CN114391957A

CN114391957A - Guider with quick installation locking device and surgical robot

Info

Publication number: CN114391957A
Application number: CN202210058291.4A
Authority: CN
Inventors: 田伟; 许珂; 穆克文; 赵向蕊; 白川
Original assignee: Beijing Luosen Bote Technology Co ltd
Current assignee: Beijing Luosen Bote Technology Co ltd
Priority date: 2022-01-19
Filing date: 2022-01-19
Publication date: 2022-04-26

Abstract

The invention relates to a guider with a quick mounting and locking device and a surgical robot. The guider includes: a guide part having a hollow structure penetrating along an axis; one end of the connecting part is connected with the guide part, and the other end of the connecting part is provided with an interface; the quick mounting locking device is arranged on the connecting part; and the tracer is arranged on the quick-mounting locking device. The quick-mounting locking device can realize quick insertion and locking and shorten the operation preparation time. In addition, through set up location arch and constant head tank respectively at tracer and quick installation locking device's both ends, can realize accurate grafting. In addition, the side opening is arranged on the guide device, so that the guide device can be conveniently separated from the side opening of the guide device after the guide pin is arranged, the mechanical arm is prevented from moving in a large range to complete the separation of the guide pin, and the operation time is saved.

Description

Guider with quick installation locking device and surgical robot

Technical Field

The invention relates to the field of medical instruments, relates to a connection interface of a medical instrument, and particularly relates to a guider with a quick installation locking device and a surgical robot.

Background

Surgical robots are now increasingly used in clinical surgery to assist physicians in performing complex surgery. For example, a surgical robot may accurately correlate image data of a patient with the patient's physiological anatomy, assist a physician in performing surgical planning, and may guide the physician in the operation of surgical instruments or may independently perform certain surgical operations. For example, in orthopedic surgery, a surgical robot can perform precise positioning and guide a surgeon to set a lead at a predetermined location.

In the existing robot navigation surgery, when a guide pin needs to be set, a guide is usually installed at the front end of a robot arm, then the robot arm moves the guide to a predetermined position, the guide pin is inserted into the guide, and the guide is guided by the guide, so that the guide pin can be accurately set to the predetermined position. The surgical robot can complete or assist in completing surgical operations, and a surgical navigation system is of great importance. The position of the guider of the surgical robot can be positioned in real time through the surgical navigation system, and positioning deviation caused by anatomical displacement of a patient can be corrected by utilizing real-time navigation. Current surgical navigation systems typically provide a tracer on the guide to track and locate the surgical tool.

All instruments in the operating room must be sterilized before use. The guide is usually made of metal and can be sterilized by high-temperature sterilization. However, tracers, especially optical tracers, are generally not amenable to high temperature sterilization. Thus, prior to autoclaving, the tracer needs to be removed from the guide for separate sterilization and reinstalled on the guide prior to surgery.

Therefore, there is a need for a quick-mount interface that enables quick installation and removal of the tracer.

Disclosure of Invention

In order to solve the above technical problems, the present invention provides a guide having a quick-mount locking device, comprising:

a guide part having a hollow structure penetrating along an axis;

one end of the connecting part is connected with the guide part, and the other end of the connecting part is provided with an interface;

the quick mounting locking device is arranged on the connecting part;

and the tracer is arranged on the quick-mounting locking device.

Further, the tracer has a connecting rod;

quick installation locking device includes:

one end of the strut is provided with a partial cavity, and one end of the connecting rod is inserted into the cavity;

and the locking device is arranged outside the supporting rod and used for locking the connecting rod.

Further, the front end of the connecting rod is provided with an annular groove, and the locking device comprises:

the movable circular ring is movably sleeved outside the supporting rod;

the supporting rod is provided with a plurality of round holes along the circumferential direction, and the round balls are movably embedded between the movable ring and the round holes of the supporting rod;

when the movable circular ring moves towards one end of the support rod, the plurality of round beads partially protrude out of the inner wall of the round hole and are embedded into the annular groove of the connecting rod;

when the movable circular ring moves towards the other end of the supporting rod, the plurality of round beads are separated from the annular groove of the connecting rod.

Furthermore, a support rod shallow groove is formed in the surface of the support rod, a support rod opening is formed in one end of the support rod shallow groove, and the support rod opening is communicated with a cavity of the support rod;

the locking device also comprises a locking pin which is arranged between the movable circular ring and the support rod;

when the ball is partially embedded in the annular groove, the end part of the locking pin is inserted into the opening of the support rod and abuts against the end part of the connecting rod;

when the ball is separated from the annular groove, the end part of the locking pin is abutted against the support rod shallow groove.

Further, the movable ring includes a channel in which the locking pin is disposed;

and a pin hole is formed in one end of the channel, the front end of the locking pin is inserted into the pin hole, and a spring is arranged between the tail end of the locking pin and the tail end of the channel.

Further, install locking device's tip fast and be provided with the location arch, the tracer is provided with a plurality of constant head tanks, installs as the tracer install fast install locking device is last, the constant head tank with the protruding cooperation in location.

Further, the guide part is provided with a side opening on one side along the axial direction, wherein the opening width of the side opening is larger than the diameter of the guide pin.

Further, the guide device further comprises a sleeve detachably arranged in the hollow structure of the guide part, and the sleeve is used for guiding the guide pin.

Further, the sleeve comprises a plurality of sleeves, the cross sections of the sleeves are the same in external shape, the internal diameters of the internal cylindrical hollow structures are different, and the lengths of the sleeves are different.

According to another aspect of the present invention, there is provided a surgical robot comprising a robotic arm and a guide that interfaces with the robotic arm.

The quick-mounting locking device can realize quick insertion and locking and shorten the operation preparation time. In addition, through set up location arch and constant head tank respectively at tracer and quick installation locking device's both ends, can realize accurate grafting.

In addition, the side opening is arranged on the guide device, so that the guide device can be conveniently separated from the side opening of the guide device after the guide pin is arranged, the mechanical arm is prevented from moving in a large range to complete the separation of the guide pin, and the operation time is saved.

In addition, the guide of the present invention may include a set of sleeves having different lengths and inner diameters so as to be suitable for guiding leads of different types. But the cross section of a plurality of sleeves is the same in appearance, can match the installation with the guide part to can satisfy multiple application scene demand.

In addition to the technical problems addressed by the present invention, the technical features constituting the technical solutions and the advantages brought by the technical features of the technical solutions described above, other technical features of the present invention and the advantages brought by the technical features of the technical solutions will be further explained with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic view of a tracer according to an embodiment of the invention attached to a guide by a quick-mount locking device.

Fig. 2 is an exploded view of the components of the structure shown in fig. 1.

Fig. 3 is an exploded view of the components of the quick-install locking device of the embodiment of the present invention.

FIG. 4 is a cross-sectional view of the assembled construction of the quick-install locking device of the embodiment of the present invention.

Fig. 5 is a schematic cross-sectional view of a dynamic ring according to an embodiment of the present invention.

Fig. 6 is a schematic structural view of the side-port guide of the embodiment of the present invention.

Fig. 7 is a schematic structural view of a side-port guide fitting sleeve of the embodiment of the present invention.

In the figure:

1. a connecting rod; 2. an annular groove; 3. a first conical surface; 4. positioning a groove; 5. a tracer; 6. a support; 7. an optical ball; 8. a strut; 9. a first spring; 10. a circular ring is determined; 11. a movable circular ring; 12. a channel; 13. tightening the screw; 14. a second spring; 15. a locking pin; 16. a ball; 17. a circular hole; 18. positioning the projection; 19. a second tapered surface; 20. the supporting rod is opened; 21. a cavity; 22. a strut shallow slot; 23. a pin hole; 24. a first circular hole of the movable circular ring; 25. a second circular hole of the movable circular ring; 26. a disc; 27. a third round hole of the movable ring; 28. a fourth round hole of the movable ring; 29. quickly installing a locking device; 30. a guide; 31. a guide portion; 32. opening the side; 33. a connecting portion; 34. a tracer interface; 35. an interface; 36. guiding a needle; 37. a sleeve; 38. a blocking portion; 39. a serration; 40. and inserting the hole.

Detailed Description

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present invention, unless otherwise specified, "plurality", "plural groups" means two or more, and "several", "several groups" means one or more.

The application provides a director with install locking device fast includes: a guide part having a hollow structure penetrating along an axis; one end of the connecting part is connected with the guide part, and the other end of the connecting part is provided with an interface; the quick mounting locking device is arranged on the connecting part; and the tracer is arranged on the quick-mounting locking device.

In a surgical robot system, a position tracking of a guide at the front end of a robot arm is required so that the guide can move along a planned path and perform positioning. By providing the tracer on the guide, the positional relationship of the tracer with the guide portion and the sleeve is fixed and known, so that the positioning accuracy is higher. The utility model provides a guider through setting up quick installation locking device, realizes quick installation and locking between tracer and the direction, has practiced thrift operation time.

The tracer in the present application comprises a connecting rod; quick installation locking device includes: one end of the strut is provided with a partial cavity, and one end of the connecting rod is inserted into the cavity; and the locking device is arranged outside the supporting rod and used for locking the connecting rod.

The utility model provides an install locking device fast adopts connecting rod and branch complex mode, and the connecting rod inserts in the cavity of branch, locks through locking device. Rapid mounting and dismounting of the tracer on the guide can thus be carried out. Of course, those skilled in the art will appreciate that the quick-mount locking device of the present application can also be used in other application scenarios requiring quick connection, not only to mount tracers. For example, the quick-mounting locking device can be mounted at the front end of the mechanical arm, and the other end of the connecting rod can be connected with a surgical tool, so that the surgical tool can be quickly connected and locked at the front end of the mechanical arm.

Further, the locking device can realize the locking of the connecting rod in various ways. For example, the locking device and the connecting rod are locked in a clamping manner, a threaded connection manner, a magnetic attraction manner and the like.

Preferably, the front end of the connecting rod is provided with an annular groove, and the locking device includes: the movable circular ring is movably sleeved outside the supporting rod; the supporting rod is provided with a plurality of round holes along the circumferential direction, and the round balls are movably embedded between the movable ring and the round holes of the supporting rod; when the movable circular ring moves towards one end of the support rod, the plurality of round beads partially protrude out of the inner wall of the round hole and are embedded into the annular groove of the connecting rod; when the movable circular ring moves towards the other end of the supporting rod, the plurality of round beads are separated from the annular groove of the connecting rod.

This embodiment adopts the mode that ball and annular groove joined in marriage, drives the ball through moving the ring and removes, realizes the gomphosis of ball and annular groove and breaks away from. For example, three round holes are uniformly formed in the circumferential direction of the support rod, the round holes are communicated with the cavity of the support rod, and each round hole is correspondingly provided with a round ball. The diameter of the circular hole is smaller than the diameter of the ball, but it is possible to make part of the surface of the ball protrude from the inner wall of the circular hole. After the connecting rod is inserted into the cavity of the support rod, the position of the annular groove corresponds to the position of the opening. Preferably, the inner wall of the movable ring or the outer wall of the support rod is partially provided with an inclined surface or a conical surface, when the movable ring moves relative to the support rod, the ball moves along the inclined surface, and the inclined surface guides the ball to be embedded into or separated from the round hole. In other words, between the inner wall of the movable ring for accommodating the ball and the outer wall of the strut, due to the existence of the partial inclined surface or the conical surface, a part of the space distance is equal to or slightly larger than the diameter of the ball, and the other part of the space distance is smaller than the diameter of the ball. Therefore, when the ball is located at a space part with a small distance, the ball can only be partially embedded into the round hole so as to be clamped in the annular groove of the connecting rod, and when the ball is located at a space part with a large distance, the ball can be separated from the round hole so as to unlock the connecting rod.

Further, a spring may be provided at one end of the movable ring to provide a pre-thrust or pre-pressure to the movable ring. Preferably, set up the spring at the tail end of branch, provide thrust in advance for moving the ring, under the effect of thrust in advance of spring, the ball is compressed tightly in the round hole, locking connecting rod. Specifically, the quick-install locking device may include: the fixed circular ring is arranged at the other end of the supporting rod; and the spring is arranged between the movable circular ring and the fixed circular ring. The fixed circular ring is arranged at the tail end of the supporting rod, namely the other end opposite to the insertion end of the connecting rod. The spring is sleeved on the supporting rod and positioned between the movable circular ring and the fixed circular ring to provide pre-thrust for the movable circular ring. The fixed ring is arranged at the tail end of the supporting rod and can also be used for limiting the moving range of the movable ring and preventing the movable ring from being separated from the tail end of the supporting rod.

Preferably, the locking device further comprises a locking pin for enhancing the locking effect. Preferably, the surface of the strut is provided with a strut shallow groove which does not penetrate the inner wall of the strut cavity portion and has a predetermined length. One end of the support rod shallow groove is provided with a support rod opening which is communicated with the cavity of the support rod. The locking pin is movable in the shallow slot of the strut and is insertable into the cavity of the strut through the strut opening against the end of the connecting rod.

Specifically, the locking pin is arranged between the movable circular ring and the support rod, is arranged perpendicular to the support rod, and can be vertically inserted into the opening of the support rod. The locking pin is axially displaceable along the rod with the movable ring and is thus displaced relative to the rod surface. The strut shallow groove is provided with a preset length along the axial direction of the strut, when the movable circular ring moving ball is partially embedded in the annular groove, the end part of the locking pin is inserted into the strut opening and abuts against the end part of the connecting rod, and the strut shallow groove is in a locking state; when the movable circular ring moves the ball to be separated from the annular groove, the end part of the locking pin is abutted against the support rod shallow groove, separated from the connecting rod and in an unlocking state. The locking pin is used with the ball cooperation, has not only strengthened the locking effect, has also injectd the position that the connecting rod inserted and locked simultaneously, has improved the precision of connecting rod locking position.

Preferably, the moving ring comprises a channel in which the locking pin is arranged. Can set up three passageway, set up a locking round pin in every passageway, the front end of passageway sets up the pinhole, and in the front end of locking round pin inserted the pinhole, the end of locking round pin with be provided with the spring between the passageway end, provide thrust in advance for the locking round pin. When the pin hole is aligned with the strut opening, the locking pin is inserted through the pin hole into the strut opening under the thrust of the spring, thereby locking the end of the connecting rod.

Preferably, the end of the connecting rod is provided with a ramp or tapered surface for guiding the locking pin along the ramp or tapered surface. Preferably, the transition between the strut opening and the strut shallow groove is also beveled to facilitate movement of the locking pin from the strut opening into the strut shallow groove.

Furthermore, the supporting rod also comprises a positioning bulge which is arranged at one end of the supporting rod. The other end of the connecting rod is provided with a positioning groove, and when one end of the connecting rod is inserted into the cavity of the supporting rod, the positioning groove is matched with the positioning bulge. Through setting up location arch and constant head tank, can the only mounted position who confirms the connecting rod, realize location and accurate installation between connecting rod and the branch. When the connecting rod is used to connect the tracer, the spatial positional relationship between the tracer and the tool must be accurate, and therefore the mounting position of the tracer must be accurate. In this application, use through locking device and positioning mechanism cooperation, can satisfy the accurate installation demand of spike ware, also realized quick plug mode installation simultaneously, greatly made things convenient for the use in the operation, shortened the operation time.

Preferably, a disc is arranged at one end of the support rod, an insertion hole is formed in the middle of the disc, and a plurality of positioning protrusions are arranged on the surface of the disc along the circumferential direction. The connecting rod is inserted into the hollow cavity of the strut through the insertion hole. The disc is arranged at the end part of the supporting rod, the diameter of the disc can be matched with that of the end part of the movable ring, and the disc can also play a role in preventing the ball from falling off.

Further, the other end of connecting rod is connected with the tracer, the tracer towards the surface of disc is provided with a plurality of constant head tanks, position and size with the protruding cooperation in location.

In this application, the tracer can include the support, is connected with connecting rod one end, and the optical indicator point setting of tracer is on the support. One side of the support, which is in butt joint with the support rod, is provided with a positioning groove.

In addition, the guide of the present invention may be provided with a side opening in one side in the axial direction, the opening width of the side opening being larger than the diameter of the guide pin.

The guide may further include a sleeve detachably disposed within the hollow structure of the guide portion, the sleeve for guiding the guide pin.

The sleeve is detachably fitted in the guide portion, and the outer shape of the sleeve matches the inner hollow structure shape of the guide portion. For example, the appearance of sleeve cross section can be circular, polygon etc. and the shape of the inside hollow structure of guide part cooperatees with it for the sleeve can insert the guide part, and suitable sleeve plug should be accomplished to the size cooperation of the two, but can not take place transversely to rock between assembly back sleeve and the guide part.

The inside cylindrical hollow structure who link up along the axis that has of sleeve, the diameter of guide pin and telescopic cylindrical hollow structure's internal diameter cooperate, and the size cooperation of the two should be accomplished to be fit for the guide pin plug, but can not take place radially to rock between guide pin and the sleeve after inserting. In this application, the sleeve does not set up the side opening, and closely cooperates with the guide pin, can more accurately guide the guide pin setting up the in-process.

After the guide pin is inserted into the sleeve, the surgical robot moves the guide device to a preset position according to a planned path, and an operator can drive the guide pin into the preset position by using an electric drill under the guidance of the guide part. Since the surgical robot can accurately position the position of the guide, the guide pin can be accurately arranged at a preset position in an auxiliary guiding mode.

After one guide pin is set, the guide portion needs to be separated from the guide pin, so that the subsequent operation is performed. The guide part of this application is owing to be provided with the side opening, consequently need not to operate surgical robot's arm motion, can accomplish the operation that the guide pin breaks away from, has practiced thrift the operation time. Specifically, having set up the guide pin after, having pulled out the sleeve from the tail end direction of guide pin, the guide pin was located the guide part this moment, and the side of guide part has the side opening, and the guide pin can directly break away from the guide part from side opening department, very convenient saving time.

A guide with a side opening is particularly suitable for use in a scenario where multiple leads are placed in series in a local area. If the next guide pin needs to be continuously arranged, the sleeve needs to be inserted into the guide part, then the guide pin is inserted into the sleeve, the surgical robot is started to move the guide device to the preset position, and then the operation of arranging the guide pin and separating from the guide pin is repeated. Because the plurality of guide pins are arranged in the local area, the mechanical arm of the surgical robot can finish positioning only by finely adjusting the position at each time, and the operation of needle release is not required to be executed firstly like the traditional mode, and then the mechanical arm moves to a preset position again, so the operation time is saved.

Preferably, the guide may include a plurality of sleeves having the same outer shape in cross section so as to be inserted into the guide portion. The internal cylindrical hollow structures of the plurality of sleeves have different internal diameters and different lengths. The length and the inner diameter of the sleeve are different, so that the guide pin is suitable for guiding guide pins of different models, and the requirements of various application scenes can be met.

Preferably, the hollow structure of the guide part is cylindrical, the sleeve is cylindrical, and the inner diameter of the guide part is matched with the outer diameter of the sleeve. More preferably, the external shape of the cross section of the sleeve can be a polygon, and the hollow structure of the guide part is also the same polygon, so that the sleeve and the guide part can not rotate relatively after being inserted into the guide part, and the stability is better when the guide pin is arranged by a hand drill.

Preferably, one end of the sleeve is provided with a blocking portion. When the sleeve is inserted into the guide part, the blocking part is abutted against the end part of the guide part to play a role in positioning. Preferably, the outer surface of the blocking part is provided with a pattern or a raised structure, so that the friction force is increased, and the sleeve can be conveniently inserted and pulled out.

Preferably, the other end of the sleeve is provided with a serration. When setting up the guide pin, the sleeve supports and leans on the bone surface, and the sawtooth part can increase the frictional force of sleeve and bone surface, is difficult to take place offset.

Alternatively, the connecting portion may be fixed to the guide portion or detachably connected to the guide portion. The detachable connection mode can be convenient for replacing the guide part.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

As shown in fig. 1, the tracer 5 is connected to the guide 30 by a quick-fit locking device 29. One end of the quick-mounting locking device 29 is fixedly connected with the guider 30, and the other end is quickly inserted into the tracer 5.

As shown in fig. 2-4, in this embodiment, the tracer 5 includes a holder 6 and optical balls 7, and the tracer includes 4 optical balls 7. The bracket 6 is connected to one end of the connecting rod 1. The end of inserting of connecting rod 1 is provided with first conical surface 3, and the end of inserting of connecting rod 1 still is provided with recess 2, is the annular groove. When attaching the tracer 5, the connecting rod 1 needs to be inserted into the cavity 21 of the strut 8. The trailing end of the strut 8 is attached to one side of the guide 30.

In this embodiment, the specific structure of the quick-mounting locking device 29 is shown in fig. 3 and 4, and includes a support rod 8, a disc 26 is disposed at the front end of the support rod 8, an insertion hole 40 is disposed at the center of the disc, a cavity 21 is disposed in the support rod 8, and the connecting rod 1 is inserted into the cavity 21 through the insertion hole 40. A plurality of positioning projections 18 are provided on the outer surface of the disc 26. The positioning projection 18 cooperates with a positioning slot 4 provided on the tracer 5.

The movable circular ring 11 is sleeved outside the supporting rod 8, and the fixed circular ring 10 is connected to the tail end of the supporting rod 8. The first spring 9 is sleeved on the support rod 8 and is positioned between the fixed circular ring 10 and the movable circular ring 11 to provide pre-thrust for the movable circular ring 11.

Three round holes 17 are uniformly formed in the circumferential direction of the support rod 8, the round holes 17 are communicated with the support rod cavity 21, and each round hole 17 is correspondingly provided with a round ball 16. The ball 16 is arranged between the support rod 8 and the movable ring 11. The diameter of round hole 17 is less than the diameter of ball 16, and the partial surface of ball 16 can stand out the inner wall of round hole 17, and the embedding is in the recess 2 of connecting rod 1, locks connecting rod 1, and ball 16 also can break away from recess 2 of connecting rod 1, unblock connecting rod 1.

As shown in fig. 5, the movable ring 11 is provided with a movable ring second circular hole 25, a movable ring third circular hole 27, a second tapered surface 19, a movable ring fourth circular hole 28 and a movable ring first circular hole 24 which are communicated with each other in sequence from left to right, so that a through space is formed in the middle of the movable ring 11. The strut 8 is assembled on the fourth round hole 28 of the movable ring. The right side of the movable ring fourth round hole 28 of the movable ring 11 is provided with a movable ring first round hole 24 which is sleeved outside the fixed ring 11. On the left side of the moving ring fourth circular hole 28, the moving ring third circular hole 27 and the second tapered surface 19 are used for accommodating the ball 16. The diameter of the second circular hole 25 of the movable circular ring is matched with the diameter of the disc 26, and the disc 26 can be accommodated.

The outside of the movable circular ring 11 is provided with three channels 12 which are evenly distributed along the circumferential direction of the movable circular ring 11. A locking pin 15 is arranged in each channel 12, a pin hole 23 is formed in the front end of each channel 12, the front end of each locking pin 15 is inserted into the pin hole 23, and a second spring 14 is arranged at the tail end of each locking pin 15 and provides pre-thrust for the locking pin 15. A set screw 13 is provided at the end of the channel 12.

As shown in fig. 2-4, the surface of the strut 8 is provided with a strut shallow groove 22, the end of the strut shallow groove 22 is provided with a strut opening 20, and the strut shallow groove 22 is connected with the strut opening 20 through a slope. In this embodiment, three sets of shallow strut grooves 22 and strut openings 20 are provided, corresponding to three locking pins, respectively. The locking pin 15 is arranged between the movable circular ring 11 and the support rod 8 and is arranged perpendicular to the support rod 8, and the locking pin can move from the support rod shallow groove 22 to the support rod opening 20 and vertically inserted into the support rod opening 20 or can move from the support rod opening 20 along the inclined plane to the support rod shallow groove 22.

The working procedure of the quick-mounting locking device 29 will be described, taking as an example the mounting and the removal of the tracer 5:

when it is desired to install the tracer 5, the movable ring 11 is moved to the right, i.e. in the direction of the fixed ring 10, at which time the first spring 9 is compressed. The locking pin 15 exits the strut opening 20 along a ramp and enters the strut shallow groove 22, where the second spring 14 is compressed. The ball 16 is accommodated between the circular hole 17 and the third circular hole 27 of the movable ring, and the ball 16 does not protrude into the cavity 21 through the circular hole 17. The disc 26 is received in the second circular aperture 25 of the moving ring. At this time, there is no locking member in the cavity 21 of the strut 8, and the connecting rod 1 can be smoothly inserted into the cavity 21 through the insertion hole 40.

The connecting rod 1 is inserted into the state that the positioning lug 18 on the circular disc 26 is aligned and matched with the positioning groove 4 on the tracer 5, and the movable circular ring 11 is released. The movable ring 11 is moved leftward by the elastic force of the first spring 9. The locking pin 15 moves along the shallow rod groove 22 to the rod opening 20, and under the elastic force of the second spring 14, the locking pin is inserted into the rod opening 20 and abuts against the first tapered surface 3 at the front end of the connecting rod 1. The ball 16 is accommodated between the circular hole 17 and the second tapered surface 19, and a part of the surface of the ball 16 protrudes through the circular hole 17 into the cavity 21, and is inserted into the groove 2 of the connecting rod 1, thereby locking the connecting rod 1. The connecting rod 1 is locked and positioned in the cavity 21 of the strut 8.

When the tracer 5 needs to be taken down, the movable ring 11 moves rightwards, at the moment, the locking pin 15 and the ball 16 are separated from the connecting rod 1, and the connecting rod 1 can be smoothly taken out of the support rod 8.

Therefore, the quick-mounting locking device 29 of the present embodiment is easy to operate, and the insertion or removal of the connecting rod 1 can be smoothly completed only by shifting the ring 11 to the right. In addition, can carry out double locking through lock round pin 15 and ball 16, the location of cooperation location arch 18 and constant head tank 8 can make tracer 5 install stably, and the location is accurate.

As shown in fig. 6 and 7, the guide 30 of the present embodiment includes a guide portion 31 having a substantially cylindrical shape and a side opening 32. One end of the connecting portion 33 is connected to the guide portion 31, and the other end is provided with a mouthpiece 35. The interface 35 is for connection to the front end of the surgical robotic arm. In this embodiment, the connection portion 33 is provided with a tracer interface 34.

The sleeve 7 is inserted into the guide 31, and one end of the sleeve 37 is provided with a stopper 38 and the other end is provided with a serration 39. In this embodiment, the sleeve 37 has a cylindrical shape, and has a cylindrical hollow structure inside thereof, and the guide pin 36 is inserted into the sleeve 37.

In this embodiment, the specific process of setting the guide pin is as follows:

inserting the sleeve 37 into the guide 1, the stop 38 abutting against the end of the guide 1;

inserting the guide pin 36 into the sleeve 37 with the tip facing a predetermined set position;

the mechanical arm of the surgical robot moves the guide to a preset position, and at the moment, the setting operation of the guide pin 36 can be started;

after the guide pin 36 is set, the sleeve 37 is pulled out from the guide part 1;

the lead 36 is moved out of the position of the side opening 32 to complete the detachment from the guide part 31.

The side opening director of this embodiment can be connected at surgical robot's arm front end for accurate guide sets up the guide pin in the operation, and the guide pin sets up the completion back, can break away from the director from the side opening department of director, has avoided the arm to move on a large scale and has accomplished the work that the guide pin breaks away from, has practiced thrift operation time.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A guide with a quick-install locking device, comprising:

a guide part having a hollow structure penetrating along an axis;

the quick mounting locking device is arranged on the connecting part;

and the tracer is arranged on the quick-mounting locking device.

2. The guide with quick-install locking device of claim 1, wherein said tracer has a connecting rod;

quick installation locking device includes:

3. The guide with quick install locking device of claim 2, wherein the front end of the connecting rod is provided with an annular groove, the locking device comprising:

the movable circular ring is movably sleeved outside the supporting rod;

4. The guide with a quick install locking device of claim 3, wherein the surface of the strut is provided with a strut shallow groove, one end of the strut shallow groove is provided with a strut opening, and the strut opening is communicated with the cavity of the strut;

5. The guide with quick install locking device of claim 4, wherein said movable ring includes a channel, said locking pin being disposed in said channel;

6. The guide with quick install locking device of claim 1 wherein the end of the quick install locking device is provided with a locating boss and the tracer is provided with a plurality of locating slots which engage the locating boss when the tracer is installed on the quick install locking device.

7. The guide with quick install locking device of claim 1, wherein the guide part is provided with a side opening in one side along the axial direction, wherein the opening width of the side opening is larger than the diameter of the guide pin.

8. The guide with quick install locking device of claim 7, further comprising a sleeve detachably disposed in the hollow structure of the guide portion, the sleeve for guiding the guide pin.

9. The guide with quick install locking device of claim 7 comprising a plurality of sleeves having the same cross-sectional outer shape, different inner diameters of the inner cylindrical hollow structures, and different lengths.

10. A surgical robot comprising a robotic arm and a guide according to any one of claims 1 to 9, the guide being connected to the robotic arm by an interface.