CN114542562A - Coupling assembling, arm and surgical machine system - Google Patents
Coupling assembling, arm and surgical machine system Download PDFInfo
- Publication number
- CN114542562A CN114542562A CN202210312153.4A CN202210312153A CN114542562A CN 114542562 A CN114542562 A CN 114542562A CN 202210312153 A CN202210312153 A CN 202210312153A CN 114542562 A CN114542562 A CN 114542562A
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- Prior art keywords
- mounting bracket
- fastener
- boss
- connection
- arm
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- 230000008878 coupling Effects 0.000 title description 5
- 238000010168 coupling process Methods 0.000 title description 5
- 238000005859 coupling reaction Methods 0.000 title description 5
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 claims 1
- 230000000712 assembly Effects 0.000 abstract description 2
- 238000000429 assembly Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B13/00—Dowels or other devices fastened in walls or the like by inserting them in holes made therein for that purpose
- F16B13/04—Dowels or other devices fastened in walls or the like by inserting them in holes made therein for that purpose with parts gripping in the hole or behind the reverse side of the wall after inserting from the front
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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
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B1/00—Devices for securing together, or preventing relative movement between, constructional elements or machine parts
- F16B1/02—Means for securing elements of mechanisms after operation
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Robotics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a connecting assembly, wherein a first connecting part and a second connecting part are connected to connect different assemblies, the second connecting part is pressed onto a first fastening piece by a limiting support part, the second fastening piece is connected with a second mounting bracket and is connected onto the first fastening piece in a clamping manner by a clamping connecting part, and the first fastening piece is clamped by the second mounting bracket and the second fastening piece simultaneously by arranging the limiting support part and the clamping connecting part in a basically reverse arrangement structure, so that the quick connection of the first connecting part and the second connecting part is realized. The invention also provides a surgical machine system and an instrument arm.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a connecting assembly, an instrument arm and a surgical machine system.
Background
The surgical instruments of the surgical robot are arranged in the instrument box, the instrument box slides on a linear shaft structure of the instrument arm, the instrument arm is further provided with a plurality of arm pieces with multiple degrees of freedom, the tail ends of the arm pieces are connected with the linear shaft structure, and the connection stability of the tail ends of the arm pieces and the linear shaft structure has important influence on the working stability of the surgical instruments in the instrument box.
Disclosure of Invention
In view of this, the present invention provides a connecting assembly, a manipulator and a surgical robotic system, so as to achieve a quick connection between a linear shaft structure and an arm.
In order to achieve the purpose, the invention provides the following technical scheme:
a connection assembly comprising a first connection portion and a second connection portion, the first connection portion comprising a first mounting bracket and a first fastener that are removably connected, the second connection portion comprising a second mounting bracket and a second fastener that are removably connected;
the second mounting bracket is provided with a limiting support part in compression fit with the first fastener, the second fastener is provided with a clamping connection part in clamping fit with the first fastener, and the limiting support part and the clamping connection part are in a reverse arrangement structure in the mounting direction.
Preferably, in the above-described joint assembly, the first fastening member has a coupling boss, and the second mounting bracket has a mounting hole into which the coupling boss is fitted.
Preferably, in the above-mentioned connection assembly, the connection boss is an inclined boss whose insertion end is inclined inward, and the mounting hole is an inclined mounting hole;
the inclination boss and the inclined plane mounting hole are in tight fit with each other to form the limiting and supporting part.
Preferably, in the above-mentioned connecting assembly, the second mounting bracket is a cylindrical mounting bracket whose outer ring is provided with a connecting thread, and the second fastener is a locking sleeve in threaded connection with the cylindrical mounting bracket;
an annular pressing part is arranged on the first fastener, and an annular connecting part clamped on the annular pressing part extends inwards from the root of the locking sleeve.
Preferably, in the above-mentioned coupling assembling, it has the fool-proof boss to stretch out on the annular portion of compressing tightly, set up on the column installing support and prevent slow-witted recess, prevent that slow-proof boss falls into along the axial in preventing slow-witted recess.
Preferably, in the above-mentioned connecting assembly, a fastening screw for radially locking the cylindrical mounting bracket is further disposed on an outer wall surface of the locking sleeve.
Preferably, in the above-described connecting assembly, a connecting bolt for connecting the first mounting bracket and the first fastening member in the axial direction and a positioning pin for pre-positioning the mounting position of the first fastening member are disposed between the first mounting bracket and the first fastening member.
Preferably, in the above connection assembly, a wire passage is reserved inside the inclination boss.
The instrument arm is provided with an arm piece and a linear shaft structure for installing an instrument box, the connecting assembly is adopted between the arm piece and the linear shaft structure, the first installing support is a linear shaft connecting frame, and the second installing support is provided with a connecting interface for connecting the groove structure of the arm piece.
A surgical robot having an instrument arm system for performing a surgical operation, the instrument arm system having a instrument arm, the instrument arm being as described above.
The invention provides a connecting assembly, which comprises a first connecting part and a second connecting part, wherein the first connecting part comprises a first mounting bracket and a first fastener which are detachably connected; the second mounting bracket is provided with a limiting support part in compression fit with the first fastener, the second fastener is provided with a clamping connection part in clamping fit with the first fastener, and the limiting support part and the clamping connection part are in a reverse arrangement structure in the mounting direction. The first connecting portion and the second connecting portion are connected to conduct connection of different assemblies, the second connecting portion is pressed onto the first fastener through the limiting support portion, the second fastener is connected with the second mounting support and is connected onto the first fastener in a clamping mode through the clamping connecting portion, the limiting support portion and the clamping connecting portion are of basically reverse arrangement structures, the first fastener is clamped by the second mounting support and the second fastener simultaneously, and therefore quick connection of the first connecting portion and the second connecting portion is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is an exploded view of a connection assembly provided herein;
fig. 2 is a schematic cross-sectional structural view of a connection assembly provided in the present application.
Detailed Description
The invention discloses a connecting assembly, a mechanical arm and a surgical machine system, which realize the quick connection of a linear shaft structure and the arm.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, fig. 1 is an exploded view of a connection assembly provided herein; fig. 2 is a schematic cross-sectional structural view of a connection assembly provided in the present application.
The application provides a connecting assembly, which comprises a first connecting part and a second connecting part, wherein the first connecting part comprises a first mounting bracket 6 and a first fastener 3 which are detachably connected, and the second connecting part comprises a second mounting bracket 1 and a second fastener 4 which are detachably connected; the second mounting bracket 1 is provided with a limiting support part in compression fit with the first fastener 3, the second fastener 4 is provided with a clamping connection part in clamping fit with the first fastener 3, and the limiting support part and the clamping connection part are in a reverse arrangement structure in the mounting direction. First connecting portion and second connecting portion link to each other and carry out the connection of different subassemblies, the second connecting portion is compressed tightly to first fastener 3 by spacing supporting part, second fastener 4 is connected second installing support 1 in, clamp by clamping the connecting portion and be connected to first fastener 3 on, be basically reverse arrangement structure through with spacing supporting part and clamping the connecting portion for first fastener 3 is pressed from both sides tightly by second installing support 1 and second fastener 4 simultaneously, and then has realized the high-speed joint of first connecting portion and second connecting portion.
Specifically, the connection assembly that this application provided is used for the arm piece of arm and the quick connection of sharp axle construction, and first installing support 6 is sharp axle link 6, and second installing support 1 is used for connecting the arm piece, adapts to the structure of arm piece, adopts the recess interface structure, and correspondingly, second installing support 1 is the column installing support structure.
Further, the connecting boss 31 is an inclination boss, the inclination boss is an inclination boss with an insertion end inclined inwards, and correspondingly, the mounting hole is an inclined plane mounting hole; when the inclination boss and the inclined plane mounting hole are mounted, the inclined plane structure has a self-pressing function, and a limiting support part is enclosed by the compression fit between the connecting boss and the second mounting.
By utilizing the columnar mounting bracket structure of the second mounting bracket 1, the outer ring of the columnar mounting bracket is provided with connecting threads, and correspondingly, the second fastener 4 is provided with a locking sleeve 4 structure in threaded connection with the columnar mounting bracket.
In the process of screwing the locking sleeve 4 and the columnar mounting bracket through threads, the first fastening piece 3 is pressed inside the columnar mounting bracket, the annular pressing part 33 is arranged on the first fastening piece 3, the annular connecting part 41 extends inwards from the root part of the locking sleeve 4, the annular connecting part 41 is clamped on the annular pressing part 33, and the first connecting part and the second connecting part are connected into a whole through the connecting threads and the annular connecting part 41 in the process of screwing the locking sleeve 4.
Of course, the second fastening piece and the second mounting bracket can also adopt a claw structure, the claw can extend out of the second mounting bracket, and the annular pressing part corresponding to the first fastening piece is prepared into a clamping ring or a clamping table matched with the claw.
In an embodiment of the present disclosure, the annular pressing portion 33 extends to form a fool-proof boss 32, the columnar mounting bracket is provided with a fool-proof groove 11, and the fool-proof boss 32 axially falls into the fool-proof groove 11. Columnar installing support and locking sleeve 4 adopt the helicitic texture, and in order to avoid the two in-process of screwing, drag the rotation of columnar installing support, lead to the damage of its inside line of walking, press down portion 41 and columnar installing support at the annular and pack into the end and establish respectively and prevent slow-witted platform 32 and prevent slow-witted recess 11, by the two circumference spacing, only carry out the axial through rotatory locking sleeve and compress tightly.
Through preventing slow-witted structure, to arm spare and the connection of sharp axle construction, the circuit of the two inside can not distort tensile along with the rotation of locking sleeve 4 after the wiring, has guaranteed circuit safety. Meanwhile, in order to meet the wiring requirements of the arm piece and the linear shaft structure, the wire passing channel 34 is formed in the connecting boss 3, and a containing space for the circuit is reserved, so that the circuit can be conveniently coiled and hidden.
Further, a fastening screw 2 for radially locking the cylindrical mounting bracket is arranged on the outer wall surface of the locking sleeve 4. After the locking sleeve 4 and the columnar mounting support are installed in place, the columnar mounting support is radially compressed through the fastening screws 2, secondary positioning is achieved, looseness of the locking sleeve 4 under long-term working conditions is avoided, and equipment safety is guaranteed.
In the present application, a connecting bolt 7 connecting the first mounting bracket 6 and the first fastening member 3 in the axial direction, and a positioning pin 5 pre-positioning the mounting position of the first fastening member 3 are disposed therebetween. First installing support 6 and first fastener 3 are detachable construction, second installing support 1 and second fastener 4 are detachable construction, when carrying out arm spare and sharp axle structural connection, after the wiring is accomplished, hide the line crossing passageway 34 of unnecessary circuit in connecting boss 3, connect boss 3 and install first installing support 6 at first, on the sharp axle installing support promptly, locking sleeve 4 is installed by its annular connecting portion 41 simultaneously between connecting boss 3 and sharp axle connecting support this moment, for guaranteeing to connect the location accuracy of boss 3 on sharp axle installing support, set up locating pin 5 and carry out the prepositioning to the two, later through connecting bolt 7 with the two locking as an organic whole.
Then, the cylindrical mounting support is installed, when the cylindrical mounting support is not tightly pressed with the connecting boss 3, the arm piece and the linear shaft structure are adjusted through rotating the locking sleeve 4, the fool-proof structure is installed in place, and then the cylindrical mounting support and the connecting boss are locked and connected through rotating the locking sleeve 4.
Based on the connection assembly provided in the above embodiment, the application also provides an instrument arm, which has an arm member and a linear shaft structure for mounting an instrument box, and the arm member and the linear shaft structure are connected by using the connection assembly provided in the above embodiment.
Because the connecting assembly of the above embodiment is adopted in the instrument arm, please refer to the above embodiment for the beneficial effects of the instrument arm caused by the connecting assembly.
Based on the instrument arm, the application also provides a surgical robot system which is provided with an instrument arm system for performing surgical operation, wherein the instrument arm system is provided with the instrument arm, and the instrument arm on the surgical robot is the instrument arm.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A connecting assembly is characterized by comprising a first connecting part and a second connecting part, wherein the first connecting part comprises a first mounting bracket and a first fastener which are detachably connected, and the second connecting part comprises a second mounting bracket and a second fastener which are detachably connected;
the second mounting bracket is provided with a limiting support part in compression fit with the first fastener, the second fastener is provided with a clamping connection part in clamping fit with the first fastener, and the limiting support part and the clamping connection part are in a reverse arrangement structure in the mounting direction.
2. The connection assembly according to claim 1, wherein the first fastener has a connection boss, and the second mounting bracket has a mounting hole that is in plug-fit engagement with the connection boss.
3. The connection assembly of claim 2, wherein the connection boss is a tapered boss with an insertion end inclined inward, and the mounting hole is a beveled mounting hole;
the inclination boss and the inclined plane mounting hole are in tight fit with each other to form the limiting and supporting part.
4. The connecting assembly according to any one of claims 2 to 3, wherein the second mounting bracket is a cylindrical mounting bracket provided with connecting threads on an outer ring, and the second fastening member is a locking sleeve in threaded connection with the cylindrical mounting bracket;
an annular pressing part is arranged on the first fastener, and an annular connecting part clamped on the annular pressing part extends inwards from the root of the locking sleeve.
5. The connecting assembly of claim 4, wherein a fool-proof boss extends from the annular pressing portion, a fool-proof groove is formed in the cylindrical mounting bracket, and the fool-proof boss axially falls into the fool-proof groove.
6. The connection assembly of claim 5, wherein the outer wall surface of the locking sleeve is further provided with a fastening screw for radially locking the cylindrical mounting bracket.
7. The connecting assembly according to claim 6, wherein a connecting bolt for connecting the first mounting bracket and the first fastening member in an axial direction and a positioning pin for pre-positioning a mounting position of the first fastening member are disposed between the first mounting bracket and the first fastening member.
8. The connection assembly of claim 7, wherein a wire passage is reserved inside the slope boss.
9. An instrument arm having an arm member and a linear shaft structure for mounting an instrument box, wherein the arm member and the linear shaft structure are connected by a connecting assembly according to any one of claims 1 to 8, the first mounting bracket is a linear shaft connecting bracket, and the second mounting bracket is provided with a connecting interface for connecting with a groove structure of the arm member.
10. A surgical robotic system having an instrument arm system for performing a surgical procedure, the instrument arm system having an instrument arm, wherein the instrument arm is the instrument arm of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210312153.4A CN114542562A (en) | 2022-03-28 | 2022-03-28 | Coupling assembling, arm and surgical machine system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210312153.4A CN114542562A (en) | 2022-03-28 | 2022-03-28 | Coupling assembling, arm and surgical machine system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114542562A true CN114542562A (en) | 2022-05-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210312153.4A Pending CN114542562A (en) | 2022-03-28 | 2022-03-28 | Coupling assembling, arm and surgical machine system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114542562A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115068112A (en) * | 2022-08-23 | 2022-09-20 | 北京威高智慧科技有限公司 | Power installation device, power device and surgical robot |
-
2022
- 2022-03-28 CN CN202210312153.4A patent/CN114542562A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115068112A (en) * | 2022-08-23 | 2022-09-20 | 北京威高智慧科技有限公司 | Power installation device, power device and surgical robot |
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