CN113679475A - Docking mechanism and docking method of surgical robot instrument - Google Patents
Docking mechanism and docking method of surgical robot instrument Download PDFInfo
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- CN113679475A CN113679475A CN202110980013.XA CN202110980013A CN113679475A CN 113679475 A CN113679475 A CN 113679475A CN 202110980013 A CN202110980013 A CN 202110980013A CN 113679475 A CN113679475 A CN 113679475A
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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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
The invention provides a docking mechanism and a docking method of surgical robot instruments, wherein the docking mechanism comprises an adapter plate, a sliding table, a transition wheel, a motor and a motor base, wherein the motor is arranged on the motor base; one end of the transition wheel is connected with one end of the motor base, the motor is connected with the other end of the motor base, a first connecting portion is arranged on the transition wheel, a second connecting portion is arranged on the motor base, and the motor is used for driving the motor base to rotate so that the first connecting portion is matched with the second connecting portion in an inserting mode. According to the invention, the motor is driven to rotate to find the position for butting with the transition wheel, so that automatic butting between the motor seat and the transition wheel is realized, the complexity in manual butting is avoided, and the butting efficiency of the transition wheel and the sliding table is effectively improved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a docking mechanism and a docking method of a surgical robot instrument.
Background
At present, the laparoscopic robot instrument mainly comprises a sliding table, an instrument and an adapter plate. Before the laparoscopic surgery is performed by medical staff, the adapter plate needs to be hooked to the sliding table firstly, and after the adapter plate and the sliding table are successfully hooked, instruments are installed on the adapter plate. And a transition wheel and a motor base are usually adopted between the adapter plate and the sliding table to form hanging connection. In the prior art, the transition wheel is usually butted with the motor base in a manner of manually rotating the transition wheel, so that hooking is completed, and the operation process is complicated.
Disclosure of Invention
The invention solves the problems that: how to improve the convenience when articulating between fishplate bar and the slip table in the laparoscopic robot apparatus.
In order to solve the problems, the invention provides a docking mechanism of a surgical robot instrument, which comprises an adapter plate, a sliding table, a transition wheel, a motor and a motor base, wherein the motor is arranged on the motor base; one end of the transition wheel is connected with one end of the motor base, the motor is connected with the other end of the motor base, a first connecting portion is arranged on the transition wheel, a second connecting portion is arranged on the motor base, and the motor is used for driving the motor base to rotate so that the first connecting portion is matched with the second connecting portion in an inserting mode.
Optionally, one of the first connecting portion and the second connecting portion is a protruding structure, and the other is a groove structure.
Optionally, the groove structure includes a first groove and a second groove, the protrusion structure includes a first column and a second column, the first groove and the second groove are respectively inserted into the first column and the second column, and the first groove and the second groove are respectively one of an opening structure and a kidney-shaped groove structure.
Optionally, be equipped with the motor interface on the slip table, the motor cabinet sets up in the motor interface, be equipped with first limit structure in the motor interface, the motor cabinet keep away from in the one end of ferryboat is equipped with second limit structure, just first limit structure with second limit structure is suitable for to trigger when contacting the motor switching-over is rotatory.
Optionally, the first limit structure and/or the second limit structure is a limit contact.
Optionally, a transition wheel interface is arranged on the adapter plate, and the transition wheel is arranged in the transition wheel interface and is suitable for moving along the axis direction of the transition wheel and rotating around the axis direction of the transition wheel in the transition wheel interface.
Optionally, a first protrusion is arranged at one end of the transition wheel, which is far away from the motor base, a second protrusion is arranged in the transition wheel interface, which corresponds to the first protrusion, and the first protrusion and the second protrusion are arranged oppositely and have a gap; the first bulge is provided with a first arc surface, the second bulge is provided with a second arc surface, and the first bulge and the second bulge are staggered when the first arc surface collides with the second arc surface.
Optionally, the transition wheel is kept away from in the one end of motor cabinet is equipped with first anticreep boss, be equipped with second anticreep boss in the transition wheel interface, first protruding setting is in on the first anticreep boss, the protruding setting of second is in on the second anticreep boss, first anticreep boss is located in the transition wheel interface, just the external diameter of first anticreep boss is greater than the internal diameter of second anticreep boss.
Optionally, the first protrusion is provided in a plurality, and the plurality of first protrusions are uniformly distributed around the axis of the transition wheel.
The invention also provides a docking method of the surgical robot instrument, which is based on the docking mechanism of the surgical robot instrument and comprises the following steps:
controlling a motor to drive a motor base to rotate according to a preset motion mode;
when a first limit structure on the sliding table collides with a second limit structure on the motor base for the first time, the motor drives the motor base to rotate reversely, and after the first limit structure collides with the second limit structure for the second time, the motor drives the motor base to move to a zero position and stop;
in the full-range rotation process of the motor base, after the second connecting part on the motor base searches for the first connecting part on the transition wheel and forms insertion connection with the first connecting part, the motor base drives the transition wheel to rotate to the zero position together.
Compared with the prior art, the motor base is driven to rotate by the motor to find the position where the motor base is butted with the transition wheel, and when the motor base rotates to the position where the second connecting part is in inserted fit with the first connecting part, the motor base and the transition wheel are butted. Therefore, automatic butt joint between the motor base and the transition wheel is realized, the complexity in manual butt joint is avoided, and the butt joint efficiency of the transition wheel and the sliding table is effectively improved.
Drawings
FIG. 1 is a schematic structural view of a transition wheel and a motor base not connected in a hanging manner according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a motor base mounted on a sliding table according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a transition wheel mounted on an adapter plate according to an embodiment of the present invention;
FIG. 4 is an enlarged view of a portion A of FIG. 3;
fig. 5 is a schematic structural diagram of a motor base in an embodiment of the invention.
Description of reference numerals:
1. an adapter plate; 11. a transition wheel interface; 12. a second protrusion; 13. a second anti-drop boss; 2. a sliding table; 21. a motor base interface; 22. a first limit structure; 3. a transition wheel; 31. a first connection portion; 32. a first protrusion; 33. a first anti-drop boss; 4. a motor base; 41. a second connecting portion; 411 a first groove; 412. a second groove; 42. and a second limit structure.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
Referring to fig. 1 to 3, an embodiment of the present invention provides a docking mechanism for a surgical robot instrument, including an adapter plate 1, a sliding table 2, a transition wheel 3, a motor and a motor base 4, wherein the motor is mounted on the motor base 4, the motor base 4 is disposed on the sliding table 2, and the transition wheel 3 is disposed on the adapter plate 1; one end of the transition wheel 3 is connected with one end of the motor base 4, the motor is connected with the other end of the motor base 4, the transition wheel 3 is provided with a first connecting part 31, the motor base 4 is provided with a second connecting part 41, and the motor is used for driving the motor base 4 to rotate so that the first connecting part 31 is in plug-in fit with the second connecting part 41.
In this embodiment, before the adaptor plate 1 is butted with the sliding table 2, the first connection portion 31 on the transition wheel 3 and the second connection portion 41 on the motor base 4 are usually not located at the same position, the motor base 4 needs to be driven by the motor to rotate to find the position where the transition wheel 3 is butted, and when the motor base 4 rotates to the position where the second connection portion 41 is in inserted fit with the first connection portion 31, the motor base 4 and the transition wheel 3 are butted. Therefore, automatic butt joint between the motor base 4 and the transition wheel 3 is realized, the trouble in manual butt joint is avoided, and the butt joint efficiency of the transition wheel 3 and the sliding table 2 is effectively improved.
Further, the motor drives the motor base 4 to rotate forward (i.e. clockwise), rotate a certain angle, then rotate in reverse direction (i.e. anticlockwise) for one turn, and finally rotate forward to a zero position to stop. In this process, the motor base 4 completes a full range of rotational movement, so that the second connection portion 41 on the motor base 4 automatically finds the first connection portion 31 on the transition wheel 3 for plugging. Moreover, after the motor base 4 rotates to the second connecting portion 41 to be matched with the first connecting portion 31 in an inserting manner, the motor base 4 is butted with the transition wheel 3, and at the moment, the motor drives the motor base 4 to continue rotating. Because the motor base 4 and the transition wheel 3 are in butt joint, the motor base 4 drives the transition wheel 3 to rotate together until the motor base 4 rotates to a zero position, wherein the zero position of the motor base 4 refers to a position where the motor base 4 is installed in a motor interface 21 (described later) according to design requirements, and is also an initial position when the motor base 4 starts to rotate. Therefore, the adapter plate 1 is hooked on the sliding table 2.
Alternatively, as shown in fig. 1, one of the first connecting portion 31 and the second connecting portion 41 is a protrusion structure, and the other is a groove structure.
In this embodiment, can select to set up groove structure on transition wheel 3, set up protruding structure on motor cabinet 4, also can select to set up protruding structure on transition wheel 3, and set up groove structure on motor cabinet 4, do not specifically prescribe a limit in this embodiment to can carry out the selectivity according to actual demand and set up. For reference, fig. 1 shows an example in which the first connection portion 31 has a convex structure and the second connection portion 41 has a concave structure. In this way, the first connection portion 31 and the second connection portion 41 are respectively configured as one of a groove structure and a protrusion structure, and the insertion fit of the groove structure and the protrusion structure is utilized to realize the insertion connection between the first connection portion 31 and the second connection portion 41, so as to simplify the structures of the motor base 4 and the transition wheel 3, and facilitate production and manufacturing.
Optionally, as shown in fig. 1, the groove structure includes a first groove 411 and a second groove 412, the protrusion structure includes a first column and a second column, the first groove 411 and the second groove 412 are respectively inserted into the first column and the second column, and the first groove 411 and the second groove 412 are respectively one of a notch structure and a kidney-shaped groove structure.
In this embodiment, the protrusion structure includes two column structures, i.e., a first column and a second column, and correspondingly, the groove structure also includes two grooves, i.e., a first groove 411 and a second groove 412. When the first cylinder and the second cylinder are inserted into the first groove 411 and the second groove 412, respectively, the transition wheel 3 and the motor base 4 are just in butt joint and cannot rotate relatively. When the first cylinder and the second cylinder are cylinders, at least two cylinders are required to be inserted into the groove structure to prevent the transition wheel 3 from rotating relative to the motor base 4 after being butted; when first cylinder and second cylinder are prismatic, set up a cylinder and also can prevent to take place relative rotation after transition wheel 3 docks with motor cabinet 4, and set up two and more cylinders and then can improve the steadiness when first connecting portion 31 is connected with second connecting portion 41. In the actual production process, in order to facilitate assembly, clearance fits are respectively formed between the motor base 4 and the motor interface 21 (described later) and between the transition wheel 3 and the transition wheel interface 11 (described later), so that when the motor base 4 is butted with the transition wheel 3, a certain deviation exists between the first connecting part 31 and the second connecting part 41 in the radial direction of the transition wheel 3 or the motor base 4, so that plugging cannot be formed, and therefore, the butting cannot be performed. Therefore, in this embodiment, the first groove 411 and the second groove 412 are respectively of an opening structure and a kidney-shaped groove structure, that is, the first groove 411 is of an opening structure, the second groove 412 is of a kidney-shaped groove structure, or the first groove 411 is of a kidney-shaped groove structure, and the second groove 412 is of an opening structure, so as to increase the radial butt joint range of the transition wheel 3 or the motor base 4 between the first connecting portion 31 and the second connecting portion 41, and ensure that the first connecting portion 31 and the second connecting portion 41 can form a plug-in fit when a certain deviation exists in the butt joint process, thereby realizing the butt joint between the transition wheel 3 and the motor base 4.
Optionally, the first groove 411 and the second groove 412 are both in a notch structure, or the first groove 411 and the second groove 412 are both in a kidney-shaped groove structure. In this way, the butt joint range between the first connection portion 31 and the second connection portion 41 in the radial direction of the transition wheel 3 or the motor base 4 can be enlarged, and the first connection portion 31 and the second connection portion 41 can be ensured to form a plug-in fit when a certain deviation exists in the butt joint process.
Further, the first groove 411 or the second groove 412 is a U-like shaped gap. Simple structure and easy realization.
Optionally, as shown in fig. 1 and fig. 2, a motor interface 21 is arranged on the sliding table 2, the motor base 4 is arranged in the motor interface 21, a first limiting structure 22 is arranged in the motor interface 21, a second limiting structure 42 is arranged at one end of the motor base 4, which is far away from the transition wheel 3, and the first limiting structure 22 and the second limiting structure 42 are suitable for triggering the motor to perform reversing rotation when contacting each other.
In this embodiment, the motor interface 21 is a mounting groove structure, so that the motor base 4 is not protruded out of the outer surface of the sliding table 2 or protruded by a small height after being mounted in the motor interface 21. The motor base 4 is arranged in the motor interface 21 and can rotate in the motor interface 21 under the driving of a motor. When the first limit structure 22 collides with the second limit structure 42 to form contact during the rotation of the motor base 4, the motor is triggered to rotate in a reverse direction. For example, when the motor initially rotates in the forward direction, the motor rotates in the reverse direction when the first limit structure 22 collides with the second limit structure 42. So, through setting up first limit structure 22 and second limit structure 42 to trigger the motor switching-over rotation when first limit structure 22 contacts with second limit structure 42, so that motor cabinet 4 accomplishes full range's rotary motion, ensure that motor cabinet 4 and transition wheel 3 realize automatic butt joint.
Optionally, the first limiting structure 22 and/or the second limiting structure 42 are limiting contacts.
In the practical application process, because of the existence of the first limiting structure 22 and the second limiting structure 42, the motor base 4 cannot rotate 360 degrees without dead angles, and therefore a butt joint blind area inevitably occurs. In the embodiment, the first limiting structure 22 and/or the second limiting structure 42 are/is set as limiting contacts, so that the structure is simple, the manufacturing is easy, the size of the limiting contacts is small, and the butt joint dead zone can be reduced.
Optionally, as shown in fig. 1 and fig. 2, a transition wheel interface 11 is provided on the interposer 1, and the transition wheel 3 is disposed in the transition wheel interface 11 and is adapted to move along the axial direction of the transition wheel 3 and rotate around the axial direction of the transition wheel 3 in the transition wheel interface 11.
In this embodiment, the transition wheel interface 11 is also in a mounting groove structure, so that the transition wheel 3 is mounted in the transition wheel interface 11 and does not protrude out of the outer surface of the adapter plate 1 or protrude by a small height. The transition wheel 3 is arranged in the transition wheel interface 11 and can rotate in the transition wheel interface 11 under the driving of the motor base 4, and meanwhile, the transition wheel 3 can also move in the transition wheel interface 11 along the axial direction of the transition wheel 3. Like this, when transition wheel 3 just begins to dock with motor cabinet 4, because protruding structure and groove structure are not in corresponding position department and can't dock, at this moment, motor cabinet 4 promotes transition wheel 3 and moves towards the tank bottom of transition wheel interface 11 along the axis direction of transition wheel 3, and motor cabinet 4 will cross transition wheel 3 jack-up a segment distance promptly to cushion motor cabinet 4 and bring the impact of passing transition wheel 3, prevent to cross transition wheel 3 and damage because of receiving the impact, improved the life of transition wheel 3.
Optionally, as shown in fig. 1, fig. 3, and fig. 4, a first protrusion 32 is disposed at one end of the transition wheel 3 away from the motor base 4, a second protrusion 12 is disposed at a position in the transition wheel interface 11 corresponding to the first protrusion 32, a first arc surface is disposed on the first protrusion 32, a second arc surface is disposed on the second protrusion 12, and the first protrusion 32 and the second protrusion 12 form a dislocation when the first arc surface collides with the second arc surface.
In the present embodiment and the following description, the second connection portion 41 on the motor base 4 is used as a groove structure, and the first connection portion 31 on the transition wheel 3 is used as a protrusion structure. When the transition wheel 3 is installed in the transition wheel interface 11, the first protrusion 32 on the transition wheel 3 is arranged opposite to and spaced from the second protrusion 12 in the transition wheel interface 11. When the transition wheel 3 and the motor base 4 are just butted, because the raised structure on the transition wheel 3 and the groove structure on the motor base 4 are not in the same position, the motor base 4 jacks up the transition wheel 3 for a short distance, and the first protrusion 32 on the transition wheel 3 collides with the second protrusion 12 in the transition wheel interface 11, at this time, if the raised structure on the transition wheel 3 and the groove structure on the motor base 4 are just in the butt joint blind area, due to the arrangement of the first arc surface and the second arc surface, the first protrusion 32 and the second protrusion 12 can automatically slide when colliding with each other, that is, the first protrusion 32 and the second protrusion 12 can rotate relatively around the axis of the transition wheel 3, so that the relative arrangement of the first protrusion 32 and the second protrusion 12 is changed into the staggered arrangement, and at this time, the transition wheel 3 returns to the position before being jacked up again. So, so that the protruding structure on the transition wheel 3 avoids the butt joint blind area, thereby realizing the butt joint operation with the motor cabinet 4.
Optionally, as shown in fig. 1, fig. 3, and fig. 4, a first anti-separation boss 33 is disposed at one end of the transition wheel 3, which is far away from the motor base 4, a second anti-separation boss 13 is disposed in the transition wheel interface 11, the first protrusion 32 is disposed on the first anti-separation boss 33, the second protrusion 12 is disposed on the second anti-separation boss 13, the first anti-separation boss 33 is located in the transition wheel interface 11, and an outer diameter of the first anti-separation boss 33 is greater than an inner diameter of the second anti-separation boss 13.
In this embodiment, the adapter plate 1 is formed by assembling two plate bodies, and the transition wheel port 11 penetrates through the two plate bodies. When the transition wheel 3 and the adapter plate 1 are assembled, one end of the transition wheel 3 is inserted into the transition wheel interface 11 of one plate body, the other end of the transition wheel 3 extends into the transition wheel interface 11 of the other plate body, and then the two plate bodies are buckled, so that the transition wheel 3 is clamped between the two plate bodies. In this embodiment, through setting up first anticreep boss 33 and second anticreep boss 13, and the external diameter of first anticreep boss 33 is greater than the internal diameter of second anticreep boss 13 to prevent to cross ferry 3 and drop from crossing in the ferry interface 11, improved the fastness of crossing ferry 3 and installing in crossing the ferry interface 11.
Alternatively, as shown in connection with fig. 1, the first protrusions 32 are provided in plural, and the plural first protrusions 32 are evenly distributed around the axis of the transition wheel 3.
Since the initial docking position between the transition wheel 3 and the motor base 4 is pre-designed, when the design requirement changes, the initial docking position between the transition wheel 3 and the motor base 4 may also change correspondingly, and for different models of surgical robot instruments, the initial docking position between the transition wheel 3 and the motor base 4 may be different. Based on this, in the present embodiment, by providing a plurality of first protrusions 32, the transition wheel 3 can adapt to different design requirements or different models of surgical robotic instruments, so that the versatility of the transition wheel 3 is improved; meanwhile, a plurality of first protrusions 32 are uniformly distributed around the axis of the transition wheel 3 to facilitate the production process.
A further embodiment of the present invention provides a docking method for a surgical robot instrument, based on the docking mechanism for a surgical robot instrument, the method including the following steps:
controlling the motor to drive the motor base 4 to rotate according to a preset motion mode;
when the first limiting structure 22 on the sliding table 2 collides with the second limiting structure 42 on the motor base 4 for the first time, the motor drives the motor base 4 to rotate reversely, and when the first limiting structure 22 collides with the second limiting structure 42 for the second time, the motor drives the motor base 4 to move to a zero position and stop;
in the process of the full-range rotation of the motor base 4, after the second connecting part 41 on the motor base 4 searches for the first connecting part 31 on the transition wheel 3 and forms plug connection with the first connecting part, the motor base 4 drives the transition wheel 3 to rotate to a zero position together.
In this embodiment, when the transition wheel 3 is butted with the motor base 4, the controller first controls the motor to drive the motor base 4 to rotate in a preset movement manner, for example, in a forward direction (i.e., clockwise direction). In one embodiment, a sensor is used to detect whether the first limiting structure 22 and the second limiting structure 42 collide, in another embodiment, a program may be set in software, and a corresponding algorithm is used to detect and determine whether the first limiting structure 22 and the second limiting structure 42 collide, of course, other manners may also be used to perform the detection and determination, and this embodiment is not limited in detail. Thus, when the first limiting structure 22 on the sliding table 2 is detected to collide with the second limiting structure 42 on the motor base 4 for the first time, the controller controls the motor to rotate in the reverse direction (namely, rotate counterclockwise) and drives the motor base 4 to rotate in the reverse direction; when the collision between the first limiting structure 22 and the second limiting structure 42 is detected for the second time, the controller controls the motor to rotate in the forward direction, and drives the motor base 4 to rotate in the forward direction until the motor base 4 rotates to the zero position and stops. The zero position of the motor base 4 refers to a position where the motor base 4 is installed in the motor interface 21 of the sliding table 2 according to design requirements, and is also an initial position when the motor base 4 starts to rotate. In this process, the motor base 4 completes a full range of rotational movement, so that the second connection portion 41 on the motor base 4 automatically finds the first connection portion 31 on the transition wheel 3 for plugging. Moreover, in the process of the motor base 4 performing the full-range rotational motion, after the motor base 4 rotates to the second connecting portion 41 to be in plug-in fit with the first connecting portion 31, the motor base 4 and the transition wheel 3 complete the butt joint, so that the motor base 4 drives the transition wheel 3 to rotate together until the motor base 4 rotates to the zero position, and the rotation is stopped. Therefore, automatic butt joint between the transition wheel 3 and the motor base 4 is realized, the trouble in manual butt joint is avoided, and the butt joint efficiency of the transition wheel 3 and the sliding table 2 is effectively improved.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. The docking mechanism of the surgical robot instrument is characterized by comprising an adapter plate (1), a sliding table (2), a transition wheel (3), a motor and a motor base (4), wherein the motor is mounted on the motor base (4), the motor base (4) is arranged on the sliding table (2), and the transition wheel (3) is arranged on the adapter plate (1); the motor is characterized in that one end of the transition wheel (3) is connected with one end of the motor base (4), the motor is connected with the other end of the motor base (4), a first connecting portion (31) is arranged on the transition wheel (3), a second connecting portion (41) is arranged on the motor base (4), and the motor is used for driving the motor base (4) to rotate so that the first connecting portion (31) is in plug-in fit with the second connecting portion (41).
2. The docking mechanism for a surgical robotic instrument as claimed in claim 1, wherein one of the first and second connecting portions (31, 41) is a raised structure and the other is a recessed structure.
3. The docking mechanism for a surgical robotic device according to claim 2, wherein the groove structure comprises a first groove (411) and a second groove (412), the protrusion structure comprises a first cylinder and a second cylinder, the first groove (411) and the second groove (412) are respectively inserted into the first cylinder and the second cylinder, and the first groove (411) and the second groove (412) are respectively one of a slit structure and a kidney-shaped groove structure.
4. The docking mechanism of surgical robotic instrument as claimed in claim 1, wherein a motor interface (21) is provided on the sliding table (2), the motor base (4) is provided in the motor interface (21), a first limit structure (22) is provided in the motor interface (21), a second limit structure (42) is provided at one end of the transition wheel (3) far away from the motor base (4), and the first limit structure (22) and the second limit structure (42) are adapted to trigger the motor to rotate in a reverse direction when contacting.
5. Docking mechanism for a surgical robotic instrument according to claim 4, characterized in that the first stop structure (22) and/or the second stop structure (42) are stop contacts.
6. The docking mechanism for surgical robotic instrument according to claim 1, wherein the adapter plate (1) is provided with a transition wheel interface (11), and the transition wheel (3) is disposed in the transition wheel interface (11) and adapted to move in the transition wheel interface (11) along the axial direction of the transition wheel (3) and rotate around the axial direction of the transition wheel (3).
7. The docking mechanism of surgical robotic instrument as claimed in claim 6, wherein the end of the transition wheel (3) far away from the motor base (4) is provided with a first protrusion (32), a second protrusion (12) is provided in the transition wheel interface (11) at the position corresponding to the first protrusion (32), the first protrusion (32) and the second protrusion (12) are arranged oppositely and have a spacing; the first arc surface is arranged on the first protrusion (32), the second arc surface is arranged on the second protrusion (12), and the first protrusion (32) and the second protrusion (12) are staggered when the first arc surface collides with the second arc surface.
8. The docking mechanism for surgical robotic instrument according to claim 7, wherein a first anti-falling boss (33) is disposed on an end of the transition wheel (3) far from the motor base (4), a second anti-falling boss (13) is disposed in the transition wheel interface (11), the first protrusion (32) is disposed on the first anti-falling boss (33), the second protrusion (12) is disposed on the second anti-falling boss (13), the first anti-falling boss (33) is disposed in the transition wheel interface (11), and an outer diameter of the first anti-falling boss (33) is larger than an inner diameter of the second anti-falling boss (13).
9. The docking mechanism for surgical robotic instruments according to claim 7, wherein the first protrusion (32) is provided in plurality and the plurality of first protrusions (32) are evenly distributed around the axis of the transition wheel (3).
10. A docking method of a surgical robot instrument based on the docking mechanism of the surgical robot instrument according to any one of claims 1 to 9, characterized by comprising the steps of:
controlling a motor to drive a motor base (4) to rotate according to a preset motion mode;
when a first limiting structure (22) on the sliding table (2) collides with a second limiting structure (42) on the motor base (4) for the first time, the motor drives the motor base (4) to rotate reversely, and after the first limiting structure (22) collides with the second limiting structure (42) for the second time, the motor drives the motor base (4) to move to a zero position and stop;
in the full-range rotation process of the motor base (4), after the second connecting part (41) on the motor base (4) searches for the first connecting part (31) on the transition wheel (3) and forms plug connection with the first connecting part, the motor base (4) drives the transition wheel (3) to rotate to the zero position together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110980013.XA CN113679475B (en) | 2021-08-25 | 2021-08-25 | Docking mechanism and docking method of surgical robot instrument |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110980013.XA CN113679475B (en) | 2021-08-25 | 2021-08-25 | Docking mechanism and docking method of surgical robot instrument |
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| Publication Number | Publication Date |
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| CN113679475A true CN113679475A (en) | 2021-11-23 |
| CN113679475B CN113679475B (en) | 2023-01-10 |
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| CN202110980013.XA Active CN113679475B (en) | 2021-08-25 | 2021-08-25 | Docking mechanism and docking method of surgical robot instrument |
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| CN113679475B (en) | 2023-01-10 |
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