CN114224404B - Instrument assembly assembling and detecting mechanism, detecting method and instrument assembly thereof - Google Patents
Instrument assembly assembling and detecting mechanism, detecting method and instrument assembly thereof Download PDFInfo
- Publication number
- CN114224404B CN114224404B CN202111658566.XA CN202111658566A CN114224404B CN 114224404 B CN114224404 B CN 114224404B CN 202111658566 A CN202111658566 A CN 202111658566A CN 114224404 B CN114224404 B CN 114224404B
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- Prior art keywords
- adapter
- instrument
- motor
- seat
- instrument assembly
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/0094—Structural association with other electrical or electronic devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/003—Couplings; Details of shafts
Abstract
The invention discloses an instrument assembly assembling and detecting mechanism, an assembling and detecting method and an instrument assembly thereof, wherein the instrument assembly assembling and detecting mechanism comprises an adapter for connecting an instrument seat and a driving seat of an instrument assembly, and an adapter which is respectively in butt joint with the driving seat and the instrument seat is movably arranged on the adapter; a mating member is disposed between the adapter and the adapter, the mating member limiting rotation of the adapter when the adapter and the instrument holder are not successfully docked. The invention adopts flexible soft limit, the initial position of the adapter is determined, and the initial position of the adapter is set according to the relative position of the zero position of the motor, so that the alignment can be completed only by rotating at a small angle under the condition of knowing the alignment position, and the whole alignment process is quicker and more accurate.
Description
Technical Field
The invention relates to the technical field of surgical instruments, in particular to an instrument assembly detection mechanism, a detection method and an instrument assembly thereof.
Background
Minimally invasive medical techniques have been used to reduce the amount of external tissue that may be damaged during diagnostic or surgical procedures, thereby reducing patient recovery time, discomfort, and adverse side effects. In order to provide improved control of the work tool, it may be desirable to control the surgical instrument with a remote actuator.
The surgeon may manipulate controls at the console to indirectly manipulate instruments connected to the remote control actuators. The surgical instrument is detachably coupled to the teleoperated actuator so that the surgical instrument can be individually sterilized and selected for use as an instrument required for the surgical procedure to be performed. During surgery, surgical instruments may be replaced.
Performing surgery with teleoperated surgical instruments presents new challenges. One challenge is the need to maintain the area adjacent to the patient in sterile conditions. However, the motors, sensors, encoders, and electrical connectors required to control surgical instruments are generally not capable of being sterilized using conventional methods (e.g., steam, heat, and pressure or chemicals) because they may be damaged or destroyed during the sterilization process.
It may be desirable to provide for engaging and disengaging a surgical instrument and a teleoperated actuator drive in a simpler and more efficient manner while preventing contamination of the teleoperated actuator and allowing for quick and reliable attachment of a series of surgical instruments, thereby maintaining a sterile field around the surgical instruments.
Because the surgical instrument is in a sterile state and the surgical arm is in a non-sterile state, the whole instrument arm mechanism is complex and difficult to sterilize.
Disclosure of Invention
The invention aims to: the invention aims at the defects and provides an instrument assembly detection mechanism, a detection method and an instrument assembly thereof, wherein an aseptic cover is arranged for aseptic and non-aseptic isolation, and a quick-change mechanism is arranged, so that whether the adapter in the adapter is in butt joint or not can be obtained in the use process, and a certain operation risk caused by instrument operation when the adapter is not in butt joint is avoided.
The technical scheme is as follows:
an instrument assembly detection mechanism comprises an adapter for connecting an instrument seat and a driving seat of an instrument assembly, wherein an adapter which is respectively in butt joint with the driving seat and the instrument seat is movably arranged on the adapter; a mating member is disposed between the adapter and the adapter, the mating member limiting rotation of the adapter when the adapter and the instrument holder are not successfully docked.
The matching piece is a limiting protrusion, the limiting protrusion limits the rotation of the adapter piece to two directions, and accordingly, the adapter piece and the instrument seat are judged to be not successfully docked.
The matching piece is also provided with a rotating channel used for limiting the movement of the limiting protrusion, the limiting protrusion is pressed into the rotating channel when the adapter piece is not successfully docked with the instrument seat, and the limiting protrusion is separated from the rotating channel when the adapter piece is successfully docked with the instrument seat.
The adapter is provided with a containing hole for containing the adapter, and the matching piece is arranged between the adapter and the containing hole.
The rotating channel is arranged on the circumferential direction of the inner wall of the accommodating hole, and two ends of the rotating channel are provided with limiting blocks; the limiting protrusion is arranged on the side wall of the adapter at a position corresponding to the rotating channel.
The rotating channel is arranged on the circumferential direction of the side wall of the adapter, and two ends of the rotating channel are provided with limiting blocks; the limiting protrusion is arranged on the inner wall of the accommodating hole and corresponds to the rotating channel.
The adapter comprises a mounting ring, and the upper end surface of the mounting ring is in abutting fit with the lower end surface of the rotating channel or the limiting protrusion when the adapter is assembled with the driving seat.
The upper end face of the mounting ring is designed to be a plane or a conical surface, and the lower end face of the rotating channel or the limiting protrusion is correspondingly designed.
And a friction strip is arranged between the mounting ring of the adapter and the rotating channel or the limiting protrusion.
The adapter piece is matched and butted with the instrument seat through a butting groove and a butting bulge which are arranged on the butting end surfaces of the adapter piece and the instrument seat and matched with each other.
The adapter is also provided with an aseptic cover covered outside the driving seat, the aseptic cover is provided with a transfer hole, and the transfer piece is in interference fit with the transfer hole.
The sterile cover is made of soft materials.
An instrument assembly detection method adopting the instrument assembly detection mechanism is characterized in that: the method comprises the following steps:
(1) The adapter is assembled to the drive seat;
(2) The instrument holder is assembled to the adapter;
controlling the motor in the driving seat to rotate, and detecting the locked rotor of the motor rotation:
if the motor is not detected to be blocked, judging that the instrument seat is successfully installed; if the motor is detected to be blocked, judging that the instrument seat is not successfully installed, and detaching the instrument seat, and repeating the steps.
In the step (1), the motor is controlled to rotate, and if the output torque of the motor is detected to be smaller, the adapter is judged to be installed; if the output torque is not changed, the adapter is not completely installed, the adapter is detached, and the step is repeated.
An instrument assembly employing the foregoing instrument assembly detection mechanism.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the quick-change mechanism is arranged between the surgical instrument and the surgical instrument driving assembly, one side of the quick-change mechanism is in a sterile state, the other side of the quick-change mechanism is in a non-sterile state, the quick-change mechanism also plays a role of a coupler, and in the use process, the system needs to know whether the connecting piece in the adapter is clamped in place or not, so that a certain surgical risk caused by the operation of the instrument when the connecting piece of the adapter is not clamped is avoided.
2. The invention adopts flexible soft limit, the initial position of the adapter is determined, and the initial position of the adapter is set according to the relative position of the zero position of the motor, so that the adapter and the motor are directly aligned without searching the initial position when the adapter is installed, and the alignment can be completed with a smaller angle under the condition of the known alignment position, and the whole alignment process is quicker and more accurate.
3. The invention can reduce the height difference between the adapter and the motor spline in a flexible limit mode, and compared with the height difference of mechanical hard limit, the invention reduces the stroke of the motor output shaft spline, and the whole structure is more compact and smaller.
Drawings
FIG. 1 is a general assembly view of the present invention;
FIG. 2 is a schematic diagram of a motor base according to the present invention;
FIG. 3 is a top view of the motor mount of the present invention;
FIG. 4 is a bottom view of the instrument holder of the present invention;
FIG. 5 is a schematic view of the structure of the adapter of the present invention; the state of one adapter is different from the other four, so that the different states of the adapter in the butt joint process are shown in one figure;
FIG. 6 is a schematic view of an adapted lower plate of the present invention;
FIG. 7 is a schematic view of an adapter upper plate of the present invention;
FIG. 8 is a schematic view of an adapter according to the present invention;
FIG. 9 is a schematic view of another angle of the adapter of the present invention;
FIG. 10 is a schematic illustration of the mating of the adapter with the spline cap of the present invention; fig. 10 (a) is a schematic diagram of a mating structure in the first mode, fig. 10 (b) is a schematic diagram of a mating structure in the second mode, and fig. 10 (c) is a schematic diagram of a mating structure in the third mode;
FIG. 11 is a schematic view of an adapter installation of the present invention; the state of one adapter is different from the other four, so that the different states of the adapter in the butt joint process are shown in one figure;
FIG. 12 is a schematic view of the sterile cover structure of the present invention;
FIG. 13 is a schematic view of the structure of the adapter of the present invention for mounting a sterile cover;
fig. 14 is a flow chart of an instrument assembly test of the present invention.
Wherein, 1 is a motor base, 2 is an instrument base, and 3 is an adapter;
the motor is 11, the spline is 12, the spline cap is 13, and the motor base fixing plate is 14;
131 is a first groove; 141 is a first card slot;
21 is an instrument seat input shaft, and 22 is an instrument seat fixing plate; 211 is a second groove; 221 is a second slot;
31 is an adapting lower plate, 32 is an adapting upper plate, 33 is an adapter, and 34 is a sterile cover;
311 is an adapter hole, 312 is a first buckle;
321 is an accommodating hole, 322 is a second buckle; 3211 is an installation block, 3212 is a positioning block;
331 is a mounting ring, 332 is a mounting boss, 333 is a first boss, 334 is a second boss; 341 are mating through holes.
Detailed Description
The invention is further elucidated below in connection with the drawings and the specific embodiments.
Fig. 1 is a general assembly view of the present invention, and as shown in fig. 1, the instrument assembly of the present invention includes a motor base 1, an instrument base 2, and an adapter 3 for connecting the motor base 1 and the instrument base 2.
As shown in fig. 2, 3 and 4, a plurality of motors 11 are arranged in a motor cabinet 1, a motor cabinet fixing plate 14 is arranged on the motor cabinet 1, and motor cabinet output shaft holes are formed in the motor cabinet fixing plate 14 at positions corresponding to the motors 11 in the motor cabinet 1; a spline cap 13 is arranged in the output shaft hole of the motor seat, and the spline cap 13 is telescopically arranged on the output shaft of the motor 11 through a spline 12; in the invention, the spline cap 13 is of a ladder-shaped structure, the lower part of the spline cap is provided with a mounting groove corresponding to a spline 12 arranged on the output shaft of the motor 11, and the spline cap 13 is arranged on the output shaft of the motor 11 through the matching of the mounting groove and the spline 12, so that a motor seat output shaft is formed; first clamping grooves 141 are formed in two opposite sides of the end face of the motor base fixing plate 14 and are used for being matched and clamped with first clamping buckles 312 on the lower adapting plate 31 of the adapter 3.
As shown in fig. 2 and 3, at least one first groove 131 is provided on the end face of the spline cap 13 at the step.
In the present invention, the first groove 131 provided on the end face at the step of the spline cap 13 is one.
In the present invention, there are at least two first grooves 131 provided on the end face at the step of the spline cap 13, and are asymmetrically distributed in the circumferential direction of the end face at the step thereof with respect to the rotation axis of the spline cap 13.
In the present invention, a motor base cover (not shown) is further provided outside the motor base 1 to insulate the structure inside the motor base.
Fig. 4 is a bottom view of the instrument holder of the present invention, as shown in fig. 4, an instrument holder fixing plate 22 is provided on the instrument holder 2 of the present invention, an instrument holder input shaft hole is provided on the instrument holder fixing plate 22 at a position corresponding to the motor holder output shaft, an instrument holder input shaft 21 is provided therein, and at least two second grooves 211 are symmetrically provided on the end surface of the instrument holder input shaft 21; a second clamping groove 221 is formed on the instrument seat fixing plate 22 at a position corresponding to the first clamping groove 141 on the motor seat fixing plate 14 and is used for being matched and clamped with a second clamping buckle 322 on the upper adapting plate 32 of the adapter 3.
Fig. 5 is a schematic view of the structure of the adapter of the present invention, and as shown in fig. 5, the adapter 3 of the present invention includes an upper adapter plate 32 and a lower adapter plate 31 fixedly installed by interference fit; the first buckles 312 are symmetrically arranged on the opposite side surfaces of the lower end face of the lower adapting plate 31, the lower adapting plate 31 is matched and clamped with the first clamping grooves 141 on the end face of the motor base fixing plate 14 through the first buckles 312, the second buckles 322 are arranged on the upper end face of the upper adapting plate 32 at positions corresponding to the first buckles 312 of the lower adapting plate 31, and the instrument base 2 is matched and clamped with the second buckles 322 on the upper adapting plate 32 through the second clamping grooves 221 formed on the upper instrument base fixing plate 22 at positions corresponding to the upper adapting plate 32, so that the installation of surgical instrument components is realized.
As shown in fig. 6, 7 and 8, adaptor holes 311 and accommodating holes 321 are respectively formed in the positions corresponding to the motor base output shaft on the lower adapting plate 31 and the upper adapting plate 32, at least two mounting blocks 3211 extending inwards in the radial direction are symmetrically arranged on the inner wall of the accommodating holes 321 in the circumferential direction, and a limiting block 3212 is arranged at the end part of each mounting block 3211, so that an arc-shaped rotation channel in the circumferential direction is formed between the limiting blocks 3212 at the two ends of each mounting block 3211. More specifically, the position of the mounting block 3211 is set according to the instrument's corresponding initial position, so that an arc-shaped rotation path is formed at a position corresponding to the instrument's initial position. The instrument on the instrument holder needs to be ensured to be in the initial position each time before the instrument holder is installed, so that the instrument holder is convenient to be in butt joint with the adapter.
In the present invention, the arc of the arc-shaped rotation passage may be designed to be at least 30 °. In other embodiments of the present invention, the arc of the arc-shaped rotating channel may be designed to be 40 ° or 60 °, and in other embodiments, other larger arcs may be selected, so long as a gap is left between adjacent mounting blocks in the receiving hole 321 through which the mounting protrusion 332 may pass.
Fig. 8 is a schematic structural view of an adaptor according to the present invention, as shown in fig. 8, the adaptor 33 of the present invention passes through the adaptor hole 311 formed in the adaptor lower plate 31 and is movably inserted into the receiving hole 321 formed in the adaptor upper plate 32; further, as shown in fig. 8 and 9, mounting protrusions 332 corresponding to the mounting blocks 3211 disposed on the inner wall of the accommodating hole 321 are symmetrically disposed on the upper side wall of the adaptor 33 along the circumferential direction, and each mounting protrusion 332 is disposed in an arc-shaped rotation channel formed by the mounting block 3211 in the accommodating hole 321, so that the connecting shaft 33 is rotatably mounted in the accommodating hole 321 and is rotationally limited when moving to the limiting blocks 3212 at two ends of the mounting block 3211; more specifically, when the radian of the gap between two adjacent mounting blocks 3211 in the accommodating hole 321 is larger than the radian of the mounting protrusion 332 on the adaptor 33, the adaptor 33 of the invention is mounted, the mounting protrusion 332 of the adaptor 33 is aligned with the gap between two adjacent mounting blocks 3211 in the accommodating hole 321 by rotating the adaptor 33, and the adaptor 33 is pushed into the accommodating hole 321 upwards, and at the moment, the adaptor 33 is rotated to enable the mounting protrusion 332 of the adaptor 33 to be placed into the arc-shaped rotating channel formed by the mounting blocks 3211 in the accommodating hole 321, so that the mounting of the adaptor 33 is completed; a mounting ring 331 is formed at the lower portion of the adaptor 33 to extend outwards in a radial direction, and the outer diameter of the mounting ring 331 is larger than the inner diameter of the mounting block 3211, so that the adaptor 33 can be axially moved up and down without being separated and is rotatably mounted in the accommodating hole 321.
As shown in fig. 9, an accommodating groove is arranged at the lower part of the adapter 33, and a spline cap 13 on the output shaft of the motor base is penetrated into the accommodating groove; the lower end surface of the mounting ring 331 of the adaptor 33 is also provided with a first bulge 333 corresponding to the first groove 131 formed on the spline cap 13, the upper end surface of the adaptor 33 is provided with a second bulge 334 corresponding to the second groove 211 formed on the end surface of the instrument seat input shaft 21, so that the adaptor 33 can be respectively abutted with the output shaft of the motor 11 and the instrument seat input shaft 21, the position relationship between the mounting bulge 332 on the adaptor 33 and the arc-shaped rotating channel is designed in such a way that the instrument seat input shaft 21 presses the adaptor 33 downwards when the instrument seat 2 is mounted, and the mounting bulge 332 on the adaptor 33 is pressed into the arc-shaped rotating channel; when the second recess 211 on the instrument holder input shaft 21 is in abutment with the second projection 334 on the adapter 33, the mounting projection 332 on the adapter 33 moves upward, just out of the arcuate rotational path.
Further, the second protrusion 334 is provided on the mounting protrusion 332 of the adapter 33.
Further, the length of the mounting protrusion 332 on the adaptor 33 in the axial direction is smaller than the length of the second protrusion 334 on the adaptor 33 in the axial direction, so that when the adaptor 33 is not in butt joint with the instrument seat input shaft 21, the instrument seat input shaft 21 presses down the adaptor 33, so that the mounting protrusion 332 on the adaptor 33 is pressed into the arc-shaped rotating channel, and therefore, locked rotation is realized when the motor seat output shaft drives the adaptor 33 to rotate; after the adapter 33 is successfully docked with the instrument holder input shaft 21, the mounting protrusion 332 on the adapter 33 can be disengaged from the arc-shaped rotating channel due to the design, so that no locked rotation occurs during the rotation of the adapter 33.
Further, the number of the first protrusions 333 and the second protrusions 334 on the adaptor 33 is 2, and correspondingly, the number of the first grooves 131 on the spline cap 13 and the number of the second grooves 211 on the instrument seat input shaft 21 are two;
further, the connection line between the two first protrusions 333 and the connection line between the two second protrusions 334 on the adapter 33 form a cross shape.
Further, as shown in fig. 10 (a), in the present invention, the first groove 131 formed on the spline cap 13 is a square groove, and correspondingly, the first protrusion 333 on the adapter 3 is designed as a square protrusion; however, the present invention is not limited thereto, and as shown in fig. 10 (b), the side wall of the first groove 131 formed on the spline cap 13, which first contacts the first protrusion 333 of the adapter 3, is provided with a slope inclined in the rotation direction, and the side wall of the first protrusion 333, which cooperates with the corresponding side wall of the first groove 131, is designed as a vertical surface or a corresponding slope in accordance with the above-described structure.
Further, as shown in fig. 10 (c), the sidewall structure of the first groove 131 formed on the spline cap 13, which first contacts the first protrusion 333 on the adapter 33, is unchanged (i.e. is a vertical surface), and the sidewall of the first protrusion 333, which is matched with the corresponding sidewall of the first groove 131, is designed as an inclined surface inclined along the rotation direction.
As shown in fig. 11 and 12, an aseptic cover 34 for sleeving the motor base 1 is further arranged between the upper adapting plate 32 and the lower adapting plate 31, and a matching through hole 341 is formed in the aseptic cover 34 at a position corresponding to the output shaft of the motor base, and the diameter of the matching through hole 341 is slightly smaller than the outer diameter of the adapter 33, as shown in fig. 13; the adaptor 33 sequentially passes through the adaptor hole 311 on the lower adapting plate and the matching through hole 341 on the sterile cover 34, is arranged in the accommodating hole 321 of the upper adapting plate 32, forms interference fit with the sterile cover 34, and performs movement limiting through the mounting ring 331 at the lower part of the adaptor 33 so as to prevent the adaptor from being separated from the sterile cover 34.
In the present invention, in order to ensure a sterile environment for surgery, the adapter 3 adopts a sterile disposable structure, before the instrument holder 2 of the present invention is used, sterilization is needed, but the motor holder 1 cannot be sterilized by using a conventional method (such as steam, heating and pressure or chemical), because the motor 11, the sensor and the encoder of the instrument assembly are damaged or destroyed in the sterilization process due to the existence of the motor holder 1, and therefore, the motor holder 1 is required to be isolated from the sterile environment by the sterile hood 34; after the operation is finished, the adapter 3 of the invention is directly disassembled and scrapped.
In the invention, the sterile cover 34 is made of soft materials, and when the adapter 33 rotates along with the motor base output shaft relative to the sterile cover 34, the adapter 33 is in interference fit with the sterile cover 34, so that a certain friction force exists between the adapter 33 and the sterile cover 34. When the adapter 3 is assembled, the position of the adapter relative to the zero position of the motor, namely the initial position of the adapter, is obtained according to the zero position of the motor, then the rotation small angle of the motor can be controlled to realize the butt joint between the motor base output shaft and the adapter, and as the sum of friction between the adapter 33 and the sterile cover 34 and between the adapter and the upper adapting plate is larger than the friction between the adapter 33 and the motor base output shaft and the adapter, the adapter 33 can not synchronously rotate along with the motor base output shaft when the motor base output shaft rotates; if the sum of the friction forces is relatively large, the position of the adapter 33 does not change when the motor rotates, and if the sum of the friction forces is relatively small, the adapter 33 rotates at a speed smaller than that of the motor mount output shaft when the motor rotates.
Further, the upper end surface of the mounting ring 331 of the adaptor 33 and the lower end surface of the mounting block 3211 of the accommodating hole 321 are designed to be correspondingly matched planes or conical surfaces; further, a friction bar for increasing friction force between the upper end surface of the mounting ring 331 of the adapter 33 and the lower end surface of the mounting block 3211 of the receiving hole 321 is provided.
The working principle of the invention is as follows:
the adapter 3 is mounted to the motor cabinet 1:
the motor returns to zero firstly, the motor 11 of the motor base 1 is controlled to rotate to the initial position of the adapter 33, and the motor outputs torque M 1 The adapter 3 is installed and pressed down, the sterile cover 34 is covered outside the motor base 1, the motor base output shaft presses the adapter 13 upwards through the spline cap 13, at this time, the first protrusion 333 on the adapter 33 is not in butt joint with the first groove 131 on the spline cap 13, and as the adapter 33 is pressed upwards by the spline cap 13, the adapter 33 is not only subjected to the friction force between the adapter 33 and the sterile cover 34, but also the friction force between the adapter 33 and the upper adapting plate 32 is increased, namely the rotation resistance of the adapter 33 is increased, so that synchronous rotation between the adapter 33 and the motor base output shaft is prevented, and at this time, the motor 11 outputs the moment M 2 Greater than the motor output torque M when the adapter is not installed 1 And if the motor outputs a torque M after the adapter is installed 2 The adapter 3 can be judged to be not installed in place without being changed all the time; then after the adaptor 33 rotates relative to the motor base output shaft by a certain angle (specifically, the motor 11 can be controlled to rotate from-20 degrees to 20 degrees or from 20 degrees to-20 degrees according to the current position, and the motor 11 can be controlled to rotate forward and backward, forward and backward or backward in the process, no matter which motor rotation mode is selected, the rotation range of the motor 11 is unchanged), a first protrusion 333 on the adaptor 33 is in butt joint with a first groove 131 on the spline cap 113, and at the moment, a second buckle 322 of the lower adapting plate 31 is in clamping joint with a first clamping groove 141 on the motor base fixing plate 14, so that the clamping fit of the adapter 3 and the motor base 1 is completed rapidly; at this time, the adaptor 33 falls back due to the abutting of the first protrusion 333 on the adaptor 33 and the first groove 131 on the spline cap 13, correspondingly, the adaptor 33 is subjected to a reduced upward pressure, so that the friction resistance between the adaptor 33 and the upper adapting plate 32 is reduced, the adaptor 33 can freely rotate bidirectionally under the driving of the output shaft of the motor 11, and the motor 11 outputs the moment M 3 Smaller, it can be determined that the adapter 3 is mounted in place.
Moreover, since the first groove 131 on the spline cap 13 designed in the present invention is asymmetrically designed, the first protrusion 333 on the adapter 33 can only be abutted with the first groove 131 on the spline cap 13 at a specific rotation angle, i.e. in the range of 360 °, only a specific angle can realize the abutting of the connecting shaft 333 with the spline cap 13.
In other embodiments of the present invention, after the motor returns to zero, the motor 11 of the motor base 1 is not required to be controlled to rotate to the initial position of the adaptor 33, and the rotation angle range of the motor 11 can be calculated according to ±20° of the initial position of the adaptor 33, and the motor is controlled to rotate forward or backward, regardless of which motor rotation mode is selected, so as to realize the rotation of the motor 11 in the rotation angle range.
The instrument holder 2 is mounted to the adapter 3:
after the adapter 3 and the motor seat 1 are in butt joint, the motor 11 drives the adapter 33 to rotate to the position corresponding to the zero position of the motor 11, then rotates to the initial position of the instrument seat 2, presses down and installs the instrument seat 2, and at the moment, according to the design of the installation block 3211 of the upper plate 32 of the adapter, the installation protrusion 332 on the adapter 33 is positioned above an arc-shaped rotation channel formed by the installation block 3211 in the accommodating hole 321 of the upper plate 32 of the adapter; at this time, the instrument seat 2 is installed, the instrument seat input shaft 21 of the instrument seat 2 presses down the adapter piece 33, the installation protrusion 332 on the adapter piece 33 is pressed into the arc-shaped rotating channel formed by the installation block 3211, at this time, the adapter piece 33 is driven to rotate by a certain angle by controlling the motor 11, and specifically, the rotating mode of the motor when the adapter piece 33 is in butt joint with the motor seat output shaft can be referred to, so that the forward rotation, the forward rotation or the reverse rotation of the motor can be controlled, and the rotating range of the motor is unchanged no matter which motor rotating mode is selected; at this time, if the second groove 211 on the input shaft 21 of the instrument seat is not successfully abutted with the second protrusion 334 on the adaptor 33, the mounting protrusion 332 of the adaptor 33 is pressed into the arc-shaped rotating channel, so that the adaptor 33 is limited by the limiting blocks 3212 at two ends of the mounting block 3211 when rotating, and the motor 11 is blocked, thereby determining that the instrument seat 2 is not mounted in place; if the second recess 211 on the instrument holder input shaft 21 is successfully docked with the second protrusion 334 on the adapter 33, the adapter 33 moves upward under the pressure of the motor holder output shaft, so that the mounting protrusion 332 thereof is disengaged from the arc-shaped rotating channel, and the motor 11 can rotate freely, thereby determining that the instrument holder 2 is mounted in place.
The invention accordingly provides an assembly detection method based on the instrument assembly, which comprises the following steps:
(1) The adapter 3 is in butt joint with the motor base 1;
(11) Controlling a motor 11 in the motor base 1 to rotate to a zero position, and installing an adapter 3;
(12) Controlling the motors to rotate and acquiring the output torque of each motor 11 in the motor base 1 in real time;
(13) The control motor 11 rotates in the range of-20 degrees to 20 degrees by taking the current position as a reference, and if the output torque of the control motor is detected to be smaller, the adapter 3 is judged to be installed; if the output torque is detected to be unchanged, judging that the installation of the adapter 3 is not completed, detaching the adapter 3, and returning to the step (11);
(2) The instrument seat 2 is in butt joint with the adapter 3;
(21) Controlling each motor 11 in the motor base 1 to rotate to the zero position, and installing the instrument base 2;
(22) Controlling each motor 11 to rotate to an initial position of the instrument, controlling each motor 11 to rotate in a range of-30 degrees to 30 degrees by taking the current position as a reference, and simultaneously controlling the motor 11 to rotate for locked-rotor detection:
if the motor 11 is not detected to be blocked, judging that the installation of the instrument seat 2 is completed; if it is detected that the motor 11 is locked, it is determined that the instrument holder 2 is not mounted, and the instrument holder 2 is removed, and the procedure returns to step (21).
In the method, when the adapter is docked, the motor is controlled to rotate for one period, namely, the motor is controlled to rotate positively and negatively, the motor rotates positively and negatively or reversely, no matter which motor rotation mode is selected, the rotation range of the motor is unchanged, and in one period, if the adapter is not docked successfully with the motor base or the instrument base, the adapter or the instrument base is dismounted and docked again according to the assembly detection method.
The invention adopts flexible soft limit, the adapter 33 is in interference fit with the sterile cover 34, the initial position of the adapter is determined, the alignment can be directly carried out during installation, and the alignment can be completed by only a small angle under the condition of the known alignment position, so that the whole alignment process is quicker and more accurate.
According to the invention, the height difference between the adapter and the motor base output shaft is reduced in a flexible limiting mode, and compared with the height difference of mechanical hard limiting, the stroke of the spline of the motor output shaft is reduced, and the whole structure is more compact and smaller.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all fall within the scope of the present invention.
Claims (12)
1. An instrument assembly detection mechanism comprising an adapter for connecting an instrument holder and a drive holder of an instrument assembly, characterized in that: an adapter piece which is respectively in butt joint with the driving seat and the instrument seat is movably arranged on the adapter; a matching piece is arranged between the adapter piece and the adapter, and the matching piece limits the rotation of the adapter piece when the adapter piece is not successfully docked with the instrument seat;
the matching piece is a limiting protrusion, the limiting protrusion limits the rotation of the adapter piece to two directions, and accordingly, the adapter piece and the instrument seat are judged to be not successfully docked;
the matching piece is also provided with a rotating channel used for limiting the movement of the limiting protrusion, the limiting protrusion is pressed into the rotating channel when the adapter piece is not successfully docked with the instrument seat, and the limiting protrusion is separated from the rotating channel when the adapter piece is successfully docked with the instrument seat;
the adapter is also provided with an aseptic cover covered outside the driving seat, the aseptic cover is provided with a transfer hole, and the transfer piece is in interference fit with the transfer hole.
2. The instrument assembly mounting detection mechanism of claim 1, wherein: the adapter is provided with a containing hole for containing the adapter, and the matching piece is arranged between the adapter and the containing hole.
3. The instrument assembly mounting detection mechanism of claim 2, wherein: the rotating channel is arranged on the circumferential direction of the inner wall of the accommodating hole, and two ends of the rotating channel are provided with limiting blocks; the limiting protrusion is arranged on the side wall of the adapter at a position corresponding to the rotating channel.
4. The instrument assembly mounting detection mechanism of claim 2, wherein: the rotating channel is arranged on the circumferential direction of the side wall of the adapter, and two ends of the rotating channel are provided with limiting blocks; the limiting protrusion is arranged on the inner wall of the accommodating hole and corresponds to the rotating channel.
5. The instrument assembly mounting detection mechanism of claim 1, wherein: the adapter comprises a mounting ring, and the upper end surface of the mounting ring is in abutting fit with the lower end surface of the rotating channel or the limiting protrusion when the adapter is assembled with the driving seat.
6. The instrument assembly detection mechanism of claim 5, wherein: the upper end face of the mounting ring is designed to be a plane or a conical surface, and the lower end face of the rotating channel or the limiting protrusion is correspondingly designed.
7. The instrument assembly detection mechanism of claim 5, wherein: and a friction strip is arranged between the mounting ring of the adapter and the rotating channel or the limiting protrusion.
8. The instrument assembly mounting detection mechanism of claim 1, wherein: the adapter piece is matched and butted with the instrument seat through a butting groove and a butting bulge which are arranged on the butting end surfaces of the adapter piece and the instrument seat and matched with each other.
9. The instrument assembly mounting detection mechanism of claim 1, wherein: the sterile cover is made of soft materials.
10. An instrument assembly assembling and detecting method using the instrument assembly assembling and detecting mechanism according to any one of claims 1 to 9, characterized in that: the method comprises the following steps:
(1) The adapter is assembled to the drive seat;
(2) The instrument holder is assembled to the adapter;
controlling the motor in the driving seat to rotate, and detecting the locked rotor of the motor rotation:
if the motor is not detected to be blocked, judging that the instrument seat is successfully installed; if the motor is detected to be blocked, judging that the instrument seat is not successfully installed, and detaching the instrument seat, and repeating the steps.
11. The instrument assembly detection method of claim 10, wherein: in the step (1), the motor is controlled to rotate, and if the output torque of the motor is detected to be smaller, the adapter is judged to be installed; if the output torque is not changed, the adapter is not completely installed, the adapter is detached, and the step is repeated.
12. An instrument assembly employing the instrument assembly detection mechanism of any one of claims 1-9.
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|---|---|---|---|---|
| CN105997254A (en) * | 2016-07-08 | 2016-10-12 | 天津大学 | Quick changing device for minimally invasive surgery instruments |
| CN112957128A (en) * | 2019-08-30 | 2021-06-15 | 上海微创医疗机器人（集团）股份有限公司 | Transmission, drive, aseptic, apparatus box subassembly and surgical instruments system, robot |
| CN113349937A (en) * | 2021-07-14 | 2021-09-07 | 深圳康诺思腾科技有限公司 | Instrument driving transmission mechanism and assembling mechanism of surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7674270B2 (en) * | 2002-05-02 | 2010-03-09 | Laparocision, Inc | Apparatus for positioning a medical instrument |
| US11160621B2 (en) * | 2017-11-17 | 2021-11-02 | Intuitive Surgical Operations, Inc. | Surgical instrument sterile adapter with optical coupler |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105997254A (en) * | 2016-07-08 | 2016-10-12 | 天津大学 | Quick changing device for minimally invasive surgery instruments |
| CN112957128A (en) * | 2019-08-30 | 2021-06-15 | 上海微创医疗机器人（集团）股份有限公司 | Transmission, drive, aseptic, apparatus box subassembly and surgical instruments system, robot |
| CN113349937A (en) * | 2021-07-14 | 2021-09-07 | 深圳康诺思腾科技有限公司 | Instrument driving transmission mechanism and assembling mechanism of surgical robot |
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Address after: 210000 building 3, No. 34, Dazhou Road, Yuhuatai District, Nanjing, Jiangsu Province Applicant after: Tuodao Medical Technology Co.,Ltd. Address before: 210000 building 3, No. 34, Dazhou Road, Yuhuatai District, Nanjing, Jiangsu Province Applicant before: Nanjing Tuodao Medical Technology Co.,Ltd. |
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