CN113288431B

CN113288431B - Locking device, surgical instrument, sterile plate component, power box and robot system

Info

Publication number: CN113288431B
Application number: CN202110524290.XA
Authority: CN
Inventors: 何裕源; 何超; 赵金阳
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2021-05-13
Filing date: 2021-05-13
Publication date: 2022-08-02
Anticipated expiration: 2041-05-13
Also published as: CN113288431A; WO2022237586A1

Abstract

The invention provides a locking device, a surgical instrument, a sterile plate assembly, a power box and a surgical robot system, wherein the locking device comprises: a guide rod clamping part, a state adjusting device and a guide part; the guide rod clamping part is movably arranged along the first direction, and the guide part is used for limiting the guide rod clamping part to move along the radial direction of the first direction; the state adjusting device is movably arranged along a second direction which forms an angle with the first direction; the guide rod clamping part is provided with a first conversion part, the state adjusting device is provided with a second conversion part, and the first conversion part is used for being connected with the second conversion part in an abutting mode; the first conversion part and the second conversion part are configured to convert the movement of the state adjustment device in the second direction into the movement of the guide bar catch in the first direction; the guide rod clamping part is also provided with a locking part, and the guide rod clamping part is configured to move along a first direction to enable the locking part and a corresponding locked object to be locked or unlocked.

Description

Locking device, surgical instrument, sterile plate component, power box and robot system

Technical Field

The invention relates to the technical field of robot-assisted surgery, in particular to a locking device, a surgical instrument, an aseptic plate component, a power box and a robot system.

Background

In recent years, with the application and development of related technologies of robots, especially the development of computing technologies, the role of medical surgical robots in clinical practice is more and more emphasized. The minimally invasive surgery robot system can reduce the physical labor of a doctor in the surgery process in an interventional therapy mode, simultaneously achieve the aim of accurate surgery, and enable a patient to have small wound, less blood loss, less postoperative infection and quick postoperative recovery.

The minimally invasive surgical robot system enables a doctor to remotely control mechanical arms and surgical tool instruments on the slave operation robot at the master control console to complete operation of a surgery. The development of minimally invasive surgical robotic devices has not only enabled physicians to complete surgery with less invasive, but the same viewing angle and operational feel as traditional open surgery. More importantly, the medical instrument enables a doctor to carry out operation at a place far away from a patient, or to carry out operation beside the patient in a ward, or can remotely control a remote receiving device through an operation input device, so as to complete the operation of the operation.

In telesurgery, the surgeon uses some form of remote control, such as a servo, to manipulate the movement of the surgical instruments, rather than directly holding and moving the instruments. In telesurgical systems, a surgeon controls a surgical workstation by operating a master control device, which in turn controls the movement of servo-mechanical surgical instruments, to perform a surgical procedure on a patient.

However, if this type of operation is to be performed, a system/device must be provided to support and move the surgical instruments, which is typically accomplished by a robotic arm. Surgical instruments can be contacted with focuses of patients to cause pollution in the surgical process, multiple times of disinfection and sterilization are usually required to realize multiplexing, mechanical arms of a surgical robot are usually required to be repeatedly used, but the surgical instruments and the mechanical arms are required to be isolated by a sterile plate because the surgical instruments are large in size and contain a plurality of parts which are not beneficial to disinfection and sterilization, such as electronic devices, encoders or sensors, and the like, so that the surgical instruments can be subjected to acting forces in a plurality of directions according to different operation conditions in the surgical process in order to avoid further pollution of the mechanical arms by the contaminated surgical instruments in the surgical process, the surgical instruments and the mechanical arms are required to be isolated by the sterile plate, in addition, different surgical instruments are required to be repeatedly replaced in the surgical process to finish operations such as shearing, suturing or electrocoagulation, and the like, and the surgical instruments or the sterile plate can often shake to different degrees relative to the mechanical arms when the conventional surgical instruments or the sterile plate are subjected to the action of external force, and the accurate control of the surgical instruments is not beneficial, meanwhile, potential safety hazards can be caused, and on the other hand, the locking structure of the current surgical instrument or sterile plate has the risk of tripping.

Disclosure of Invention

The invention aims to provide a locking device, a surgical instrument, an aseptic plate assembly, a power box and a robot system, and aims to solve the problem that the conventional surgical instrument or aseptic plate is easy to shake or release.

To solve the above technical problem, according to a first aspect of the present invention, there is provided a lock device including: a guide rod clamping part, a state adjusting device and a guide part;

the guide rod clamping part is movably arranged along a first direction, and the guide part is used for limiting the guide rod clamping part to move along the radial direction of the first direction;

the state adjustment device is movably arranged along a second direction which forms an angle with the first direction;

the guide rod clamping part is provided with a first conversion part, the state adjusting device is provided with a second conversion part, and the first conversion part is used for being connected with the second conversion part in an abutting mode; the first conversion part and the second conversion part are configured to convert movement of the state adjustment device in the second direction into movement of the guide bar catch in the first direction;

the guide rod clamping part is also provided with a locking part, and the guide rod clamping part is configured to move along the first direction to enable the locking part and a corresponding locked object to be locked or unlocked.

Optionally, in the locking device, one of the first conversion portion and the second conversion portion includes a guide wheel, and the other includes a slope;

the guide wheel is rotatably disposed about a third direction angled with respect to the first direction; the second direction is arranged at an angle to the third direction;

the normal direction of the inclined plane forms an angle with the second direction, and the normal direction of the inclined plane is perpendicular to the third direction; the inclined surface is used for being connected with the periphery of the guide wheel in an abutting mode.

Optionally, in the locking device, the first direction, the second direction, and the third direction are perpendicular to each other.

Optionally, the locking device includes an elastic part configured to provide an elastic force to the guide bar-holding part to push the guide bar-holding part to lock with the corresponding object to be locked along the locking direction of the locking part when the guide bar-holding part is in the initial state without being subjected to an external force.

Optionally, in the locking device, when the guide rod clamping part is in the initial state without being subjected to an external force, the state adjusting device is pushed to be in the sprung state through abutting connection of the first converting part and the second converting part; when the state adjusting device is pressed down, the guide rod clamping part is pushed to overcome the elasticity of the elastic part to move in the direction far away from the locking direction, so that the locking part and the corresponding locked object are unlocked.

Optionally, in the locking device, the guide rod clamping part includes two guide rods, the two guide rods are located at two ends of the guide rod clamping part, and axes of the two guide rods are parallel to each other or coincide with each other; the guide part comprises two guide holes matched with the outer contours of the guide rods, and each guide rod is used for penetrating through different guide holes; the guide rod clamping part is provided with at least two locking parts, the at least two locking parts are arranged at intervals along the first direction, and the locking directions of the locking parts are the same.

Optionally, in the locking device, the locking device includes one elastic part, one end of the elastic part is connected with the guide rod holding part, and the other end of the elastic part is connected with the guide part.

Optionally, the locking device includes two guide rod clamping parts, each guide rod clamping part includes a guide rod, and the axes of the guide rods of the two guide rod clamping parts are parallel or overlapped; the state adjusting device is provided with two second conversion parts which are respectively connected with the first conversion parts of the two guide rod clamping parts in an abutting mode; each guide rod clamping part is provided with at least one locking part, and the locking directions of the locking parts of the two guide rod clamping parts are opposite.

Optionally, the locking device includes two elastic parts, one end of each of the two elastic parts is connected to the two guide rod clamping parts, and the other end of each of the two elastic parts is connected to the guide part.

Optionally, the locking device includes one elastic part, and two ends of the elastic part are respectively connected with the two guide rod clamping parts.

Optionally, the locking device further comprises an adjustment guide seat;

the adjusting guide seat is provided with an adjusting guide groove formed along the second direction, the state adjusting device is provided with an adjusting limiting rod extending along the second direction, and the adjusting limiting rod penetrates through the adjusting guide groove and is limited by the adjusting guide groove to move along the radial direction of the second direction.

Optionally, in the locking device, the state adjustment device has a pressing surface, the pressing surface is connected to one end of the adjustment limiting rod, which is far away from the pressing surface, has an adjustment limiting hook, and the adjustment limiting hook is used for abutting against the adjustment guide seat to limit the movement of the state adjustment device toward the direction of the pressing surface.

Optionally, in the locking device, the adjusting limiting rod has elasticity along the radial direction, and the adjusting limiting rod and the adjusting limiting hook are integrally formed

In order to solve the above technical problem, according to a second aspect of the present invention, there is also provided a surgical instrument, including: a first substrate and at least two locking devices as described above;

at least two locking devices are arranged on the first base plate at intervals, and the surgical instrument is used for realizing locking or unlocking through the at least two locking devices and the corresponding sterile plate component.

Optionally, in the surgical instrument, the first base plate has a first catch guide groove therethrough, the first catch guide groove extending in the first direction; the locking portion passes through the first catch guide groove and is restricted by the first catch guide groove from moving in a radial direction of the first direction of the locking device in the extending direction of the first base plate.

Optionally, in the surgical device, the first base plate has a first power transmission hole therethrough for passing a power transmission member therethrough.

Optionally, in the surgical instrument, the first base plate is parallel to an axis of a guide bar catch of the locking device.

In order to solve the above technical problem, according to a third aspect of the present invention, there is also provided an aseptic board assembly, comprising: a second substrate;

the second base plate is used for abutting connection with the first base plate of the surgical instrument;

the second base plate is provided with a first locking platform which is used for being locked with a locking part of a locking device of the surgical instrument so as to lock the surgical instrument and the sterile plate assembly.

Optionally, in the sterile plate assembly, the second base plate has a second chuck guide groove, the second chuck guide groove is configured to receive the locking portion of the surgical instrument, and the second chuck guide groove extends along the first direction of the locking device of the surgical instrument and is configured to limit the radial movement of the locking portion of the surgical instrument along the first direction of the locking device of the surgical instrument in the extending direction of the second base plate.

Optionally, in the sterile plate assembly, one of the first locking stage and the locking portion of the surgical instrument has a guide slope, and the first locking stage is configured to apply a force to the locking portion in a direction opposite to the locking direction through the guide slope.

Optionally, the aseptic plate assembly comprises a third base plate and at least two locking devices as described above; the third substrate is detachably connected with the second substrate; the locking devices of at least two aseptic plate assemblies are arranged on the third base plate at intervals, and the aseptic plate assemblies are used for realizing locking or unlocking through at least two locking devices of the aseptic plate assemblies and corresponding power boxes.

Optionally, in the aseptic plate assembly, the third base plate has a third through-hole guide slot extending in the first direction of the locking device of the aseptic plate assembly; the locking portion of the aseptic plate assembly passes through the third locking portion guide groove and is restricted by the third locking portion guide groove from moving in a radial direction of the first direction of the locking device in the extending direction of the third base plate.

Optionally, in the aseptic plate assembly, the second base plate is parallel to the third base plate, and the second base plate is parallel to an axis of the guide bar holding portion of the locking device of the aseptic plate assembly.

Optionally, in the aseptic plate assembly, the second base plate has a second power transmission hole therethrough, and the third base plate has a third power transmission hole therethrough, where the second power transmission hole corresponds to the third power transmission hole and is used to correspond to the first power transmission hole of the first base plate; the second power transmission hole and the third power transmission hole are used for allowing a power transmission piece to pass through.

In order to solve the technical problem, according to a fourth aspect of the present invention, there is also provided a power box for assembling and connecting with the aseptic board assembly as described above; the power cartridge includes: a fourth substrate; the fourth base plate is used for abutting connection with a third base plate of the sterile plate assembly;

the fourth base plate is provided with a second locking platform which is used for being locked with a locking part of a locking device of the sterile plate assembly so as to lock the sterile plate assembly and the power box.

Optionally, in the power cartridge, the fourth base plate has a fourth chuck guide groove, the fourth chuck guide groove is configured to receive the locking portion of the aseptic plate assembly, and the fourth chuck guide groove extends along the first direction of the locking device of the aseptic plate assembly and is configured to limit radial movement of the locking portion along the first direction of the locking device of the aseptic plate assembly in the extending direction of the fourth base plate.

Optionally, in the power box, the fourth base plate has a fourth power transmission hole therethrough, and the fourth power transmission hole is used to correspond to the third power transmission hole of the third base plate and through which a power transmission member passes.

Optionally, in the power box, the power box further includes a driving assembly and a power transmission member, the driving assembly is coupled with the power transmission member, and the power transmission member is configured to pass through the fourth power transmission hole.

In order to solve the technical problem, according to a fifth aspect of the present invention, there is also provided a surgical robot system, comprising a robot arm, a surgical instrument as described above, a sterile plate assembly as described above, and a power cartridge as described above; the surgical instrument, the sterile plate assembly and the power box are detachably connected and are used for being mounted or connected on the mechanical arm.

In summary, in the locking device, the surgical instrument, the sterile plate assembly, the power cartridge and the surgical robot system according to the present invention, the locking device includes: a guide rod clamping part, a state adjusting device and a guide part; the guide rod clamping part is movably arranged along a first direction, and the guide part is used for limiting the guide rod clamping part to move along the radial direction of the first direction; the state adjustment device is movably arranged along a second direction which forms an angle with the first direction; the guide rod clamping part is provided with a first conversion part, the state adjusting device is provided with a second conversion part, and the first conversion part is used for being connected with the second conversion part in an abutting mode; the first conversion part and the second conversion part are configured to convert movement of the state adjustment device in the second direction into movement of the guide bar catch in the first direction; the guide rod clamping part is also provided with a locking part, and the guide rod clamping part is configured to move along the first direction to enable the locking part and a corresponding locked object to be locked or unlocked.

With this configuration, by the movement of the operation state adjustment device in the second direction, the guide rod catching portion can be driven to move in the first direction based on the switching of the first switching portion and the second switching portion so that the locking portion is locked or unlocked with the corresponding object to be locked. Therefore, the surgical instrument and the sterile plate assembly and the power box can be conveniently locked and detached through the locking device, and the locking device is high in reliability and not prone to shaking.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

fig. 1 is a schematic view of a surgical scene of a surgical robotic system according to a first embodiment of the present invention;

FIG. 2 is a schematic view of a tool arm supporting and mounting a surgical instrument according to a first embodiment of the present invention;

FIG. 3 is a schematic assembly view of a surgical instrument, a sterile plate assembly and a power pack according to a first embodiment of the present invention;

FIG. 4 is an exploded view of a surgical instrument according to a first embodiment of the present invention;

FIG. 5 is a schematic view of a locking device according to a first embodiment of the present invention;

FIG. 6 is an exploded schematic view of the locking device shown in FIG. 5;

FIGS. 7a and 7b are side and top views of the locking device shown in FIG. 5;

FIG. 8 is a schematic view of a surgical instrument according to a first embodiment of the present invention prior to assembly with a sterile plate assembly;

FIG. 9 is a side cross-sectional view of the surgical instrument and sterile plate assembly shown in FIG. 8;

FIG. 10 is a side cross-sectional view of a surgical instrument in accordance with a first embodiment of the present invention assembled with a sterile plate assembly;

FIG. 11 is a schematic view of a guide bar retaining portion of the first embodiment of the present invention;

fig. 12 is a schematic view of a locking device according to another preferred example of the first embodiment of the present invention;

FIG. 13 is a schematic view of a guide bar retaining portion of another preferred example of the first embodiment of the present invention;

FIG. 14 is a schematic view of a locking device according to a second embodiment of the present invention;

FIG. 15 is an exploded view of the locking device shown in FIG. 14;

FIGS. 16a and 16b are side and top views of the locking device shown in FIG. 14;

FIG. 17 is a schematic view of a second embodiment of the present invention prior to assembly of a surgical instrument with a sterile plate assembly;

FIG. 18 is a side cross-sectional view of the surgical instrument and sterile plate assembly shown in FIG. 17;

FIG. 19 is a side cross-sectional view of a second surgical instrument of an embodiment of the present invention assembled with a sterile plate assembly;

FIG. 20 is a schematic view of a guide bar retaining part according to a second embodiment of the present invention;

FIG. 21 is a schematic view of a locking device according to a third embodiment of the present invention;

FIG. 22 is an exploded view of the locking device shown in FIG. 21;

FIGS. 23a and 23b are side and top views of the locking device shown in FIG. 21;

FIG. 24 is a side cross-sectional view of a surgical instrument in accordance with a third embodiment of the present invention shown assembled with a sterile plate assembly;

FIG. 25 is a side cross-sectional view of a surgical instrument in accordance with a third embodiment of the present invention assembled with a sterile plate assembly;

FIG. 26 is a schematic view of a guide bar retaining part according to a third embodiment of the present invention;

FIG. 27 is a schematic view of a sterility plate assembly of a fourth embodiment of the present invention;

FIG. 28 is an exploded schematic view of the sterile plate assembly shown in FIG. 27;

FIGS. 29a and 29b are top and side views of the sterility plate assembly shown in FIG. 27;

FIG. 30 is a schematic illustration of a sterile plate assembly according to a fourth embodiment of the present invention prior to assembly with a power pack;

FIG. 31 is a side cross-sectional view of the sterile plate assembly and power pack of FIG. 30;

fig. 32 is a side cross-sectional view of a sterile plate assembly and power pack assembled in accordance with a fourth embodiment of the invention.

In the drawings:

1-a patient-end robot; 11-upright post; 12-a support mechanism; 13-a tool arm; 104-image trolley; 105-a tool car; 106-physician console; 107-main manipulator;

14-a surgical instrument; 140-a first substrate; 1401-adjusting the guide seat; 1402-first catch guide groove; 1403-adjusting a guide groove; 1404-a first power transfer aperture; 141-a guide; 1411-a guide well; 142-state adjustment means; 1421-adjusting the stop lever; 1422 — second transition; 1423 pressing surface; 1424-adjusting the limit hook; 143-a guide bar holding part; 1431-guide bar; 1432-a locking part; 144-an elastic portion; 145-a first converting section; 146-instrument upper cover;

15-aseptic plate assembly; 151-a second substrate; 1511-first locking stage; 1512-a second catch guide slot; 1514-a second power transfer aperture; 152-a third substrate; 1522 third card holding part guide groove; 1524-third power transmission hole;

16-a power cartridge; 160-a fourth substrate; 1601 — a second locking station; 1602-fourth catch guide groove. 1604-a fourth power transmission aperture; 166-power cartridge housing.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this specification, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in its sense including "and/or," the terms "a" and "an" are generally employed in their sense including "at least one," the terms "at least two" are generally employed in their sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third" may explicitly or implicitly include one or at least two of such features, the term "proximal" generally being the end near the operator, the term "distal" generally being the end near the patient, i.e. near the lesion, the terms "end" and "proximal" and "distal" generally referring to the corresponding two parts, which include not only the end points, the terms "mounted", "connected" and "connected" being to be understood in a broad sense, e.g. as being fixedly connected, as well as detachably connected, or as an integral part; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in this specification, an element being disposed on another element generally only means that there is a connection, coupling, fit, or drive relationship between the two elements, and the connection, coupling, fit, or drive between the two elements may be direct or indirect through intermediate elements, and should not be understood as indicating or implying any spatial relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below, or to one side of another element, unless the content clearly dictates otherwise. The specific meanings of the above terms in the present specification can be understood by those of ordinary skill in the art as appropriate.

The following description refers to the accompanying drawings.

[ EXAMPLES one ]

Referring to fig. 1 to 11, in which, fig. 1 is a schematic view of a surgical scene of a surgical robot system according to a first embodiment of the present invention; FIG. 2 is a schematic view of a tool arm supporting and mounting a surgical instrument according to a first embodiment of the present invention; FIG. 3 is a schematic assembly view of a surgical instrument, a sterile plate assembly and a power pack according to a first embodiment of the present invention; FIG. 4 is an exploded view of a surgical instrument according to a first embodiment of the present invention; FIG. 5 is a schematic view of a locking device according to a first embodiment of the present invention; FIG. 6 is an exploded schematic view of the locking device shown in FIG. 5; FIGS. 7a and 7b are side and top views of the locking device shown in FIG. 5; FIG. 8 is a schematic view of a surgical instrument according to a first embodiment of the present invention prior to assembly with a sterile plate assembly; FIG. 9 is a side cross-sectional view of the surgical instrument and sterile plate assembly shown in FIG. 8; FIG. 10 is a side cross-sectional view of a surgical instrument in accordance with a first embodiment of the present invention assembled with a sterile plate assembly; fig. 11 is a schematic view of a guide bar retaining part according to the first embodiment of the present invention.

An embodiment of the present invention provides a surgical robot system, and fig. 1 illustrates the surgical robot system and a surgical application scenario thereof, in an exemplary embodiment, the surgical robot system is a master-slave teleoperation surgical robot, that is, the surgical robot system includes an execution end and a control end, where the control end includes a doctor console 106 and a master manipulator 107 movably disposed on the doctor console 106. With further reference to fig. 2, the execution end includes a patient-end robot 1, the patient-end robot 1 includes a column 11 and a robot arm, the robot arm includes a support mechanism 12 and a tool arm 13, and a surgical instrument 14 (including a manipulator, an endoscope, and the like) is mounted on or connected to the tool arm 13. The main operation principle of the surgical robot system is as follows: the doctor realizes the minimally invasive surgery treatment on the patient on the sickbed 101 through the remote operation of the doctor console 106 and the main manipulator 107. The main manipulator 107, the tool arm 13 and the surgical instrument 14 form a master-slave control relationship. Specifically, the tool arm 13 and the surgical instrument 14 move according to the movement of the main operating hand 107 during the surgical procedure, i.e., the corresponding movement is performed according to the operation of the main operating hand 107 by the hand of the surgeon. Further, the main operating hand 107 receives the information of the acting force of the human tissue and organ on the surgical instrument and feeds the information back to the hand of the doctor, so that the doctor can feel the surgical operation more intuitively. The distal end of the tool arm 13 is used for mounting or connecting a surgical instrument 14, so that the surgical instrument 14 can perform a surgical operation, such as rotating around a stationary point in a space; the support mechanism 12 may be rotatably connected to a plurality of tool arms 13 for adjusting the spatial position of the fixed point, and in some embodiments, may further include a plurality of support structures 12, wherein the plurality of support structures 12 are rotatably connected to the plurality of tool arms 13, respectively; the upright 11 is connected to the support means 12 for determining the spatial position of the support means 12 and the tool arm 13. Optionally, the surgical robot system further comprises an image trolley 104 and a tool trolley 105, wherein the image trolley 104 is used for providing the display surgical operation information for an assistant operator (such as a nurse) in real time. The tool cart 105 is used to place surgical instruments 14 or other tools for intraoperative access and placement of surgical instruments 14 or other tools.

The patient-side robot 1 is a specific implementation platform of the teleoperated surgical robotic system, and referring to fig. 2 and 3, a schematic diagram of a tool arm 13 of the patient-side robot 1 supporting and mounting a surgical instrument 14 is shown. As described in the background, since the surgical instrument 14 is continuously replaced during the operation, the surgical instrument 14 is connected to the tool arm 13 via the sterile plate assembly 15 in order to avoid contamination of the tool arm 13. Further, in the example shown in fig. 2 and 3, one side of the sterile plate assembly 15 is detachably coupled to the surgical instrument 14, and the other side of the sterile plate assembly 15 is detachably coupled to the power pack 16. The power cartridge 16 is used to power the surgical device 14 to drive the distal end of the surgical device 14 to perform a surgical procedure, such as a clamp, cut, scissors, etc. Of course, in other embodiments, the surgical instrument 14 may be a component such as an endoscope that does not require power input, and the power box 16 may not be provided, and the surgical instrument 14 may be connected to the tool arm 13 only through the sterile plate assembly 15. It should be understood that the exemplary embodiment shown in fig. 2 is only a partial example of the patient-side robot 1 and is not limited to the patient-side robot 1, and those skilled in the art can modify and configure the specific structure of the patient-side robot 1 according to the prior art, and the present invention is not limited thereto.

In order to achieve the above-mentioned fast assembling and disassembling of the surgical instrument 14, the sterile plate assembly 15 and the power box 16, the embodiment provides a locking device, and the surgical instrument 14 may include a plurality of locking devices to achieve the fast assembling and disassembling with the sterile plate assembly 15; further, the sterile plate assembly 15 may also include several of the locking devices described to allow for quick attachment and detachment to and from the power pack 16. The specific structure and principles of the locking device will now be described by way of example with a surgical instrument 14 including the locking device. Referring to fig. 4, the surgical instrument 14 includes a first base plate 140 and two locking devices, the two locking devices are disposed on the first base plate 140 at intervals, and the surgical instrument 14 is configured to be locked or unlocked by the two locking devices and the corresponding aseptic plate assembly 15. Further, the surgical device 14 includes a device cover 146, wherein the device cover 146 is configured to be assembled with the first base plate 140 to form an inner cavity for receiving other components of the surgical device 14. The present embodiment is not intended to be illustrative of other components within the surgical device 14, which may be configured by one skilled in the art.

Referring to fig. 5 and 6, the locking device includes: a guide bar holding part 143, a state adjusting device 142, and a guide part 141; the guide rod holder 143 is movably disposed along a first direction (indicated as x direction in fig. 5), and the guide part 141 is used for limiting the movement of the guide rod holder 143 along a radial direction of the first direction (which refers to a direction perpendicular to the x direction, and the following description about the radial direction along a certain direction can be understood as well); the state adjustment device 142 is movably arranged in a second direction (schematically indicated as y-direction in fig. 5) at an angle to the first direction; the guide bar clamping part 143 has a first conversion part 145, the state adjusting device 142 has a second conversion part 1422, and the first conversion part 145 is used for abutting connection with the second conversion part 1422; the first and second converting parts 145 and 1422 are configured to convert the movement of the state adjustment device 142 in the second direction into the movement of the guide bar catch 143 in the first direction; the guide bar holder 143 further has a locking part 1432, and the guide bar holder 143 is configured to move in the first direction to lock or unlock the locking part 1432 with a corresponding locked object. In the example of the surgical device 14, the state adjustment device 142 is, for example, a button, the locking portion 1432 is, for example, a locking hook, and the locked object corresponding to the locking portion 1432 is specifically the sterile board assembly 15. It should be noted that the first direction and the second direction form a certain angle, and the two directions are not necessarily perpendicular to each other. The angle between the first direction and the second direction can be reasonably selected by those skilled in the art according to the arrangement position of the state adjusting device 142. In the exemplary embodiment shown in fig. 5, the surgical device 14 includes two locking devices, which are arranged in parallel in the second direction. Preferably, the first base plate 140 is parallel to the axis of the guide bar holding portion 143 of the locking device, that is, the first base plate 140 is parallel to the first direction. In other embodiments, the surgical device 14 may further include a greater number of locking devices, and the arrangement of the locking devices is not limited to being parallel to each other, for example, the surgical device 14 may include three locking devices, the three locking devices are arranged in an Contraband shape, and the like, which is not limited by the present invention. The more than two locking devices can reduce the shaking of the surgical instrument 14 in the surgical process, improve the stability and the safety and improve the surgical precision.

Optionally, one of the first transition portion 145 and the second transition portion 1422 includes a guide wheel, and the other includes a slope; referring to fig. 6, in an alternative embodiment, the first transition portion 145 includes a guide wheel and the second transition portion 1422 includes a ramp. The guide wheel is rotatably disposed about a third direction (illustrated as the z-direction in FIG. 5) that is at an angle to the first direction; the second direction is arranged at an angle to the third direction; the normal direction of the inclined plane forms an angle with the second direction, and the normal direction of the inclined plane is perpendicular to the third direction; the inclined surface is used for being connected with the periphery of the guide wheel in an abutting mode. Since the normal direction of the inclined plane is perpendicular to the third direction, the inclined plane of the second converting part 1422 and the guide wheel of the first converting part 145 are in a tangent state, when the state adjusting device 142 is pressed in the second direction, the inclined plane generates a component force to the guide wheel in the first direction, and pushes the guide rod holding part 143 to slide in the first direction, i.e., the linear motion of the state adjusting device 142 in the second direction is converted into the sliding motion of the guide rod holding part 143 in the first direction. Of course, in other embodiments, the guide wheel is not limited to being rotatable about a third direction, and may be a fixed smooth cylinder, such as a cylinder or prism. Preferably, the first direction, the second direction and the third direction are perpendicular to each other.

Preferably, the locking device includes an elastic part 144, and the elastic part 144 is configured to provide an elastic force to the guide bar-holder 143 to push the guide bar-holder 143 to be locked with the corresponding object to be locked along the locking orientation of the locking part 1432 when the guide bar-holder 143 is in the initial state without being subjected to an external force. With continued reference to fig. 6, the locking portion 1432 has a hook end along a first direction, and when the locking portion 1432 moves towards the hook end, the hook end can be locked with an object to be locked (e.g., a first locking stage of the aseptic board assembly), so it can be understood that the orientation of the hook end is the locking orientation of the locking portion 1432. Here, the elastic force provided by the elastic portion 144 to the guide rod holding portion 143 may be a pushing force in some embodiments, and may also be a pulling force in other embodiments. It should be understood that the elastic force, including pushing or pulling force, applied to the guide rod catching portion 143 by the elastic portion 144 is in the same direction as the locking orientation of the locking portion 1432. Thus, when the guide bar holding part 143 is in the initial state without being subjected to an external force, the locking direction along the locking part 1432 is locked with the corresponding object to be locked.

Further, when the guide bar holding part 143 is in the initial state without being subjected to an external force, the state adjusting device 142 is pushed to be in the sprung state by the abutting connection of the first switching part 145 and the second switching part 1422; when the state adjusting device 142 is pressed down, the guide bar holding part 143 is pushed to move in a direction away from the locking direction against the elastic force of the elastic part 144, so that the locking part 1432 and the corresponding object to be locked are unlocked. The state adjustment device 142 can move between a pressed state and a sprung state in the second direction, and when the guide bar holding portion 143 is in the initial state, it is only subjected to the elastic force from the elastic portion 144, and at this time, the state adjustment device 142 can be in the sprung state by the first switching portion 145 and the second switching portion 1422. Specifically, as in the above embodiment, the state adjustment device 142 can be in the sprung state by the tangential abutment of the guide wheel and the inclined surface. When the state adjusting device 142 is pressed down, the state adjusting device 142 moves to the pressed state, and the guide wheel and the inclined surface are switched to drive the guide rod clamping part 143 to overcome the elastic force of the elastic part 144 and move in the direction away from the locking direction, so that the locking part 1432 is unlocked from the corresponding locked object, and unlocking is realized.

Referring to fig. 11, in an exemplary embodiment, the guide bar holder 143 includes two guide bars 1431, the two guide bars 1431 are located at two ends of the guide bar holder 143, and axes of the two guide bars 1431 are parallel or coincide with each other; the guide portion 141 includes two guide holes 1411 adapted to the outer contour of the guide rod 1431, each guide rod 1431 is configured to be inserted into a different guide hole 1411; the guide bar holding part 143 has at least two locking parts 1432, the at least two locking parts 1432 are arranged at intervals along the first direction, and locking directions of the locking parts 1432 are the same. As shown in fig. 6, the guide rod 1431 may be cylindrical, and the guide hole 1411 may be a cylindrical hole. After the guide rod 1431 is inserted into the guide hole 1411, the guide rod 1431 is restricted by the guide hole 1411 to move in the radial direction of the first direction, and can only move in the guide hole 1411 in the first direction or rotate around the axis of the guide rod 1431. Preferably, the first base plate 140 has a first chuck guide slot 1402 therethrough, and the first chuck guide slot 1402 extends in the first direction; the locking part 1432 passes through the first catch guide groove 1402, and is restricted by the first catch guide groove 1402 from moving in a radial direction of the first direction of the locking device in the extending direction of the first base plate 140. After the locking part 1432 passes through the first catch guide groove 1402, the locking part 1432 of the first catch guide groove 1402 can be restricted so that the guide bar catch 143 cannot rotate around the axis of the guide bar 1431. The arrangement of the guide hole 1411 and the first retaining portion guide groove 1402 can limit the movement of the guide rod retaining portion 143 to prevent the guide rod retaining portion 143 from coming off, and facilitate the assembly of the guide rod retaining portion 143, in practice, the assembly can be completed only by inserting the locking portion 1432 of the guide rod retaining portion 143 into the first retaining portion guide groove 1402 and then inserting the guide rod 1431 into the guide hole 1411. Of course, the shape of the guide rod 1431 and the guide hole 1411 may be changed by those skilled in the art according to the actual situation, for example, the guide rod 1431 and the guide hole 1411 are provided in a prism shape, which itself has the effect of preventing the circumferential rotation, and then the restriction of the first chuck guide groove 1402 on the locking part 1432 may be cancelled, and the shape of the first chuck guide groove 1402 is not limited.

Preferably, the locking device includes one elastic part 144, and one end of the elastic part 144 is connected to the guide bar holding part 143 and the other end is connected to the guide part 141. In this embodiment, since only one guide bar holding part 143 is provided and the locking part 1432 of the guide bar holding part 143 is locked in the same direction, it is only necessary to provide one direction of elastic force to the guide bar holding part 143. The locking orientation of the locking portion 1432 is the same as the direction of the elastic force supplied thereto by the elastic portion 144. To simplify the structure, only one elastic part 144 may be provided. Referring to fig. 6, in an alternative embodiment, the guide rod 1431 is located at both ends of the guide rod holding portion 143, the elastic portion 144 may be a spring, and the spring is sleeved outside the guide rod 1431, and when the guide rod 1431 penetrates the guide hole 1411 to be assembled, one end of the spring is connected to the guide portion 141, and the other end of the spring is connected to the guide rod holding portion 143. Referring to fig. 12 and 13, in another preferred example, the elastic portion 144 may be a spring, one end of the spring is fixedly connected to the guide rod holding portion 143, and the other end of the spring is used for abutting against the guide portion 141. The elastic sheet provides elasticity through elastic deformation of the elastic sheet. The shape of the elastic sheet can be V-shaped, N-shaped, W-shaped, etc., and the invention is not limited to the shape of the elastic sheet.

With continuing reference to fig. 5 and fig. 6, optionally, the locking device further includes an adjustment guide seat 1401, the adjustment guide seat 1401 has an adjustment guide groove 1403 formed along the second direction, the state adjustment device 142 has an adjustment limiting rod 1421 extending along the second direction, and the adjustment limiting rod 1421 passes through the adjustment guide groove 1403 and is limited by the adjustment guide groove 1403 to move along the radial direction of the second direction. In an exemplary embodiment, the adjusting guide 1401 is fixedly disposed on the first substrate 140, the adjusting guide channel 1403 is a rectangular channel penetrating along the second direction, and the state adjusting device 142 has four adjusting position-limiting rods 1421, the four adjusting position-limiting rods 1421 are distributed in an array, and the outer contour of the four adjusting position-limiting rods 1421 is matched with the shape of the adjusting guide channel 1403, so that after the state adjusting device 142 is assembled with the adjusting guide 1401, the four adjusting position-limiting rods 1421 are limited by the adjusting guide channel 1403, so that the state adjusting device 142 can only move along the second direction.

Further, the state adjusting device 142 has a pressing surface 1423, the pressing surface 1423 is connected to one end of the adjustment limiting rod 1421, the state adjusting device 142 has an adjustment limiting hook 1424 at one end of the adjustment limiting rod 1421 away from the pressing surface 142, and the adjustment limiting hook 1424 is used for abutting against the adjustment guide 1401 to limit the movement of the state adjusting device 142 toward the pressing surface 1423. The adjustment limiting hook 1424 is used to limit the state adjustment device 142 from falling off the adjustment guide 1401. In some embodiments, the adjustment limiting rod 1421 has elasticity in the radial direction, and the adjustment limiting rod 1421 and the adjustment limiting hook 1424 are integrally formed. The specific function of the adjustment limit hook 1424 will be described with reference to fig. 5 and 6. The state adjusting device 142 moves forward along the y-axis, so that the adjusting limiting rod 1421 is inserted into the adjusting guide seat 1401, and under the mutual abutting action of the adjusting guide seat 1401 and the adjusting limiting hook 1424, the adjusting limiting rod 1421 deforms radially inward, and after the adjusting limiting hook 1424 is separated from the adjusting guide groove 1403, the adjusting limiting rod 1421 is restored to the original state, and at this time, the state adjusting device 142 is in the initial state after the assembly is completed. Thereafter, pressure may be applied to the pressing surface 1423, and the driving state adjusting device 142 continues to move in the positive direction along the y-axis to push the guide bar holder 143. When the pressure applied to the pressing surface 1423 is removed, the state adjustment device 142 moves in the y-axis direction under the elastic force of the elastic portion 144 until the initial state is recovered, the adjustment limit hook 1424 abuts against the adjustment guide seat 1401 to limit the state adjustment device 142 from further moving in the y-axis direction, so as to prevent the state adjustment device 142 from coming out of the adjustment guide groove 1403.

Referring to fig. 7a and 7b, in a preferred example, each guide rod holder 143 includes two locking portions 1432, a span of the two locking portions 1432 along the first direction is S, a length of the first substrate 140 along the first direction is L1, and when S ≧ 0.2L1 is satisfied, the span between the two locking portions 1432 is large, which can reduce the shaking of the surgical instrument 14 during the surgery, improve stability and safety, and improve the surgery precision.

Optionally, the first substrate 140 has a first power transmission hole therethrough for passing a power transmission member therethrough.

Referring to fig. 8-10, the present embodiment also provides a sterile plate assembly 15 for quick-assembly connection with the surgical instrument 14 as described above. The aseptic plate assembly 15 includes a second base plate 151; the second base plate 151 is configured to be coupled against the first base plate 140 of the surgical device 14; the second base plate 151 has a first locking stage 1511, and the first locking stage 1511 is used for locking with a locking part 1432 of a locking device of the surgical instrument 14, so as to lock the surgical instrument 14 with the sterile plate assembly 15. Preferably, the second base plate 151 has a second catch guide groove 1512, the second catch guide groove 1512 is configured to receive the locking portion 1432 of the surgical instrument 14, and the second catch guide groove 1512 extends along the first direction of the locking device of the surgical instrument 14 and is configured to limit the movement of the locking portion 1432 of the surgical instrument 14 in the radial direction of the first direction of the locking device of the surgical instrument 14 in the extending direction of the second base plate 151. The second catch guide 1512 preferably extends through the second base plate 151 in the same direction as the corresponding first direction of the locking mechanism on the surgical instrument 14, it being understood that there can be a plurality of different first directions if the surgical instrument 14 has a plurality of locking mechanisms disposed in different directions. Preferably, the first locking stage 1511 is located at one end of the second catch guide groove 1512 in the extending direction of the second catch guide groove 1512.

In the following description, taking the example shown in fig. 8 as an example, in the example shown in fig. 8, the surgical device 14 has two locking devices, the first direction of the two locking devices is the x direction, so the second chuck guide groove 1512 extends along the x direction, and the radial direction along the first direction of the locking devices of the surgical device 14 in the extending direction of the second base plate 151 is the y direction. The groove width of the second catch guide groove 1512 in the y-direction may be matched to the y-direction width of the locking portion 1432, so that the locking portion 1432 is restricted in the y-direction freedom by the second catch guide groove 1512 after being inserted therein, and does not restrict the x-direction and z-direction freedom. Thus, the locking part 1432 can be easily inserted into the second catch guide 1512 in the z-direction and then moved in the x-direction, so that the locking part 1432 is locked with the first locking step 1511.

Preferably, one of the first locking step 1511 and the locking portion 1432 of the surgical instrument 14 has a guide slope, and the locking portion 1432 abuts against the first locking step 1511 through the guide slope by the elastic force of the elastic portion 144 during the insertion of the locking portion 1432 into the second catch guide groove 1512. And then the locking part 1432 is inserted continuously, the first locking table 1511 is used for applying a force to the locking part 1432 in a direction opposite to the elastic force of the elastic part 144 through the guide inclined surface, the locking part 1432 is pushed to move in a direction opposite to the locking direction (i.e. in a right direction in fig. 9 and 10) against the elastic force until the hook end of the locking part 1432 passes over the guide inclined surface in a z direction, the locking part 1432 moves in the locking direction (i.e. in a left direction in fig. 9 and 10) under the elastic force of the elastic part 144, and the first locking table 1511 is locked with the locking part 1432. So configured, in use, the surgical device 14 can be directly accessed toward the sterile plate assembly 15, and the locking portion 1432 can automatically lock with the first locking station 1511 under the push of the guide ramp.

Preferably, a side of the second catch guide groove 1512 facing the locking portion 1432 (above the second catch guide groove 1512 in fig. 8) has a flared guide portion to facilitate smooth insertion of the locking portion 1432. The flared guide portion may be, for example, a flared shape that is flared upward, and the edge thereof may be a flared slope or a circular arc surface.

Through the above configuration, the surgical instrument 14 can be conveniently and quickly locked with the sterile plate assembly 15, and the surgical instrument 14 can be conveniently and quickly separated from the sterile plate assembly 15 by pressing the state adjusting device 142.

[ example two ]

The locking device, the surgical instrument, the sterile plate assembly, the power box and the surgical robot system according to the second embodiment of the present invention are substantially the same as those of the first embodiment, and the same portions will not be described again, and only different points will be described below.

Referring to fig. 14 to 20, fig. 14 is a schematic view of a locking device according to a second embodiment of the present invention; FIG. 15 is an exploded view of the locking device shown in FIG. 14; FIGS. 16a and 16b are side and top views of the locking device shown in FIG. 14; FIG. 17 is a schematic view of a second embodiment of the present invention prior to assembly of a surgical instrument with a sterile plate assembly; FIG. 18 is a side cross-sectional view of the surgical instrument and sterile plate assembly shown in FIG. 17; FIG. 19 is a side cross-sectional view of a second surgical instrument of an embodiment of the present invention assembled with a sterile plate assembly; fig. 20 is a schematic view of a guide bar retaining part according to a second embodiment of the present invention.

In the second embodiment, the specific structure of the locking device is different from that of the first embodiment. Specifically, as shown in fig. 14 to 20, the locking device includes two guide bar holders 143, each guide bar holder 143 includes a guide bar 1431, and axes of the guide bars 1431 of the two guide bar holders 143 are parallel or coincide; the state adjusting device 142 has two second switching parts 1422, and the two second switching parts 1422 are respectively connected to the first switching parts 145 of the two guide bar clamping parts 143 in an abutting manner; each of the guide bar catches 143 has at least one of the locking parts 1432, and locking directions of the locking parts 1432 of the two guide bar catches 143 are opposite.

Alternatively, the first transfer parts 145 of the two guide bar catches 143 are disposed relatively close to each other. In the example shown in fig. 14 and 15, the first switching portion 145 includes a guide wheel, and the two second switching portions 1422 of the condition adjusting device 142 respectively include slopes with opposite slopes, and the slopes of the slopes are specifically adapted to the locking orientation of the locking portion 1432.

Preferably, the locking device includes two elastic parts 144, one ends of the two elastic parts 144 are respectively connected to the two guide rod holders 143, and the other ends of the two elastic parts 144 are respectively connected to the guide part 141. In the example shown in fig. 14 and 15, a spring is also selected as the elastic part 144, the spring is sleeved on the outer side of the guide rod 1431, and when the guide rod 1431 is inserted into the guide hole 1411 to be assembled, one end of the spring is connected to the guide part 141 and the other end is connected to the guide rod holding part 143. With this configuration, the two guide bar holders 143 are independent from each other, and the same state adjustment device 142 can simultaneously drive the two guide bar holders 143 to move.

Referring to fig. 20, in other embodiments, the elastic portion 144 may be an elastic piece, and the specific arrangement of the elastic piece may refer to embodiment one, which is not described herein again.

Preferably, in the second embodiment, the two elastic parts 144 are respectively located at the ends of the two guide bar holders 143 that are far away from each other, and are used for applying elastic force to the two guide bar holders 143 that are close to each other. The locking direction of the locking part 1432 of the two guide rod clamping parts 143 faces the center of the locking device, and the two slopes of the state adjustment device 142 face outward, so that when the state adjustment device 142 is pressed down, the two guide rod clamping parts 143 are far away from each other, thereby realizing unlocking.

Preferably, the locking part 1432 of the two guide bar catches 143 has a span S in the first direction, and the length of the first base plate 140 in the first direction is L1, satisfying S ≧ 0.2L 1.

[ EXAMPLE III ]

The locking device, the surgical instrument, the sterile plate assembly, the power box and the surgical robot system according to the third embodiment of the present invention are basically the same as those of the first embodiment, and the description of the same parts will be omitted, and only different points will be described below.

Referring to fig. 21 to 26, fig. 21 is a schematic view of a locking device according to a third embodiment of the present invention; FIG. 22 is an exploded view of the locking device shown in FIG. 21; FIGS. 23a and 23b are side and top views of the locking device shown in FIG. 21; FIG. 24 is a side cross-sectional view of a surgical instrument in accordance with a third embodiment of the present invention shown assembled with a sterile plate assembly; FIG. 25 is a side cross-sectional view of a surgical instrument in accordance with a third embodiment of the present invention assembled with a sterile plate assembly; fig. 26 is a schematic view of a guide bar retaining part of the third embodiment of the present invention.

In the third embodiment, the specific structure of the locking device is different from the first embodiment. Specifically, the locking device of the third embodiment is substantially the same as the locking device of the second embodiment, and includes two guide bar holders 143. Unlike the second embodiment, the locking device includes one elastic part 144, and both ends of the elastic part 144 are respectively connected to the two guide rod holders 143.

Alternatively, the first transfer parts 145 of the two guide bar catches 143 are disposed relatively close to each other. In the example shown in fig. 21 and 22, the first switching portion 145 includes a guide wheel, and the two second switching portions 1422 of the condition adjusting device 142 respectively include slopes with opposite slopes, and the slopes of the slopes are specifically adapted to the locking orientation of the locking portion 1432.

Preferably, in the third embodiment, the elastic part 144 is located at one end of the two guide bar holders 143 close to each other, and is used for applying an elastic force to the two guide bar holders 143 away from each other. The locking parts 1432 of the two guide rod holders 143 face the two ends of the locking device, and the two slopes of the state adjustment device 142 are inclined inward, so that when the state adjustment device 142 is pressed down, the two guide rod holders 143 approach each other, thereby unlocking.

In some embodiments, the elastic portion 144 may be a spring, as shown in fig. 21 to 25; in other embodiments, the elastic portion 144 can be a spring, as shown in fig. 26.

[ EXAMPLE IV ]

The locking device, the surgical instrument, the sterile plate assembly, the power box and the surgical robot system according to the fourth embodiment of the present invention are substantially the same as those of the first embodiment, and the description of the same parts will be omitted, and only different points will be described below.

Referring to fig. 27 to 32, fig. 27 is a schematic view of a sterile plate assembly according to a fourth embodiment of the present invention; FIG. 28 is an exploded schematic view of the sterile plate assembly shown in FIG. 27; FIGS. 29a and 29b are top and side views of the sterility plate assembly shown in FIG. 27; FIG. 30 is a schematic illustration of a sterile plate assembly according to a fourth embodiment of the present invention prior to assembly with a power pack; FIG. 31 is a side cross-sectional view of the sterile plate assembly and power pack of FIG. 30;

In the fourth embodiment, the specific structures of the aseptic board assembly 15 and the power cartridge 16 are different from those of the first embodiment.

Referring to fig. 27 and 28, in the fourth embodiment, the aseptic board assembly 15 can be connected to the power box 16 in a quick-assembly manner. The aseptic plate assembly 15 comprises a third base plate 152 and at least two locking devices as described above; the third substrate 152 is detachably connected to the second substrate 151; at least two locking devices of the sterile plate assembly 15 are arranged on the third base plate 152 at intervals, and the sterile plate assembly 15 is used for locking or unlocking with the corresponding power box 16 through at least two locking devices of the sterile plate assembly 15. The third base plate 152 is detachably coupled to the second base plate 151, and can facilitate the locking device to be fitted therein.

Preferably, the third base plate 152 has a third clamping part guide groove 1522 penetrating therethrough, and the third clamping part guide groove 1522 extends along the first direction of the locking device of the aseptic plate assembly 15; the locking part 1432 of the aseptic board assembly 15 passes through the third locking part guide groove 1522 and is restricted by the third locking part guide groove 1522 from moving in the radial direction of the first direction of the locking device in the extending direction of the third base plate 152.

The third card holder guide groove 1522 is similar in arrangement principle and structure to the first card holder guide groove 1402 in the first embodiment, and please refer to the description of the first embodiment about the first card holder guide groove 1402, which will not be further described here.

Optionally, the second substrate 151 has a through second power transmission hole 1514 (as shown in fig. 8), the third substrate 152 has a through third power transmission hole 1524, and the second power transmission hole 1514 corresponds to the third power transmission hole 1524 and is configured to correspond to the first power transmission hole 1404 of the first substrate 140, for example, the three are coaxially arranged through; the second power transmission hole 1514 and the third power transmission hole 1524 are used for power transmission members to pass through.

It should be noted that the second base plate 151 of the sterile plate assembly 15 is used for locking with the locking device of the surgical instrument 14, and the locking device of the sterile plate assembly 15 itself is used for locking with the power box 16, and the present embodiment is not particularly limited to the arrangement direction of the locking device of the sterile plate assembly 15 and the locking device of the surgical instrument 14, and the two may be parallel or non-parallel. Preferably, the second base plate 151 is parallel to the third base plate 152, and the second base plate 151 is parallel to the axis of the guide bar holding portion 143 of the locking device of the sterile plate assembly 15.

Further, the locking mechanism of the sterile plate assembly 15 may be the same as or different from the locking mechanism of the surgical instrument 14. Both may comprise the locking device of any of the first to third embodiments described above. Further, as shown in fig. 27 and 28, in order to reduce the volume of the aseptic board assembly 15, the state adjustment device 142 in the locking device of the aseptic board assembly 15 may be disposed at the middle portion of the third base plate 152 and penetrate through the second base plate 151 in the direction of the second base plate 151. Correspondingly, the first base plate 140 of the surgical instrument 14 is also provided with an avoiding hole for the state adjusting device 142 in the locking device of the sterile plate assembly 15 to pass through.

Preferably, in the locking device of the aseptic board assembly 15, the span of the two locking parts 1432 in the first direction is S, and the length of the third base plate 152 in the first direction is L2, so that S ≧ 0.2L2 is satisfied.

The fourth embodiment also provides a power box 16, which is used for assembling and connecting with the sterile plate assembly 15; the power cartridge 16 includes a fourth base plate 160; the fourth base plate 160 is for abutting connection with the third base plate 152 of the aseptic plate assembly 15; the fourth base plate 160 has a second locking stage 1601, and the second locking stage 1601 is used for locking with a locking part 1432 of a locking device of the sterile plate assembly 15, so as to lock the sterile plate assembly 15 with the power box 16.

Further, the fourth base plate 160 has a fourth chuck guide slot 1602, the fourth chuck guide slot 1602 is used for accommodating the locking portion 1432 of the sterile plate assembly 15, the fourth chuck guide slot 1602 extends along the first direction of the locking device of the sterile plate assembly 15 and is used for limiting the movement of the locking portion 1432 along the radial direction of the first direction of the locking device of the sterile plate assembly 15 in the extending direction of the fourth base plate 160.

The locking connection of the power cartridge 16 and the sterile plate assembly 15 is the same or similar to the locking connection of the sterile plate assembly 15 and the surgical instrument 14. The principle and structure of the fourth base plate 160 and the second locking stage 1601 and the fourth chuck guide 1602 provided thereon are similar to those of the second base plate 151 and the first locking stage 1511 and the second chuck guide 1512 provided thereon in the first embodiment, please refer to the description of the second base plate 151 and the first locking stage 1511 and the second chuck guide 1512 provided thereon in the first embodiment, and the description thereof will not be further expanded here.

Optionally, the fourth substrate 160 has a fourth power transmission hole 1604 therethrough, and the fourth power transmission hole 1604 is used to correspond to the third power transmission hole 1524 of the third substrate 152, and is used for passing a power transmission member therethrough.

Further, the power cartridge 16 further includes a driving assembly coupled to the power transmission member and a power transmission member (not shown) for passing through the fourth power transmission hole 1604. Preferably, after the power box 16, the sterile plate assembly 15 and the surgical instrument 14 are assembled and connected in sequence, the fourth power transmission hole 1604, the third power transmission hole 1524, the second power transmission hole 1514 and the first power transmission hole 1404 are coaxially communicated. The driving component includes a motor and other drivers commonly used in the art, and the power transmission member may be a driving shaft of the motor or other transmission components. Optionally, the power cartridge 16 further includes a power cartridge housing 166, and the power cartridge housing 166 is used for being assembled and connected with the fourth substrate 160 to form an inner cavity, so as to accommodate and protect components such as the driving assembly and the power transmission member.

In summary, in the locking device, the surgical instrument, the sterile plate assembly, the power cartridge and the surgical robot system according to the present invention, the locking device includes: a guide rod clamping part, a state adjusting device and a guide part; the guide rod clamping part is movably arranged along a first direction, and the guide part is used for limiting the guide rod clamping part to move along the radial direction of the first direction; the state adjustment device is movably arranged along a second direction which forms an angle with the first direction; the guide rod clamping part is provided with a first conversion part, the state adjusting device is provided with a second conversion part, and the first conversion part is used for being connected with the second conversion part in an abutting mode; the first conversion part and the second conversion part are configured to convert movement of the state adjustment device in the second direction into movement of the guide bar catch in the first direction; the guide rod clamping part is also provided with a locking part, and the guide rod clamping part is configured to move along the first direction to enable the locking part and a corresponding locked object to be locked or unlocked. With this configuration, by the movement of the operation state adjustment device in the second direction, the guide rod catching portion can be driven to move in the first direction based on the switching of the first switching portion and the second switching portion so that the locking portion is locked or unlocked with the corresponding object to be locked. Therefore, the surgical instrument and the sterile plate assembly and the power box can be conveniently locked and detached through the locking device, and the locking device is high in reliability and not prone to shaking.

It should be noted that, the above embodiments are not limited to be used alone, and can be combined with each other, and the present invention is not limited to this. The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.

Claims

1. A locking device for placement on a surgical instrument to lock the surgical instrument and a sterile plate assembly; or, the power box is used for being arranged on the sterile plate component to lock the sterile plate component and the power box; the locking device includes: a guide rod clamping part, a state adjusting device and a guide part;

2. The locking device of claim 1, wherein one of the first transition portion and the second transition portion comprises a guide wheel and the other comprises a ramp;

the guide wheel is rotatably disposed about a third direction that is angled with respect to the first direction; the second direction is arranged at an angle to the third direction;

the normal direction of the inclined plane forms an angle with the second direction, and the normal direction of the inclined plane is perpendicular to the third direction; the inclined plane is used for being connected with the periphery of the guide wheel in an abutting mode.

3. The locking device of claim 2, wherein the first direction, the second direction, and the third direction are perpendicular to each other.

4. The locking device according to claim 1, characterized in that the locking device includes an elastic part configured to provide an elastic force to the guide bar-holding part to urge the guide bar-holding part to lock with a corresponding object to be locked along the locking orientation of the locking part when the guide bar-holding part is in an initial state without being subjected to an external force.

5. The locking device according to claim 4, wherein the guide bar catch urges the state adjustment device to a sprung state by abutting connection of the first switching portion and the second switching portion when the guide bar catch is in the initial state without being subjected to an external force; when the state adjusting device is pressed down, the guide rod clamping part is pushed to overcome the elasticity of the elastic part to move in the direction far away from the locking direction, so that the locking part and the corresponding locked object are unlocked.

6. The locking device of claim 4, wherein the guide rod holder comprises two guide rods, two of the guide rods are located at two ends of the guide rod holder, and axes of the two guide rods are parallel or coincident with each other; the guide part comprises two guide holes matched with the outer contours of the guide rods, and each guide rod is used for penetrating through different guide holes; the guide rod clamping part is provided with at least two locking parts which are arranged at intervals along the first direction, and the locking directions of the locking parts are the same.

7. The locking device of claim 6, comprising one of the elastic parts, one end of which is connected to the guide bar holding part and the other end of which is connected to the guide part.

8. The locking device of claim 4, wherein the locking device comprises two guide rod catches, each guide rod catch comprises a guide rod, and axes of the guide rods of the two guide rod catches are parallel or coincident; the state adjusting device is provided with two second conversion parts which are respectively connected with the first conversion parts of the two guide rod clamping parts in an abutting mode; each guide rod clamping part is provided with at least one locking part, and the locking directions of the locking parts of the two guide rod clamping parts are opposite.

9. The locking device according to claim 8, wherein the locking device comprises two elastic parts, one ends of the two elastic parts are respectively connected with the two guide bar catching parts, and the other ends of the two elastic parts are respectively connected with the guide parts.

10. The locking device of claim 8, comprising one of the elastic parts, both ends of which are connected to the two guide bar catches, respectively.

11. The locking device of claim 1, further comprising an adjustment guide;

the adjusting guide seat is provided with an adjusting guide groove which is arranged along the second direction, the state adjusting device is provided with an adjusting limiting rod which extends along the second direction, and the adjusting limiting rod penetrates through the adjusting guide groove and is limited by the adjusting guide groove to move along the radial direction of the second direction.

12. The locking device of claim 11, wherein the state adjustment device has a pressing surface connected to an end of the adjustment limiting rod, and an end of the adjustment limiting rod away from the pressing surface has an adjustment limiting hook for abutting against the adjustment guide seat to limit the movement of the state adjustment device toward the pressing surface.

13. The locking device of claim 12, wherein the adjustment limiting rod has elasticity in a radial direction, and the adjustment limiting rod is integrally formed with the adjustment limiting hook.

14. A surgical instrument, comprising: a first substrate and at least two locking devices according to any one of claims 1 to 13;

15. A surgical instrument as recited in claim 14, wherein the first base plate has a first catch guide slot therethrough, the first catch guide slot extending in the first direction; the locking portion passes through the first catch guide groove and is restricted by the first catch guide groove from moving in a radial direction of the first direction of the locking device in the extending direction of the first base plate.

16. A surgical instrument as recited in claim 14, wherein the first base plate has a first power transmission aperture therethrough for passage of a power transmission member therethrough.

17. A surgical instrument as recited in claim 14, wherein the first base plate is parallel to an axis of the guide bar catch of the locking device.

18. A sterile sheet assembly, comprising: a second substrate;

the second base plate for abutting connection with the first base plate of the surgical device according to any one of claims 14 to 17;

19. The sterility plate assembly of claim 18, wherein the second base plate has a second catch guide slot for receiving a locking portion of the surgical instrument, the second catch guide slot extending in the first direction of the locking device of the surgical instrument for limiting movement of the locking portion of the surgical instrument in a direction of extension of the second base plate in a direction radial to the first direction of the locking device of the surgical instrument.

20. The sterility plate assembly of claim 18, wherein one of the first locking table and the locking portion of the surgical instrument has a guide ramp for applying a force to the locking portion through the guide ramp in a direction opposite to the locking direction.

21. The aseptic plate assembly of claim 18, wherein the aseptic plate assembly comprises a third base plate and at least two locking devices according to any one of claims 1-13; the third substrate is detachably connected with the second substrate; the locking devices of at least two aseptic plate assemblies are arranged on the third base plate at intervals, and the aseptic plate assemblies are used for realizing locking or unlocking through at least two locking devices of the aseptic plate assemblies and corresponding power boxes.

22. The aseptic plate assembly of claim 21, wherein the third base plate has a third card guide slot therethrough, the third card guide slot extending in the first direction of the locking device of the aseptic plate assembly; the locking portion of the aseptic plate assembly passes through the third locking portion guide groove and is restricted by the third locking portion guide groove from moving in a radial direction of the first direction of the locking device in the extending direction of the third base plate.

23. The aseptic plate assembly of claim 21, wherein the second base plate is parallel to the third base plate, and the second base plate is parallel to an axis of a guide bar catch of a locking device of the aseptic plate assembly.

24. The sterilized plate assembly of claim 21, wherein the second base plate has a second power transmission hole therethrough, and the third base plate has a third power transmission hole therethrough, the second power transmission hole corresponding to the third power transmission hole and being adapted to correspond to the first power transmission hole of the first base plate; the second power transmission hole and the third power transmission hole are used for allowing a power transmission piece to pass through.

25. A power pack for assembly connection with an aseptic plate assembly according to any of claims 21 to 24; the power cartridge includes: a fourth substrate; the fourth base plate is used for abutting connection with a third base plate of the sterile plate assembly;

26. The power pack of claim 25, wherein the fourth base plate has a fourth catch guide groove for receiving a lock portion of the aseptic plate assembly, the fourth catch guide groove extending in the first direction of the lock of the aseptic plate assembly for limiting movement of the lock portion in a radial direction of the first direction of the lock of the aseptic plate assembly in the direction of extension of the fourth base plate.

27. The power cartridge according to claim 25, wherein the fourth base plate has a fourth power transmission hole therethrough for corresponding to the third power transmission hole of the third base plate for passing a power transmission member therethrough.

28. The power cartridge of claim 27, further comprising a drive assembly and a power transmission, the drive assembly coupled with the power transmission, the power transmission adapted to pass through the fourth power transmission aperture.

29. A surgical robotic system comprising a robotic arm, a surgical instrument according to any of claims 14 to 17, a sterile plate assembly according to any of claims 21 to 24, and a power pack according to any of claims 25 to 28; the surgical instrument, the sterile plate assembly and the power box are detachably connected and are used for being mounted or connected on the mechanical arm.