CN114869473A - Surgical robot and end tool for surgical robot - Google Patents

Abstract

The present invention relates to a surgical robot and a tip tool for the surgical robot. Wherein the end tool comprises a fixed base, a rotating base and a first locking piece. Wherein the fixing seat is arranged on the mobile platform so as to be connected with the surgical robot through the mobile platform and the quick-release base. The rotating seat is rotatably connected with the fixed seat and provided with at least two clamping pieces, the at least two clamping pieces are arranged at intervals around the rotating axis of the rotating seat, and the clamping pieces are used for clamping surgical instruments. The fixing base is connected with the rotating seat through the first locking piece, and the first locking piece has a locking state for limiting the relative rotation of the fixing base and the rotating seat and an unlocking state for enabling the fixing base and the rotating seat to rotate relatively. The end tool can simultaneously fix surgical instruments with various different functions, can realize quick change of different functions when in use, avoids frequently disassembling and assembling the end tool, and improves the operation efficiency and safety.

Description

Surgical robot and end tool for surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical robot and a tail end tool for the surgical robot.

Background

The neurosurgical robot is mainly used for brain surgery, biopsy, fixed-point stimulation, electrode measurement, cyst removal or hematoma evacuation and other operations. The neurosurgical robot can shorten the operation time on the basis of improving the operation precision and improve the operation success rate, so the neurosurgical robot is more and more widely applied.

The mechanical arm and the end tool of the existing neurosurgical robot generally realize fixation between two components through a plurality of threaded connections. In addition, the existing neurosurgical robot has a single function at the tail end, but in clinical operation, a plurality of operations including craniotomy, puncture needle insertion, electrode insertion and the like are often required to be completed through the neurosurgical robot. To address this need, it is common for the neurosurgical robot to replace the end tool after one operation has been completed before another operation can be performed. However, the requirement for sterility of the surgical environment in the operation is high, frequent replacement of the end tool not only reduces the working precision of the end tool, but also needs multiple times of calibration and positioning in the operation process, thereby greatly increasing the operation of a doctor, being not beneficial to efficient operation, and increasing the risk of infection in the operation of a patient.

Disclosure of Invention

Therefore, there is a need for a surgical robot and a distal end tool for the surgical robot, wherein the distal end tool can simultaneously fix a plurality of surgical instruments with different functions, and can realize rapid change of different functions when in use, thereby avoiding frequent disassembly and assembly of the distal end tool and improving the surgical efficiency and safety.

In one aspect, the present application provides an end tool for a surgical robot, comprising:

the fixing seat is used for being connected with a surgical robot;

the rotary seat is rotationally connected with the fixed seat, the rotary seat is provided with at least two clamping pieces, the at least two clamping pieces are arranged at intervals around the rotating axis of the rotary seat, and the clamping pieces are used for clamping surgical instruments; and the number of the first and second groups,

the first locking piece is used for connecting the fixed seat and the rotating seat, and the first locking piece has a locking state for limiting the relative rotation of the fixed seat and the rotating seat and an unlocking state for enabling the fixed seat and the rotating seat to rotate relatively.

The technical solution of the present application is further described below:

in one embodiment, the end tool further comprises a bearing, one of the fixed base and the rotating base is connected with an outer ring of the bearing, and the other of the fixed base and the rotating base is connected with an inner ring of the bearing.

In one embodiment, one of the fixed seat and the rotating seat is provided with a positioning groove, and the other is provided with a positioning bulge, and when the rotating seat rotates to enable any clamping piece to enter a working station, the positioning bulge is embedded into the positioning groove.

In one embodiment, the fixing base is provided with a receiving groove, at least a part of the rotating base is arranged in the receiving groove in a penetrating manner, the fixing base is further provided with a first threaded hole communicated with the receiving groove, the first locking piece is in threaded fit with the first threaded hole, the first locking piece is abutted to the rotating base in the locking state, and the first locking piece is separated from the rotating base in the loosening state.

In one embodiment, the clamping piece comprises a first clamping portion and a second clamping portion, one end of the first clamping portion is rotatably connected with one end of the second clamping portion, and the other end of the first clamping portion is detachably connected with the other end of the second clamping portion through a second locking piece.

In one embodiment, the end tool further comprises a quick release base comprising:

the connecting seat comprises a first end used for being connected with the surgical robot and a second end far away from the surgical robot, and the connecting seat is provided with a rack extending along the direction from the first end to the second end;

the frame body is detachably sleeved on the connecting seat and is used for being connected with the fixed seat;

the shifting piece is rotatably arranged on the frame body and provided with a separation position and a clamping position relative to the rack, and when the shifting piece is at the separation position, the shifting piece is separated from the rack, and the frame body can move relative to the connecting seat; when the clamping position, the shifting piece is clamped with the rack to limit the relative movement of the frame body and the connecting seat.

In one embodiment, the connecting seat is provided with at least two racks, the frame body is provided with at least two shifting pieces, and the shifting pieces are matched with the racks in a one-to-one correspondence manner.

In one embodiment, the quick release base further comprises a reset member, the reset member is disposed on the shifting piece and/or the frame body, and the reset member is used for maintaining the shifting piece at the clamping position.

In one embodiment, the reset piece is a magnetic piece, the magnetic piece is arranged on one of the frame body and the shifting piece, and the magnetic piece can adsorb the other one of the frame body and the shifting piece to maintain the shifting piece at the clamping position; alternatively, the first and second electrodes may be,

the reset piece is a first elastic piece, one end of the first elastic piece is connected with the frame body, the other end of the first elastic piece is connected with the shifting piece, and the first elastic piece is used for maintaining the shifting piece at the clamping position under the action of elastic force.

In one embodiment, the rack comprises a plurality of latches, each latch comprises a clamping surface vertical to the direction from the first end to the second end and a slope inclined to the direction from the first end to the second end, and when the frame body is sleeved into the connecting seat from the second end to the first end, the pull piece is in sliding fit with the slope so as to rotate the pull piece to the separation position; when the frame body moves from the first end to the second end, the shifting piece rotates to the clamping position and enables the shifting piece to abut against the clamping surface.

In one embodiment, one of the frame body and the connecting seat is provided with a first guide rail, and the other of the frame body and the connecting seat is provided with a first sliding block which is in sliding fit with the first guide rail.

In one embodiment, the frame body defines a second threaded hole, and the quick release base further includes a third locking member, the third locking member is in threaded engagement with the second threaded hole and is used for limiting the relative movement between the frame body and the connecting seat.

In one embodiment, the frame body or the connecting seat is provided with a second elastic member, and after the frame body is sleeved in the connecting seat, one end of the second elastic member is connected with the frame body, the other end of the second elastic member is connected with the connecting seat, and the second elastic member is in a compressed state.

In one embodiment, the end tool further comprises a moving platform, and the fixed seat is movably arranged on the frame body through the moving platform.

In one embodiment, the mobile platform comprises:

the fixed table is connected with the frame body and provided with a second guide rail;

the lead screw is rotatably arranged on the fixed table;

the driving piece is connected with the lead screw and is used for driving the lead screw to rotate;

the second sliding block is in sliding fit with the second guide rail and in threaded fit with the lead screw, and the second sliding block is connected with the fixed seat.

In another aspect, the present application also provides a surgical robot including the above-described tip tool.

The surgical robot and the tail end tool for the surgical robot are provided with the rotatable rotating seat on the fixed seat, and at least two clamping pieces are arranged at intervals around the rotating axis of the rotating seat. Through making different surgical instruments of clamping piece clamping difference of difference, can make terminal instrument can carry out two kind at least operation operations to can realize the fast switch-over between different operation functions through rotatory roating seat, avoid needing dismouting surgical instruments again just can realize the problem that operation function switches, also avoid dismouting surgical instruments positioning accuracy reduction problem that leads to again, save operation time, reduce the risk that the patient infects in the art.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of an end tool for a surgical robot according to an embodiment;

FIG. 2 is a schematic view of the end tool shown in FIG. 1 with the quick release base removed;

FIG. 3 is an exploded view of the configuration of an end tool for a surgical robot according to one embodiment;

FIG. 4 is a schematic structural diagram of a fixing base according to an embodiment;

FIG. 5 is a schematic structural view of the fixing base shown in FIG. 4 from another perspective;

FIG. 6 is a schematic structural diagram of a quick release base according to an embodiment;

FIG. 7 is a schematic view of the connecting seat of the quick release base shown in FIG. 6;

FIG. 8 is a schematic structural view of the connecting socket shown in FIG. 7 at another viewing angle;

FIG. 9 is a schematic structural diagram of a frame body of the quick release base shown in FIG. 6;

FIG. 10 is a block diagram of a mobile platform according to an embodiment;

FIG. 11 is a schematic view of a clip according to an embodiment;

FIG. 12 is a schematic view of an embodiment of a holder bone drill;

FIG. 13 is a schematic structural view of a holder-holding spike assembly according to one embodiment;

FIG. 14 is a schematic structural view of a fixture clamping stimulation electrode according to an embodiment;

fig. 15 is a schematic structural view of a clamping member clamping a flexible probe according to an embodiment.

Description of reference numerals:

10. a quick-release base; 11. a connecting seat; 111. a rack; 112. a first guide rail; 113. a bevel; 114. a clamping surface; 12. a frame body; 121. a connecting plate; 122. a first slider; 123. a third locking member; 13. a shifting sheet; 14. a magnetic member; 15. a second elastic member; 20. a mobile platform; 21. a fixed table; 211. a second guide rail; 212. a lead screw; 213. a drive member; 22. a second slider; 31. a fixed seat; 311. accommodating grooves; 312. positioning a groove; 313. a tapered groove; 314. a first threaded hole; 315. a plane; 32. assembling a clamping piece; 321. a first clamping portion; 322. a second clamping portion; 323. a slot; 324. a second locking member; 33. a rotating base; 330. a body; 331. positioning the projection; 332. a tapered bump; 34. a bearing; 35. a first locking member; 40. a surgical instrument; 41. drilling a bone; 42. a puncture assembly; 43. a stimulation electrode; 44. a flexible probe; 50. a robotic arm.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Referring to fig. 1 to 3, an embodiment of the present application provides an end tool for a surgical robot, which includes a fixed base 31, a rotating base 33, and a first locking member 35. Wherein the fixed seat 31 is connected with the surgical robot. The rotating seat 33 is rotatably connected with the fixed seat 31, the rotating seat 33 is provided with at least two clamping pieces 32, the at least two clamping pieces 32 are arranged around the rotating axis of the rotating seat 33 at intervals, and the clamping pieces 32 are used for clamping the surgical instrument 40. The first locking member 35, the first locking member 35 can be used for connecting the fixed seat 31 and the rotating seat 33, and the first locking member 35 has a locking state for limiting the relative rotation between the fixed seat 31 and the rotating seat 33 and an unlocking state for enabling the relative rotation between the fixed seat 31 and the rotating seat 33.

In clinical use, different clamping members 32 are used to clamp different surgical instruments 40, see fig. 12-15, wherein the surgical instruments 40 include, but are not limited to, bone drills 41, puncture assemblies 42, stimulation electrodes 43, and flexible probes 44, etc., so that the tip tool can provide surgical functions of drilling craniotomies, puncture punctures, insertion of stimulation electrodes 43, probing, etc. The surgical instrument 40 to be used is rotated to the working station by rotating the rotary seat 33, and then the relative movement of the rotary seat 33 and the fixed seat 31 can be limited by adjusting the first locking member 35 to the locking state, and at this time, the corresponding surgical operation can be implemented. When other surgical functions need to be switched, the first locking piece 35 is adjusted to be in an unlocking state, then the rotating seat 33 is rotated to rotate a new surgical instrument 40 to a working position, and the first locking piece 35 is locked again, so that the surgical functions can be switched quickly.

The end tool for the surgical robot is provided with a rotatable rotating seat 33 on the fixed seat 31, and at least two clamping pieces 32 are arranged at intervals around the rotating axis of the rotating seat 33. Through making different clamping piece 32 clamping different surgical instruments 40, can make terminal instrument can provide two kinds of at least operation functions to can realize the fast switch-over between different operation functions through rotatory roating seat 33, avoid needing dismouting surgical instruments 40 again just can realize the problem that operation function switches, also avoid dismouting surgical instruments 40 positioning accuracy that surgical instruments 40 leads to reduces the problem again, save operation time, reduced the risk that the patient infects in the art.

Referring to fig. 3, the end tool further includes a bearing 34, one of the fixed base 31 and the rotary base 33 is connected to an outer ring of the bearing 34, and the other of the fixed base 31 and the rotary base 33 is connected to an inner ring of the bearing 34. Referring to fig. 4, in the present embodiment, the fixing base 31 is provided with a receiving groove 311, the bearing 34 is disposed in the receiving groove 311, an outer ring of the bearing 34 is fixedly connected with a groove wall of the receiving groove 311, and a bottom of the rotating base 33 is inserted into an inner ring of the bearing 34, so that the fixing base 31 and the rotating base 33 are connected through the bearing 34, friction between the fixing base 31 and the rotating base 33 can be effectively reduced, and the rotating base 33 is easier to rotate.

Further, referring to fig. 3 and 4, the fixing base 31 is further provided with a positioning groove 312, the rotating base 33 is provided with a positioning protrusion 331, and when the rotating base 33 rotates to enable any clamping member 32 to enter the working station, the positioning protrusion 331 is embedded into the positioning groove 312. The working station refers to a station where surgical instrument 40 clamped by clamping unit 32 is located when surgical instrument 32 is used, and by rotating rotary seat 33, clamping units 32 clamping different surgical instruments 40 can be moved to the working station, so that different surgical functions can be realized. Through the cooperation of the positioning groove 312 and the positioning protrusion 331, when the rotary base 33 is rotated, any clamping member 32 can be accurately positioned at a working position, so that the situation that the surgical instrument 40 cannot be accurately moved to a predetermined working position due to over-rotation or under-rotation is avoided.

Preferably, the fixing base 31 is further provided with a tapered slot 313 on a side facing the positioning protrusion 331, the tapered slot 313 being communicated with the receiving slot 311, the rotating base 33 comprises a body 330 and a tapered protrusion 332 protruding from a side of the body 330, the tapered protrusion 332 extends toward the tapered slot 313 and is received in the tapered slot 313, thereby facilitating the assembly and positioning of the fixing base 31 and the rotating base 33. The positioning groove 312 is provided on a groove wall of the tapered groove 313, and the positioning groove 312 extends in the depth direction of the tapered groove 313. The positioning protrusion 331 protrudes from the tapered protrusion 332 of the rotary base 33, and the shape of the positioning protrusion 331 matches with the shape of the positioning slot 312. Further, the fixed seat 31 is provided with a plurality of positioning slots 312 at intervals around the rotation axis of the rotating seat 33, the plurality of positioning slots 312 are uniformly arranged on the groove wall of the tapered groove 313 along the circumferential direction, correspondingly, the rotating seat 33 is provided with the same number of positioning protrusions 331 as the positioning slots 312, and the plurality of positioning protrusions 331 are uniformly arranged on the tapered protrusion 332 along the circumferential direction, thereby improving the positioning effect. It should be understood that, in another embodiment, the positioning groove 312 may also be disposed on the rotating base 33, and the positioning protrusion 331 may also be disposed on the fixing base 31, so as to achieve the positioning function, which is not described herein.

In addition, the clamping member 32 is disposed on a side of the body 330 away from the tapered protrusion 332, preferably, the body 330 is a triangular plate-shaped structure, and the clamping member 32 is located at three top ends of the triangular body 330. Preferably, tapered tab 332 is located at the center of triangular body 330 and projects away from clip member 32.

Referring to fig. 3 to 5, at least a portion of the rotating seat 33 is inserted into the receiving slot 311, the fixing seat 31 is further provided with a first threaded hole 314 communicated with the receiving slot 311, the first locking member 35 is in threaded fit with the first threaded hole 314, and in the locking state, the first locking member 35 abuts against the portion of the rotating seat 33 inserted into the receiving slot, so that the rotating seat 33 and the fixing seat 31 are limited from rotating relatively, and the rotating seat 33 is locked. In the released state, the first locking member 35 is separated from the rotary seat 33, so that the rotary seat 33 can rotate relative to the fixed seat 31, thereby switching different surgical instruments 40.

Preferably, the first locking member 35 is a thumb screw. Furthermore, the outer periphery of the fixed seat 31 is provided with a plane 315, and the first threaded hole 314 is opened in the plane 315, so that when the thumb screw is locked, the plane 315 abuts against the thumb head of the thumb screw, thereby improving the locking stability of the fixed seat 31 and the rotary seat 33.

It should be noted that the first locking member 35 is not limited to the above-mentioned threaded locking manner, and in other embodiments, the fixed seat 31 and the rotating seat 33 may also be fixed in a snap-fit manner, for example, the fixed seat 31 is provided with an extending portion which is parallel to the body 330 of the rotating seat 33, the first locking member 35 is a U-shaped clamping member or a C-shaped clamping member, and the first locking member 35 clamps the extending portion of the fixed seat 31 and the body 330 of the rotating seat 33, so as to fix the fixed seat 31 and the rotating seat 33 relatively. Or, the elastic ejecting part is arranged in the conical convex block 332 of the rotating seat 33, the clamping groove is formed in the inner wall of the accommodating groove 311 of the fixed seat 31, and after the conical convex block 332 of the rotating seat 33 is inserted into the accommodating groove 311, the elastic ejecting part can extend into the clamping groove to realize the relative fixation of the fixed seat 31 and the rotating seat 33. Further, the fixing seat 31 is also provided with an external button extending into the clamping groove, and the elastic ejecting piece can be pushed to exit from the groove through the external button, so that the fixing seat 31 and the rotating seat 33 are unlocked mutually.

Referring to fig. 11, in the present embodiment, the holder 32 includes a first holding portion 321 and a second holding portion 322, one end of the first holding portion 321 is rotatably connected to one end of the second holding portion 322, and the other end of the first holding portion 321 is detachably connected to the other end of the second holding portion 322 through a second locking member 324, so that the surgical instrument 40 can be held and fixed by the first holding portion 321 and the second holding portion 322. Preferably, the first clamping portion 321 and the second clamping portion 322 are both provided with arc-shaped notches, so that the surgical instrument 40 can be better attached to the outer peripheral surface of the surgical instrument 40 when clamping the surgical instrument 40, and the clamping stability is improved. It should be noted that, when a plurality of clamping members 32 are respectively used for clamping different surgical instruments, the clamping members 32 may be additionally provided with corresponding matching structures according to the specific structure of the surgical instrument to be actually clamped, so as to achieve clamping.

With reference to fig. 1, the end tool of an embodiment further includes a quick-release base 10 and a moving platform 20, wherein the quick-release base 10 is used for connecting with a surgical robot, so as to realize quick mounting and dismounting of the end tool and the surgical robot. The moving platform 20 is connected with the quick-release base 10 and the fixed seat 31, and the moving platform 20 is used for driving the surgical instrument 40 to move during surgery to realize corresponding surgical functions, such as drilling craniotomy and electrode insertion.

Specifically, referring to fig. 6 to 9, the quick release base 10 of an embodiment includes a connecting base 11, a frame body 12, and a pulling piece 13. Wherein the connecting base 11 comprises a first end for connecting with the surgical robot and a second end far away from the surgical robot, and the connecting base 11 is provided with a rack 111 extending along the direction from the first end to the second end. The frame body 12 is detachably sleeved on the connecting seat 11, and the frame body 12 is connected with the fixing seat 31 through the moving platform 20. The shifting piece 13 is rotatably arranged on the frame body 12, the shifting piece 13 is provided with a separation position and a clamping position relative to the rack 111, and when the clamping position is adopted, the shifting piece 13 is clamped with the rack 111 to limit the relative movement of the frame body 12 and the connecting seat 11, so that the whole end tool is ensured to be fixed on the surgical robot. In the separated position, the pick 13 is separated from the rack 111, and the frame body 12 can be disengaged from the connecting seat 11, thereby achieving quick separation of the end tool from the surgical robot for cleaning and maintenance.

Preferably, the connecting seat 11 is provided with at least two racks 111, the frame body 12 is provided with at least two shifting pieces 13, and the shifting pieces 13 are correspondingly matched with the racks 111 one by one, for example, as shown in fig. 6, in the present embodiment, two opposite sides, for example, left and right sides (with the view angle shown in fig. 6) of the connecting seat 11 are provided with the racks 111. Correspondingly, two opposite sides of the frame body 12 are respectively provided with a shifting piece 13, and the two shifting pieces 13 are in one-to-one corresponding fit with the two racks 111, so that when the shifting pieces 13 are clamped with the racks 111, the connection stability of the connecting seat 11 and the frame body 12 and the stress balance of the frame body 12 are improved.

Further, quick detach base 10 still includes the piece that resets, and the piece that resets sets up on plectrum 13 and/or frame body 12, and the piece that resets is used for keeping plectrum 13 at the joint position to guarantee that surgical robot is at the during operation, connecting seat 11 is connected firmly with frame body 12. Specifically, plectrum 13 rotates through pivot and frame body 12 to be connected, and plectrum 13 includes the portion that resets and the portion of leaning on that are located pivot axial both sides respectively, and the piece that resets is used for connecting portion and frame body 12 that resets for plectrum 13 stops in the joint position, so that the portion of leaning on leans on with the latch counterbalance.

Specifically, in the present embodiment, referring to fig. 6 and 9, the reset element is a magnetic element 14, the magnetic element 14 is disposed on the reset portion of the pick 13, and the connecting plate 121 of the frame body 12 is made of a magnetically attractive material, such as magnetically attractive metal, ferromagnetic element, and the like. And the magnetic part 14 can adsorb the connecting plate 121, so that when the shifting piece 13 is shifted without external force, the shifting piece 13 is maintained at the clamping position to enable the abutting part of the shifting piece 13 to abut against the rack 111, and further the connecting seat 11 is fixedly connected with the frame body 12. And when connecting seat 11 and the frame body 12 need to be separated, only need stir plectrum 13 for the magnetic force that the portion of reseing of plectrum 13 resisted magnetic part 14 rotates and keeps away from connecting plate 121, and the portion of leaning on of plectrum 13 rotates and keeps away from clamping face 114 simultaneously, and rotates along the inclined plane 113 of below latch, because dodging of inclined plane 113, can rotate plectrum 13 to the isolated position by clamping position, and then realize connecting seat 11 and the separation of frame body 12. Further, after the shifting piece 13 is released, the reset part of the shifting piece 13 is magnetically attracted with the connecting plate 121 under the magnetic action of the magnetic attraction piece 14, so as to drive the abutting part to overturn and abut against the engaging surface 114 of the latch again, and the shifting piece 13 automatically returns to the engaging position. Understandably, in another embodiment, the magnetic member 14 can also be disposed on the connecting plate 121 of the frame body 12, and the material of the pick 13 is a magnetically attractable material, so as to maintain the pick 13 in the engaging position.

It should be noted that, in another embodiment, the reset member is a first elastic member, one end of the first elastic member is connected to the frame body 12, the other end of the first elastic member is connected to the reset portion of the shifting piece 13, and the first elastic member is configured to maintain the shifting piece 13 at the clamping position under the action of elastic force, so that when the shifting piece 13 is shifted without external force, the abutting portion of the shifting piece 13 is always clamped to the rack 111, and the connecting seat 11 is connected and fixed to the frame body 12. And when connecting seat 11 and frame body 12 need be separated, only need stir plectrum 13 for plectrum 13 resists the elasticity of first elastic component and rotates, can rotate plectrum 13 to the isolated position by the joint position, can separate connecting seat 11 and frame body 12 this moment. Further, after the shifting piece 13 is loosened, the shifting piece 13 can automatically return to the clamping position under the elastic force of the first elastic piece.

Further, with continued reference to fig. 6-8, the rack 111 includes a plurality of latches, each latch including a catch surface 114 that is perpendicular relative to the first end-to-second end direction and a ramp surface 113 that is inclined relative to the first end-to-second end direction. When the frame 12 is inserted into the connecting base 11 from the second end to the first end, the shifting piece 13 is slidably engaged with the inclined surface 113 to make the shifting piece 13 resist the reset piece and rotate to the separated position, so as to prevent the shifting piece 13 from being locked with the rack 111, and further ensure that the frame 12 is smoothly inserted into the connecting base 11. When the surgical robot is sleeved in a required position or when the frame body 12 moves from the first end to the second end, that is, when the frame body 12 wants to be separated from the connecting seat 11, the reset piece drives the shifting piece 13 to return to the clamping position and makes the shifting piece 13 and the clamping surface 114 abut against each other, so that the frame body 12 is prevented from being separated from the connecting seat 11 when the surgical robot works.

Referring to fig. 9, the connecting base 11 is provided with a first guide rail 112, the first guide rail 112 extends from the first end to the second end of the connecting base 11, the frame body 12 is provided with a first slider 122, and the first slider 122 is slidably engaged with the first guide rail 112, so that the relative movement between the frame body 12 and the connecting base 11 is more stable, and the frame body 12 can be more conveniently mounted or dismounted. Understandably, in another embodiment, the first guide rail 112 may also be disposed inside the frame body 12, and the first sliding block 122 may also be disposed on the connecting seat 11, so as to improve the smoothness of the relative movement between the frame body 12 and the connecting seat 11.

Further, the frame 12 has a second threaded hole, the quick-release base 10 further includes a third locking member 123, the third locking member 123 is in threaded fit with the second threaded hole, and when the third locking member 123 is screwed, the third locking member 123 abuts against the connecting seat 11 to limit the relative movement between the frame 12 and the connecting seat 11. Specifically, the third retaining member 123 is connected on first slider 122, and through the third retaining member 123 of screwing for the third retaining member 123 can restrict the relative movement of the frame body 12 and the connecting seat 11 with the first guide rail 112 butt, and the joint structure of plectrum 13 and rack 111 on the cooperation has further improved the stability of being connected of connecting seat 11 and frame body 12.

The frame body 12 or the connecting seat 11 is provided with the second elastic piece 15, and after the frame body 12 is sleeved in the connecting seat 11, one end of the second elastic piece 15 is connected with the frame body 12, the other end of the second elastic piece 15 is connected with the connecting seat 11 and the second elastic piece 15 is in a compressed state, so that the pull piece 13 can be pressed on the clamping surface 114 of the rack 111 through the elastic action of the second elastic piece 15, the pull piece 13 is prevented from being easily separated from the rack 111, and the frame body 12 is ensured to be stably connected with the connecting seat 11.

Referring to fig. 10, the moving platform 20 includes a fixed stage 21, a lead screw 212, a driving member 213, and a second slider 22, wherein the fixed stage 21 is connected to the frame body 12, and the fixed stage 21 is provided with a second guide rail 211. The screw 212 is rotatably provided on the fixed table 21. The driving member 213 is connected to the lead screw 212, and the driving member 213 is used for driving the lead screw 212 to rotate. The second sliding block 22 is in sliding fit with the second guide rail 211 and in threaded fit with the lead screw 212, and the second sliding block 22 is connected with the fixed seat 31, so that the lead screw 212 is driven to rotate through the driving part 213, that is, the second sliding block 22 can be driven to slide along the lead screw 212, and therefore the fixed seat 31 and the rotating seat 33 can be driven to move, and further the surgical instrument 40 on the rotating seat 33 can be driven to move, so that the corresponding surgical operation can be realized.

It should be noted that the moving platform 20 drives the fixed seat 31 and the rotating seat 33 to move relative to the quick-release base 10 in many ways, which are not limited to the above-mentioned embodiment, for example, in another embodiment, the moving platform 20 includes a fixed table, a sliding block and a driving member. The fixed station is connected with the frame body 12, and the fixed station is equipped with the slide rail, and the slider is connected with the driving piece with slide rail sliding fit, and fixing base 31 sets up on the slider to promote the slider through electric putter and remove along the slide rail, can drive fixing base 31 and the relative quick detach base 10 of roating seat 33 and remove. Preferably, the driving member may be an electric push rod, an air cylinder, a timing belt mechanism, or the like. Of course, in other embodiments, the mobile platform 20 may be a commercially available linear module.

Further, the present application provides a surgical robot in another aspect, where the surgical robot includes a robot arm 50, and the tip of the robot arm 50 is detachably mounted with the tip tool of any one of the above embodiments. Thereby make surgical robot can provide multiple operation function to through rotating the roating seat 33 of end instrument, can realize fast switch over different operation functions, saved operation time, reduced the risk that the patient infects in the art.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims (15)

1. An end tool for a surgical robot, comprising:

the fixing seat is used for being connected with a surgical robot;

the rotary seat is rotationally connected with the fixed seat, the rotary seat is provided with at least two clamping pieces, the at least two clamping pieces are arranged at intervals around the rotating axis of the rotary seat, and the clamping pieces are used for clamping surgical instruments; and the number of the first and second groups,

the first locking piece is used for connecting the fixed seat and the rotating seat, and the first locking piece has a locking state for limiting the relative rotation of the fixed seat and the rotating seat and an unlocking state for enabling the fixed seat and the rotating seat to rotate relatively.

2. The tip tool for a surgical robot according to claim 1, further comprising a bearing, wherein one of the fixed base and the rotary base is connected to an outer ring of the bearing, and the other of the fixed base and the rotary base is connected to an inner ring of the bearing.

3. An end tool for a surgical robot as claimed in claim 1, wherein one of the fixed base and the rotary base is provided with a positioning groove, and the other is provided with a positioning protrusion, and the positioning protrusion is inserted into the positioning groove when the rotary base rotates to enable any one of the chucks to enter a working position.

4. The end tool for a surgical robot of claim 1, wherein the fixing base defines a receiving slot, at least a portion of the rotary base is disposed in the receiving slot, the fixing base further defines a first threaded hole communicating with the receiving slot, the first locking member is threadedly engaged with the first threaded hole, the first locking member abuts against the portion of the rotary base disposed in the receiving slot in the locked state, and the first locking member is separated from the rotary base in the unlocked state.

5. The tip tool for a surgical robot according to claim 1, wherein the clamping member includes a first clamping portion and a second clamping portion, one end of the first clamping portion is rotatably connected to one end of the second clamping portion, and the other end of the first clamping portion is detachably connected to the other end of the second clamping portion through a second locking member.

6. An end tool for a surgical robot as recited in claim 1, further comprising a quick release base, said quick release base comprising:

the connecting seat comprises a first end used for being connected with the surgical robot and a second end far away from the surgical robot, and the connecting seat is provided with a rack extending along the direction from the first end to the second end;

the frame body is detachably sleeved on the connecting seat and is used for being connected with the fixed seat;

the shifting piece is rotatably arranged on the frame body and provided with a separation position and a clamping position relative to the rack, and when the shifting piece is at the separation position, the shifting piece is separated from the rack, and the frame body can move relative to the connecting seat; when the joint position, the plectrum with the rack supports and leans on to the restriction the frame body with the relative movement of connecting seat.

7. The end tool for a surgical robot according to claim 6, wherein the coupling base is provided with at least two racks, the frame body is provided with at least two picks, and the picks are fitted with the racks in a one-to-one correspondence.

8. The tip tool for a surgical robot of claim 6, wherein said quick release base further comprises a reset, wherein:

the reset piece is a magnetic piece which is arranged on one of the frame body and the shifting piece and can adsorb the other one of the frame body and the shifting piece to maintain the shifting piece at the clamping position; alternatively, the first and second electrodes may be,

the reset piece is a first elastic piece, one end of the first elastic piece is connected with the frame body, the other end of the first elastic piece is connected with the shifting piece, and the first elastic piece is used for maintaining the shifting piece at the clamping position under the action of elastic force.

9. The tip tool for a surgical robot according to claim 6, wherein the rack includes a plurality of latches each including an engaging face which is perpendicular to a direction from the first end to the second end and a slope which is inclined to the direction from the first end to the second end, the paddle slidably engaging with the slope to rotate the paddle to the separated position when the frame body is fitted into the coupling holder from the second end to the first end; when the frame body moves from the first end to the second end, the shifting piece rotates to the clamping position and enables the shifting piece to abut against the clamping surface.

10. The end tool for a surgical robot according to claim 6, wherein one of the frame body and the joint base is provided with a first guide rail, and the other of the frame body and the joint base is provided with a first slider, the first slider being slidably fitted with the first guide rail.

11. The end tool for a surgical robot of claim 6, wherein the frame body defines a second threaded hole, and the quick release base further comprises a third locking member, the third locking member being in threaded engagement with the second threaded hole and being configured to limit relative movement between the frame body and the connecting base.

12. The tip tool for surgical robot as claimed in claim 6, wherein the frame body or the coupling seat is provided with a second elastic member, and after the frame body is fitted into the coupling seat, one end of the second elastic member is coupled to the frame body, the other end of the second elastic member is coupled to the coupling seat and the second elastic member is in a compressed state.

13. An end tool for a surgical robot as claimed in claim 6, further comprising a moving platform by which the fixed base is movably disposed to the frame body.

14. A tip tool for a surgical robot as claimed in claim 13, wherein the mobile platform comprises:

the fixed table is connected with the frame body and provided with a second guide rail;

the lead screw is rotatably arranged on the fixed table;

the driving piece is connected with the lead screw and is used for driving the lead screw to rotate;

the second sliding block is in sliding fit with the second guide rail and in threaded fit with the lead screw, and the second sliding block is connected with the fixed seat.

15. A surgical robot comprising a tip tool according to any one of claims 1-14.

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