CN113288428A - Surgical instrument clamping device for orthopedic surgery robot - Google Patents
Surgical instrument clamping device for orthopedic surgery robot Download PDFInfo
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- CN113288428A CN113288428A CN202110485461.2A CN202110485461A CN113288428A CN 113288428 A CN113288428 A CN 113288428A CN 202110485461 A CN202110485461 A CN 202110485461A CN 113288428 A CN113288428 A CN 113288428A
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- 230000000399 orthopedic effect Effects 0.000 title claims abstract description 33
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 239000011324 bead Substances 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 6
- 238000001125 extrusion Methods 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims 2
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 239000011521 glass Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 210000004722 stifle Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention relates to the technical field of medical instruments, in particular to a surgical instrument clamping device for an orthopedic surgical robot, which comprises a connecting frame for quickly disassembling and connecting a mechanical arm of the surgical robot, wherein a shaft sleeve assembly for matching and sleeving a surgical instrument, a movable clamping sleeve coaxially butted with the shaft sleeve assembly and an elastic locking piece in transmission connection with the movable clamping sleeve are arranged on the connecting frame, the movable clamping sleeve is driven to clamp the surgical instrument sleeved in the shaft sleeve assembly through the elastic acting force of the elastic locking piece, and the elastic locking piece is operated to release the clamping of the movable clamping sleeve on the surgical instrument. The surgical instrument clamping device for the orthopedic surgery robot can realize stable connection between the mechanical arm of the surgical robot and an orthopedic surgery instrument, improves surgery precision, is simple and convenient to connect, and is beneficial to ensuring surgery timeliness and improving surgery efficiency.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical instrument clamping device for an orthopedic surgical robot.
Background
Along with the development of surgical robot technique, in clinical medicine's operation field, more and more surgical robot appears, for example in the orthopedics field, present overwhelming majority orthopedic operation robot lets the arm of robot directly be connected with the surgical instruments who from taking power, or constitute through the branch in the middle of and be connected, this kind of connected mode can lead to the operation precision not high, can't guarantee the stability of connecting after the installation of preceding apparatus, can't satisfy hip joint operation's user demand, and lead to surgical instruments and pollutant contact easily, cause repeated disinfection, the process of connecting is inconvenient, lead to influencing the operation ageing, reduce operation efficiency.
Disclosure of Invention
The surgical instrument clamping device for the orthopedic surgery robot provided by the invention can realize stable connection between the mechanical arm of the surgical robot and the orthopedic surgery instrument, improves the surgery precision, is simple and convenient to connect, and is beneficial to ensuring the surgery timeliness and improving the surgery efficiency.
The invention provides a surgical instrument clamping device for an orthopedic surgery robot, which comprises a connecting frame for quickly disassembling and connecting a mechanical arm of the surgical robot, wherein a shaft sleeve assembly for matching and sleeving a surgical instrument, a movable clamping sleeve coaxially butted with the shaft sleeve assembly and an elastic locking piece in transmission connection with the movable clamping sleeve are arranged on the connecting frame, the movable clamping sleeve is driven to clamp the surgical instrument sleeved in the shaft sleeve assembly through the elastic acting force of the elastic locking piece, and the elastic locking piece is operated to release the clamping of the movable clamping sleeve on the surgical instrument.
According to the surgical instrument clamping device for the orthopedic surgery robot, which is provided by the invention, the shaft sleeve assembly comprises a long shaft sleeve and inner shaft sleeves which are coaxially butted at two ends of the long shaft sleeve respectively, and the long shaft sleeve and the inner shaft sleeves are respectively used for slidably sleeving surgical instruments.
The surgical instrument clamping device for the orthopedic surgery robot further comprises a glass bead jackscrew which is coaxially butted with the shaft sleeve assembly, and the glass bead jackscrew is used for elastically clamping surgical instruments which are sleeved in the shaft sleeve assembly inwards.
According to the surgical instrument clamping device for the orthopedic surgical robot, provided by the invention, the elastic locking piece comprises an elastic pressing pipe which is coaxially butted with the shaft sleeve assembly and can axially move, an annular curved surface groove with the depth gradually changed along the axial direction is formed in the inner wall of the elastic pressing pipe, the movable clamping sleeve comprises a plurality of movable balls which are circumferentially arranged and sleeved in the annular curved surface groove, the elastic pressing pipe drives the annular curved surface groove to radially press each movable ball through elastic acting force so as to enable each movable ball to clamp a surgical instrument towards the center, and the elastic pressing pipe is axially operated to release the extrusion of each movable ball by the annular curved surface groove.
According to the surgical instrument clamping device for the orthopedic surgery robot, the movable clamping sleeve further comprises a middle shaft tube which is coaxially butted with the shaft sleeve assembly, a plurality of counter bores are circumferentially distributed on the tube wall of the middle shaft tube, and each movable ball is respectively sleeved in each counter bore.
According to the surgical instrument clamping device for the orthopedic surgical robot, the elastic pressing pipe comprises the spring and the movable pressing pipe which are respectively sleeved on the central shaft pipe, the annular curved surface groove is formed in the movable pressing pipe, the spring tightly pushes the movable pressing pipe through elastic acting force to drive the annular curved surface groove to radially extrude each movable ball to clamp the movable ball towards the center, and the spring is reversely compressed to release the extrusion of the annular curved surface groove on each movable ball.
According to the surgical instrument clamping device for the orthopedic surgery robot, the elastic locking piece further comprises a movable lock catch, the movable lock catch is connected to the movable pressure pipe in a transmission mode and can move along with the movable pressure pipe, and the movable pressure pipe is locked on the connecting frame through the movable lock catch.
According to the surgical instrument clamping device for the orthopedic surgery robot, the movable lock catch comprises a movable lock ring fixedly connected to the movable pressure pipe and a limiting pin fixed on the connecting frame, the movable lock ring is rotatably sleeved on the central shaft pipe and is in elastic tight contact with the spring, a clamping groove is formed in the outer wall of the movable lock ring, and the limiting pin is guided to be clamped into the clamping groove by rotating the movable lock ring after the movable lock ring is axially operated to reversely compress the spring.
According to the surgical instrument clamping device for the orthopedic surgery robot, an axial groove which extends along the axial direction and is vertically connected with the clamping groove is formed in the outer wall of the movable locking ring, and the limiting pin is inserted into the axial groove and can move along the axial groove.
According to the surgical instrument clamping device for the orthopedic surgery robot, provided by the invention, the movable lock catch further comprises a knob pipe, the knob pipe extends into the connecting frame from the outside, is sleeved outside the central shaft pipe in a sliding manner, and is fixedly connected with the movable lock ring.
The invention provides a surgical instrument clamping device for an orthopedic surgery robot, which is fixedly connected with a mechanical arm of the surgical robot through a connecting frame when the device is put into use, then a shaft body part of the surgical instrument is stably sleeved in a shaft sleeve assembly, a movable sleeve clamp coaxially butted with the shaft sleeve assembly can simultaneously clamp the shaft body of the surgical instrument, the movable sleeve clamp can be controlled to move through an elastic locking piece due to the transmission connection of the movable sleeve clamp and the elastic locking piece, the movable sleeve clamp is driven to clamp the surgical instrument sleeved in the shaft sleeve assembly through the elastic acting force of the elastic locking piece, the elastic acting force of the elastic locking piece is constant, so that the movable sleeve clamp can be driven to constantly clamp the shaft body of the surgical instrument, the constant clamping force can effectively avoid the surgical instrument from shaking in the surgical process, and the stable connection of the mechanical arm of the surgical robot and the orthopedic surgery instrument can be ensured, the operation precision is effectively improved; on the other hand, the elastic locking piece can be operated to release the clamping of the movable clamping sleeve on the surgical instrument, namely, the elastic locking piece is operated to control whether the elastic acting force acts on the movable clamping sleeve, after the elastic locking piece is operated to release the elastic acting force on the movable clamping sleeve, the movable clamping sleeve can not clamp the surgical instrument sleeved in the shaft sleeve assembly, so that the surgical instrument can be detached.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is an internal structural view of the present invention;
FIG. 3 is an assembly schematic of the present invention;
FIG. 4 is an internal structural view of the present invention;
FIG. 5 is a partial block diagram of the present invention;
FIG. 6 is a partial block diagram of the present invention;
FIG. 7 is an active schematic of the present invention;
FIG. 8 is a partial block diagram of the present invention;
FIG. 9 is a partial block diagram of the present invention;
FIG. 10 is an assembly schematic of the present invention;
fig. 11 is a partial schematic structural view of the surgical instrument.
1 link, 2 tubes are pressed to elasticity, 3 toroidal curved surface grooves, 4 movable balls, 5 central siphon, 6 counter bores, 7 springs, 8 tubes are pressed in the activity, 9 movable lock rings, 10 spacer pins, 11 draw-in grooves, 12 axial grooves, 13 knob pipes, 14 long shaft sleeves, 15 inner shaft sleeves, 16 glass bead jackscrews, 17 bearings, 18 tail stifles, 19 retaining rings, 20 pins, 21 position sleeve, 22 installation guide slots, 100 shaft sleeve assemblies, 200 movable clamp covers, 300 elastic locking parts, 301 movable lock catches, 500 surgical instruments, 501 annular draw-in grooves.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following describes a surgical instrument clamping device for an orthopedic surgery robot according to the present invention with reference to fig. 1 to 3, which includes a connecting frame 1, the connecting frame 1 is used for quick-release connection of a mechanical arm (not shown) of the surgical robot, the connecting frame 1 is provided with a shaft sleeve assembly 100, a movable clamping sleeve 200 and an elastic locking piece 300, a shaft body of the orthopedic surgery instrument 500 can be sleeved in the shaft sleeve assembly 100 in a matching manner, the movable clamping sleeve 200 is coaxially butted at the rear of the shaft sleeve assembly 100, the movable clamping sleeve 200 can clamp the shaft body of the surgical instrument 500 from the rear, the movable clamping sleeve 200 is in transmission connection with the elastic locking piece 300, the elastic locking piece 300 exerts a constant elastic acting force on the movable clamping sleeve 200, the elastic force of the elastic locking element 300 drives the movable clamping sleeve 200 to clamp the surgical instrument 500 sleeved in the shaft sleeve assembly 100, and releases the grip of the movable collet 200 on the surgical instrument 500 by operating the elastic locking member 300.
Alternatively, the connecting frame 1 and the robot arm of the surgical robot may also be connected by screws.
When the surgical instrument clamp is put into use, the connecting frame 1 is fixedly connected to a mechanical arm of a surgical robot, then the shaft body of the surgical instrument 500 is stably sleeved in the shaft sleeve assembly 100 in a matching manner, the movable clamping sleeve 200 coaxially butted with the shaft sleeve assembly 100 clamps the shaft body of the surgical instrument 500 from the rear side, because the movable clamping sleeve 200 is in transmission connection with the elastic locking piece 300, the movable clamping sleeve 200 can be controlled to move through the elastic locking piece 300, and the movable clamping sleeve 200 is driven to clamp the surgical instrument 500 sleeved in the shaft sleeve assembly 100 through the elastic acting force of the elastic locking piece 300, because the elastic acting force of the elastic locking piece 300 is constant, the movable clamping sleeve 200 can be driven to constantly clamp the shaft body of the surgical instrument 500, the constant clamping force can effectively avoid the surgical instrument 500 from shaking in the surgical process, and therefore the stable connection of the mechanical arm of the surgical robot and the orthopedic surgical instrument 500 can be ensured, thereby effectively improving the operation precision; on the other hand, since the clamping of the surgical instrument 500 by the movable clamping sleeve 200 can be released by operating the elastic locking member 300, that is, by operating the elastic locking member 300, it can be controlled whether the elastic acting force acts on the movable clamping sleeve 200, after the elastic acting force to the movable clamping sleeve 200 is released by operating the elastic locking member 300, the movable clamping sleeve 200 can not clamp the surgical instrument 500 sleeved in the shaft sleeve assembly 100, so that the surgical instrument 500 can be disassembled, therefore, in the surgical process, the elastic locking member 300 only needs to be operated simply, so that the surgical instrument can be disassembled and clamped simply and rapidly, the operation process is very simple and convenient, and is not cumbersome, the simple connection of the surgical instrument and the robot mechanical arm is realized, the learning curve of a doctor is shortened, the doctor can get used to the operation easily, and the operation efficiency is improved.
Alternatively, as shown in fig. 4 to 5, the shaft sleeve assembly 100 includes a long shaft sleeve 14 and inner shaft sleeves 15 coaxially butted at two ends of the long shaft sleeve 14, the long shaft sleeve 14 and the inner shaft sleeves 15 are made of a high-strength lubricating material, the long shaft sleeve 14 and the inner shaft sleeves 15 are respectively used for slidably sleeving the surgical instrument 500, and by assembling the surgical instrument 500 in a plurality of shaft sleeves at the same time, the axial installation accuracy of the surgical instrument due to partial wear of the shaft sleeves can be avoided, and it is ensured that the required surgical accuracy can be achieved.
Optionally, as shown in fig. 4 to 5, a bead wire 16 coaxially butted against the shaft sleeve assembly 100 is further included, and the bead wire 16 is used for elastically clamping the surgical instrument sleeved in the shaft sleeve assembly 100 inwards. The glass bead jackscrew 16 gives the surgical instrument a constant elastic pretightening force inwards, so that the surgical instrument 500 assembled in the shaft sleeve assembly 100 can always receive a certain elastic clamping force, and the accidental dropping caused by the instantaneous loss of the clamping force of the surgical instrument 500 can be prevented in the process of installing and detaching the surgical instrument 500, and the surgical risk is avoided.
Alternatively, as shown in fig. 4 to 6, the elastic locking member 300 includes an elastic pressing tube 2 coaxially butted with the sleeve assembly 100 and capable of moving axially, an inner wall of the elastic pressing tube 2 is formed with an annular curved groove 3 having a depth gradually changed in an axial direction, the movable collet 200 includes a plurality of movable balls 4 circumferentially arranged and sleeved in the annular curved groove 3, since a groove depth of the annular curved groove 3 is gradually changed, the annular curved groove 3 can control each movable ball 4 to move radially by using a change in the groove depth when the annular curved groove 3 moves axially with the elastic pressing tube 2, as shown in fig. 7, when each movable ball 4 is located at the deepest portion of the annular curved groove 3, a radial pressure applied to each movable ball 4 is smallest as shown in fig. 4, and when each movable ball 4 is located at the shallowest portion of the annular curved groove 3, the annular curved groove 3 presses each movable ball 4 radially inward, all the movable balls 4 are close to the center together, so that the surgical instruments 500 sleeved in the shaft sleeve assembly 100 can be clamped and sleeved together by all the movable balls 4 close to the center together, and the surgical instruments can be stably connected; in addition, the elastic force can drive the elastic pressing pipe 2 to be constantly and forwardly abutted, and since the annular curved groove 3 is formed in the elastic pressing pipe 2, the elastic force of the elastic pressing pipe 2 can drive the annular curved groove 3 to be constantly and forwardly abutted (as shown in FIG. 4), since the depth of the toric groove 3 in this embodiment is gradually reduced from the front to the rear, when the toric groove 3 is immediately forward and rearward, each movable ball 4 is positioned at the shallowest part of the annular curved groove 3, so that the radial compression force is the largest, so that the toroidal curved groove 3 presses each movable ball 4 in a radial direction, so that each movable ball 4 clamps the surgical instrument 500 toward the center, moreover, the elastic force of the elastic pressure pipe 2 can constantly drive each movable ball 4 to clamp the surgical instrument 500 inwards, so that the stable connection of the surgical instrument can be ensured, and the surgical precision is effectively improved; meanwhile, as shown in fig. 7, the elastic pressing pipe 2 is operated to move axially and backwards, so that the annular curved groove 3 can be driven to move backwards, each movable ball 4 is located in the deepest part of the annular curved groove 3, and therefore, the annular curved groove 3 can not press each movable ball 4 inwards, namely, the extrusion of each movable ball 4 is released, so that each movable ball 4 can not clamp the surgical instrument 500 towards the center, at the moment, the surgical instrument 500 can be disassembled, namely, the elastic pressing pipe 2 is controlled to axially shift forwards and backwards, so that the surgical instrument 500 inside can be quickly clamped or released by each movable ball 4, and the surgical instrument 500 can be disassembled and installed simply and quickly.
Optionally, as shown in fig. 4, fig. 5 and fig. 8, the movable clamping sleeve 200 further includes a central shaft tube 5 coaxially butted to the shaft sleeve assembly 100, when the surgical instrument 500 is assembled, a shaft body of the surgical instrument 500 can be stably sleeved in the central shaft tube 5, a plurality of counter bores 6 are circumferentially distributed on a tube wall of the central shaft tube 5, each movable ball 4 is movably sleeved in each counter bore 6, the counter bores 6 are formed in the tube wall of the central shaft tube 5, on one hand, the counter bores 6 can be used to guide the movable balls 4 to move radially, on the other hand, the structure of the counter bores 6 can be used to limit the movable balls 4, so that the movable balls 4 can only partially enter the central shaft tube 5, and the movable balls 4 are prevented from falling into the central shaft tube 5.
Alternatively, as shown in fig. 4, the elastic pressing pipe 2 includes a spring 7 and a movable pressing pipe 8 respectively sleeved on the bottom bracket pipe 5, the annular curved groove 3 is formed in the movable pressing pipe 8, the spring 7 pushes the movable pressing pipe 8 forward by elastic force, and the movable pressing pipe 8 abuts forward, so that the annular curved groove 3 inside can be driven to radially press each movable ball 4, and each movable ball 4 clamps the surgical instrument 500 towards the center, thereby realizing stable connection between the surgical robot and the surgical instrument 500; when the surgical instrument 500 needs to be disassembled, the movable pressing pipe 8 is operated to axially and backwards compress the spring 7, namely the annular curved surface groove 3 is enabled to be deviated backwards, so that the annular curved surface groove 3 is not pressed against each movable ball 4, the extrusion of the annular curved surface groove 3 to each movable ball 4 is released, the clamping of the surgical instrument 500 is released, and the surgical instrument 500 can be disassembled at the moment.
Optionally, as shown in fig. 4 to 5, the elastic locking member 300 further includes a movable locking catch 301, the movable locking catch 301 is connected to the movable pressure pipe 8 in a driving manner and can move along with the movable pressure pipe 8, and the movable pressure pipe 8 is locked on the connecting frame 1 through the movable locking catch 301. Therefore, after the movable pressure tube 8 compresses the spring 7 backwards, the movable pressure tube 8 and the annular curved groove 3 can be locked on the connecting frame 1 through the movable lock catch 301, and the movable pressure tube 8 and the annular curved groove 3 can be kept in a backward offset state, so that the annular curved groove 3 can keep releasing each movable ball 4, and each movable ball 4 keeps in a release state inside the central shaft tube 5, after the surgical instrument 500 is reassembled, as long as the movable lock catch 301 is operated to unlock, the elastic acting force of the spring 7 can reset forwards to push the movable pressure tube 8 and the annular curved groove 3, and the annular curved groove 3 can close to and radially press each movable ball 4 inwards to close and clamp the surgical instrument 500 again, so that the mode can prevent the surgical instrument 500 from operating the movable pressure tube 8 repeatedly in the process of disassembling and replacing, through the structural scheme of the embodiment, in the process of replacing the surgical instrument 500, the movable pressure pipe 8 is operated once only, the movable pressure pipe 8 compresses the spring 7, and then after the movable pressure pipe 8 is locked by the movable lock catch 301, all the movable balls 4 can be kept in an open state in the center for waiting for the next surgical instrument to be inserted again, so that the replacement operation of the surgical instrument is more convenient and easier to use.
Alternatively, as shown in fig. 4 to 5, the movable lock catch 301 includes a movable lock ring 9 fixedly connected to the movable pressure tube 8 and a limit pin 10 fixed on the connecting frame 1, in addition, the movable lock ring 9 is rotatably sleeved on the middle shaft tube 5 and elastically and tightly contacts with the spring 7, that is, the movable lock ring 9 can axially move back and forth and rotate together with the movable pressure tube 8, however, in this embodiment, in order to rotate the movable lock ring 9 and the movable pressure tube 8, a bearing 17 is sleeved between the movable lock ring 9, the movable pressure tube 8 and the middle shaft tube 5, after the bearing 17 is sleeved, the movable lock ring 9 and the movable pressure tube 8 can rotate outside the middle shaft tube 5, in addition, a slot 11 is formed on the outer wall of the movable lock ring 9, after the spring 7 is axially operated and reversely compressed, the limit pin 10 can be guided by rotating the movable lock ring 9 to be locked into the slot 11, that is, when the surgical instrument 500 needs to be replaced, the movable locking ring 9 is firstly controlled to move backwards and transversely and reversely compress the spring 7, then the movable locking ring 9 is rotated to drive the clamping groove 11 to rotate to the position of the limiting pin 10, the limiting pin 10 is clamped into the clamping groove 11, so that the movable locking ring 9 and the movable pressing pipe 8 can be locked on the connecting frame 1, the movable locking ring 9 and the movable pressing pipe 8 keep a backward offset state, the annular curved groove 3 also keeps releasing each movable ball 4, after the surgical instrument 500 is reassembled, only the movable locking ring 9 is controlled to reset and rotate, the limiting pin 10 is separated from the clamping groove 11, the movable locking ring 9 can be unlocked, at the moment, the elastic acting force of the spring 7 can reset forwards to push the movable pressing pipe 8 and the annular curved groove 3, the annular curved groove 3 abuts against and radially presses each movable ball 4 inwards to close and clamp the surgical instrument 500 again, therefore, the surgical instrument can be conveniently and quickly detached and installed.
Optionally, as shown in fig. 5, an axial groove 12 extending along the axial direction and perpendicularly connecting with the locking groove 11 is further formed on the outer wall of the movable locking ring 9, the axial groove 12 and the locking groove 11 form an L-shaped groove after connecting, the limit pin 10 is inserted into the axial groove 12 and can move along the axial groove 12, so that the limit pin 10 can be limited in the L-shaped groove in advance, the moving track of the limit pin 10 is preset, the limit pin 10 can be smoothly switched between the locking groove 11 and the axial groove 12, when the movable locking ring 9 moves in the axial direction, the limit pin 10 moves in the axial groove 12, when the movable locking ring 9 rotates, the limit pin 10 can smoothly cut into the locking groove 11, the movable locking ring 9 is locked, the release state of the surgical instrument is maintained, when the movable locking ring 9 is reset and rotated, the limit pin 10 can smoothly return to the axial groove 12, and under the reset action of the spring 7, the movable locking ring 9 is smoothly reset and shifted forwards to clamp the surgical instrument again, so that the clamping and releasing states of the clamping device of the embodiment can be switched more smoothly by utilizing the L-shaped groove formed by the clamping groove 11 and the axial groove 12 to be matched with the limiting pin 10, and the surgical instrument 500 can be more smoothly mounted and dismounted.
Optionally, as shown in fig. 4 to 5, the movable lock catch 301 further includes a knob tube 13, and the knob tube 13 extends forward from the rear into the connecting frame 1, is slidably sleeved outside the bottom bracket tube 5, and is fixedly connected to the movable lock ring 9. Therefore, the medical staff can conveniently control the movable locking ring 9 and the movable pressing pipe 8 to move from the outside, the movable locking ring 9 and the movable pressing pipe 8 can be driven to move back and forth and rotate by operating the knob pipe 13, specifically, when the knob pipe 13 is pulled backwards, the clamping of each movable ball 4 on the surgical instrument can be released, the movable balls 4 can be locked to be maintained in a release state by rotating the knob pipe 13, after the knob pipe 13 is reset and reversed, the knob pipe 13 can automatically reset forwards along with the movable locking ring 9 under the action of the resetting force of the spring 7, the movable balls 4 can clamp the surgical instrument 500 inwards again, the clamping device can be conveniently switched between a clamping state and a release state by controlling the knob pipe 13, and the operation is more convenient.
Optionally, in this embodiment, as shown in fig. 4 and 5, a tail plug 18 is further fixedly mounted at the rear end of the connecting frame 1, the tail plug 18 is sleeved between the connecting frame 1 and the bottom bracket tube 5 and is in sliding fit with the bottom bracket tube 5, and the rear end of the spring 7 is fixed on the tail plug 18, so that the spring 7 can stably give a constant elastic tightening force to the movable locking ring and the movable pressure tube 8 forward.
Optionally, as shown in fig. 4 to 5, the sleeve assembly 100 further coaxially mounts a retainer ring 19, a pin 20 fixed from the radial direction is mounted on a pipe wall of the retainer ring 19, and the retainer ring 19 is fixed on the front side of the front end inner sleeve 15 through the pin 20, and can block the inner sleeve 15 and prevent the inner sleeve 15 from being pulled out.
Optionally, as shown in fig. 4 and 9, a positioning sleeve 21 is further coaxially installed at the foremost end of the shaft sleeve assembly 100, and a mounting guide groove 22 axially extending inward from the port is formed in the positioning sleeve 21, so that when the surgical instrument 500 is inserted into the shaft sleeve assembly 100, the guide rails on both sides of the surgical instrument can be simultaneously inserted into the mounting guide groove 22 in a matching manner, so that the mounting position and the mounting angle of the surgical instrument 500 can be accurately controlled, and the mounting accuracy of the surgical instrument can be improved.
In addition, based on the embodiment, the invention further discloses a surgical instrument clamping structure for an orthopedic surgery robot, which comprises a connecting frame 1 for connecting the surgical robot, and further comprises a first quick-release structure and a second quick-release structure which are respectively fixed on the connecting frame 1, wherein the first quick-release structure and the second quick-release structure are respectively the surgical instrument clamping structure for the orthopedic surgery robot of the embodiment, the first quick-release structure is used for clamping and connecting a mechanical arm of the orthopedic surgery robot, the second quick-release structure is used for clamping and connecting a surgical instrument, the clamping structure can realize stable connection between the connecting frame 1 and the mechanical arm of the surgical robot and the surgical instrument, and can realize efficient dismounting and mounting of the connecting frame 1 and the mechanical arm of the surgical robot and the surgical instrument, thereby being more beneficial to improving the precision of the surgery and ensuring the time efficiency of the surgery.
In addition, based on the present embodiment, the present invention further discloses a surgical instrument clamping structure for an orthopedic surgical robot, as shown in fig. 10 to 11, the surgical instrument clamping structure includes a surgical instrument 500, in the present embodiment, the surgical instrument 500 is a friction rod or a press-fit rod, and further includes the surgical instrument clamping device for the orthopedic surgical robot of the present embodiment, a section of annular slot 501 is formed on an outer wall of a shaft body of the surgical instrument 500, after each movable ball 4 is radially pressed by the annular curved groove 3, each movable ball 4 is inwardly drawn and slidably abutted in the annular slot 501, by presetting a width threshold of the annular slot 501, each movable ball 4 is made to incompletely clamp the annular slot 501 or only make sliding contact with the annular slot 501, so that the surgical instrument 500 obtains a certain movement space, so that the surgical instrument 500 can rotate in the clamping device or the surgical instrument 500 can axially move in the clamping device, and can reach higher assembly precision, it is more convenient to use.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a surgical instruments clamping device for orthopedic surgery robot, its characterized in that, including link (1) that is used for the arm of quick detach connection surgical robot, be provided with on link (1) and be used for the cooperation to cup joint shaft sleeve assembly (100) of surgical instruments, with the activity of shaft sleeve assembly (100) coaxial butt joint presss from both sides cover (200) and with elasticity latch fitting (300) that activity jacket (200) transmission is connected, drive through the elastic force of elasticity latch fitting (300) activity press from both sides the tight surgical instruments who cup joints in shaft sleeve assembly (100) of activity jacket (200), and release through operating elasticity latch fitting (300) the centre gripping of activity jacket (200) to surgical instruments.
2. The surgical instrument holding device for an orthopaedic surgical robot according to claim 1, wherein the sleeve assembly (100) comprises a long sleeve (14) and inner sleeves (15) coaxially butted to both ends of the long sleeve (14), respectively, the long sleeve (14) and the inner sleeves (15) are respectively used for slidably sleeving surgical instruments.
3. The surgical instrument clamping device for an orthopaedic surgical robot according to claim 1, further comprising a bead wire (16) coaxially butted to the bushing assembly (100), the bead wire (16) being used for elastically clamping a surgical instrument sleeved in the bushing assembly (100) inwardly.
4. A surgical instrument holding apparatus for an orthopaedic surgical robot according to claim 1, characterized in that the elastic locking piece (300) comprises an elastic pressure pipe (2) which is coaxially butted with the shaft sleeve assembly (100) and can axially move, the inner wall of the elastic pressure pipe (2) is provided with an annular curved surface groove (3) with the depth gradually changing along the axis direction, the movable jacket (200) comprises a plurality of movable balls (4) which are arranged in the circumferential direction and are sleeved in the annular curved groove (3), the elastic pressure pipe (2) drives the annular curved groove (3) to extrude each movable ball (4) along the radial direction through elastic acting force, so that each movable ball (4) clamps the surgical instrument towards the center, and the elastic pressure pipe (2) is axially operated to release the extrusion of each movable ball (4) by the annular curved surface groove (3).
5. The surgical instrument clamping device for the orthopaedic surgical robot according to claim 4, wherein the movable clamping sleeve (200) further comprises a central shaft tube (5) coaxially butted with the shaft sleeve assembly (100), a plurality of counter bores (6) are circumferentially distributed on the tube wall of the central shaft tube (5), and each movable ball (4) is respectively sleeved in each counter bore (6).
6. A surgical instrument holding apparatus for an orthopaedic surgical robot according to claim 5, wherein the elastic pressing tube (2) comprises a spring (7) and a movable pressing tube (8) sleeved on the bottom bracket tube (5), respectively, the toric groove (3) is formed in the movable pressing tube (8), the spring (7) pushes the movable pressing tube (8) tightly by an elastic force to force the toric groove (3) to press each movable ball (4) to be clamped toward the center in a radial direction, and the pressing of each movable ball (4) by the toric groove (3) is released by compressing the spring (7) reversely.
7. A surgical instrument clamping device for an orthopaedic surgical robot according to claim 6, wherein the resilient locking member (300) further comprises a movable lock catch (301), the movable lock catch (301) is drivingly connected to the movable pressure tube (8) and can move along with the movable pressure tube (8), and the movable pressure tube (8) is locked on the connection frame (1) by the movable lock catch (301).
8. The surgical instrument clamping device for the orthopedic surgical robot according to claim 7, characterized in that the movable lock catch (301) comprises a movable lock ring (9) fixedly connected to the movable pressure pipe (8) and a limit pin (10) fixed to the connecting frame (1), the movable lock ring (9) is rotatably sleeved on the central shaft pipe (5) and elastically and tightly contacted with the spring (7), a clamping groove (11) is formed in the outer wall of the movable lock ring (9), the movable lock ring (9) is axially operated to reversely compress the spring (7) and then guided by the movable lock ring (9) to be clamped into the clamping groove (11) through rotation of the limit pin (10).
9. The surgical instrument holding device for an orthopedic surgical robot according to claim 8, characterized in that the outer wall of the movable locking ring (9) is further formed with an axial groove (12) extending along the axial direction and perpendicularly intersecting the clamping groove (11), and the limit pin (10) is inserted into the axial groove (12) and can move along the axial groove (12).
10. A surgical instrument clamping device for an orthopaedic surgical robot according to claim 8, wherein the movable lock catch (301) further comprises a knob tube (13), the knob tube (13) extending from the outside into the connecting frame (1) and slidingly sleeved outside the bottom bracket tube (5) and fixedly connected to the movable lock ring (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110485461.2A CN113288428A (en) | 2021-04-30 | 2021-04-30 | Surgical instrument clamping device for orthopedic surgery robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110485461.2A CN113288428A (en) | 2021-04-30 | 2021-04-30 | Surgical instrument clamping device for orthopedic surgery robot |
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| CN113288428A true CN113288428A (en) | 2021-08-24 |
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| CN202110485461.2A Pending CN113288428A (en) | 2021-04-30 | 2021-04-30 | Surgical instrument clamping device for orthopedic surgery robot |
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| CN113598956A (en) * | 2021-09-30 | 2021-11-05 | 杭州键嘉机器人有限公司 | Orthopedic surgery robot tail end execution device |
| CN113768609A (en) * | 2021-11-10 | 2021-12-10 | 海杰亚（北京）医疗器械有限公司 | Cold and hot ablation device |
| CN113796964A (en) * | 2021-09-27 | 2021-12-17 | 天衍医疗器材有限公司 | Terminal device of orthopedic surgery robot |
| CN114305649A (en) * | 2021-11-19 | 2022-04-12 | 海杰亚（北京）医疗器械有限公司 | Cold and hot ablation needle system |
| CN114366310A (en) * | 2022-01-24 | 2022-04-19 | 北京长木谷医疗科技有限公司 | Surgical instrument adjusting device, surgical instrument assembly and surgical robot |
| CN114376730A (en) * | 2022-01-21 | 2022-04-22 | 北京长木谷医疗科技有限公司 | Surgical instrument stabilizing device and surgical robot system |
| CN115781738A (en) * | 2023-01-31 | 2023-03-14 | 上海龙慧医疗科技有限公司 | But orthopedic surgery robot surgical instruments clamping device of multi-angle rotating locking |
| CN116035707A (en) * | 2023-02-01 | 2023-05-02 | 极限人工智能有限公司 | Catheter constant force transmission mechanism, catheter control device and surgical robot |
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Application publication date: 20210824 |