is small, so that the structural strength of the release mechanisms 322 and 332 is high, the release mechanisms are not easy to break, and the operation is safe. In some embodiments, the length L of the release mechanism 322, 332 in the width direction of the first body is less than 1/2 of the first body width.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (33)

1. An engagement device for engaging an instrument with a driving device, the engagement device comprising:

a first body including an instrument plate and a drive plate disposed opposite the instrument plate;

the buckle, the buckle is connected with first main part, the buckle includes drive side jack catch and apparatus side jack catch, the drive side jack catch is used for connecting drive arrangement, apparatus side jack catch is used for connecting the apparatus.

2. The engagement device of claim 1, wherein the instrument side pawl extends through the instrument plate and in a direction away from the drive side pawl, wherein the drive side pawl extends through the drive plate and in a direction away from the instrument side pawl, and wherein the catch is pivotally connected to the first body by a pivot.

3. The engagement device of claim 2, wherein said catch is pivotally connected to said drive plate by said pivot.

4. The engagement device of claim 1, wherein the instrument side pawl has a length greater than a length of the drive side pawl.

5. The engagement device according to claim 2, further comprising an elastic member abutting between the drive-side pawl and the drive plate.

6. The engagement device according to claim 1, wherein the distal end of the instrument-side pawl and the distal end of the drive-side pawl have projections for engaging with a catch socket on the instrument and/or the drive device.

7. The engagement device of claim 1, wherein the instrument-side jaw and the drive-side jaw are disengaged from one another.

8. The engagement device of claim 7, wherein the instrument side jaws are fixedly mounted on the instrument plate and the drive side jaws are fixedly mounted on the drive plate.

9. The engagement device of claim 1, wherein the drive-side jaws are integrally formed with the drive plate, the drive-side jaws extending from a surface of the drive plate in a direction away from the instrument plate; and/or the instrument side jaws are integrally formed with the instrument plate, the instrument side jaws extending from a surface of the instrument plate in a direction away from the drive plate.

10. The engagement device according to any one of claims 7 to 9, wherein a spring is provided in the drive means for abutting the instrument side pawl to connect the engagement device to the drive means; and/or a spring plate is arranged in the instrument and is used for abutting against the instrument claw so as to connect the instrument to the jointing device.

11. The engagement device according to claim 10, wherein the resilient tab comprises a curved section, and the catch has a slot shaped to correspond to the curved section, the curved section being adapted to snap into the slot to connect the engagement device to a drive device and/or an instrument.

12. The engagement device according to claim 10, wherein a release mechanism is provided on the instrument, the drive device or the engagement device for releasing the connection of the catch and the resilient tab.

13. The engaging device according to claim 12, wherein a release mechanism for releasing the connection of the driving means and the driving side pawl is provided on the driving means.

14. The engagement device according to claim 12 or 13, wherein there are two latches, the two latches are respectively located at two sides of the central axis of the first body, and the release mechanism is configured to release the latch from the resilient tab by abutting against the resilient tab located at the same side of the central axis.

15. The engagement device according to any one of claims 12 to 14, wherein the release mechanism is adapted to deform the resilient tab by abutting against a free end of the resilient tab to disengage the curved section from a catch on the catch.

16. The engagement device according to any one of claims 12 to 15, wherein the release mechanism has a length in the direction of the first body width that is less than 1/2 of the first body width.

17. The joining device according to claim 11, wherein said curved section is ">", or rounded, or wavy.

18. The engagement device according to any one of claims 1 to 15, wherein the first body comprises a first side and a second side, the first side being non-parallel to the second side, the catch being provided at the first side, the engagement device further comprising a clip provided at the second side for connection with the drive device.

19. The engagement device according to claim 18, wherein the catch is plural, and a first catch and a second catch of the plural catches are respectively provided on both sides of a central axis of the first body, the central axis passing through the clip.

20. The engagement device according to claim 18 or 19, wherein the clip further comprises an instrument side jaw extending away from the drive plate for gripping the instrument.

21. The engagement device according to claim 19 or 20, further comprising a receiving slot opening in the first body, the receiving slot having an instrument receiving end located in a medial region of the first body for receiving an instrument shaft of the instrument.

22. The engagement device of claim 21, wherein the instrument-receiving end is located within a triangular region defined by the first catch, the second catch, and the clip.

23. The engagement device of claim 21, wherein the receiving slot is an angled slot.

24. The engagement device of claim 21, wherein the receiving slot includes an opening disposed on the first side, the opening communicating with the instrument receiving end, the opening being located in a non-central region of the first side.

25. The engagement device of claim 23 or 24, wherein the receiving slot includes a first side wall and a second side wall on either side of a central axis of the receiving slot, the first side wall having a length less than a length of the second side wall.

26. The engagement device according to claim 25, wherein the angle between the first side wall and the first side edge is acute and/or the angle between the second side wall and the second side edge is acute.

27. The engagement device of claim 25, wherein the first catch is located between the first side wall and the first side edge.

28. The engaging device of claim 1, further comprising a second body perpendicular to said first body, said second body comprising a straight plate and curved plates at opposite ends of said straight plate, said second body for constraining said instrument during engagement to said engaging device.

29. The engagement device of claim 28, wherein the concave sides of the two curved plates face toward the center of the first body so that the second body embraces the cartridge of the instrument during engagement of the instrument to the engagement device.

30. The engagement device according to claim 29, wherein a bullet-shaped guide strip is provided on the straight plate for guiding engagement of the instrument to the engagement device.

31. The joint apparatus according to any one of claims 1 to 32, wherein at least two or more positioning pins are provided on the instrument plate, the two or more positioning pins are respectively located on both sides of the instrument-receiving end, positioning grooves for receiving the positioning pins are provided on an instrument case of the instrument, and or at least two or more positioning grooves are provided on the drive plate, the two or more positioning grooves are respectively located on both sides of the instrument-receiving end, and the instrument case of the instrument is provided with positioning grooves for receiving the positioning pins.

32. A slave manipulator apparatus, characterized in that it comprises a robot arm on which the drive means are mounted and an engaging means according to any of claims 1-31, which engaging means is connected to the drive means.

33. A surgical robot comprising a master operation device and a slave operation device according to claim 31, the slave operation device performing a corresponding operation according to an instruction of the master operation device.

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