CN115153884A

CN115153884A - Tracer assembly for surgical robot

Info

Publication number: CN115153884A
Application number: CN202211098653.9A
Authority: CN
Inventors: 秦子川
Original assignee: Beijing Yidian Lingdong Technology Co ltd
Current assignee: Beijing Yidian Lingdong Technology Co ltd
Priority date: 2022-09-09
Filing date: 2022-09-09
Publication date: 2022-10-11

Abstract

The present invention provides a tracer assembly for a surgical robot, comprising: the tracer comprises a tracer body and a mounting rod, wherein a limit groove is formed in the side wall of the mounting rod; coupling assembling includes and pegs graft complex connector with the installation pole, and the connector includes: the cylinder body is provided with a first mounting hole and a second mounting hole, and the first mounting hole is communicated with the second mounting hole; the pushing block is movably arranged in the second mounting hole and provided with a locking position and an avoiding position, a first limiting hole which is arranged corresponding to the first mounting hole is formed in the pushing block, and the mounting rod penetrates through the first limiting hole; and the elastic resetting piece is arranged in the second mounting hole and keeps the push block at the locking position under the action of the elastic resetting force. By applying the technical scheme of the invention, the problem of low installation efficiency of the tracer and the fixer in the related technology can be effectively solved.

Description

Tracer assembly for surgical robot

Technical Field

The invention relates to the field of surgical robots, in particular to a tracer assembly of a surgical robot.

Background

With the development of the AI technology, artificial intelligence is rapidly developed in the field of medical instruments, the surgical robot starts clinical medical treatment in the field of joints, and a more accurate and more personalized medical treatment scheme can be brought to patients through the medical assistance of the AI technology. The surgical robot drives surgical instruments through the mechanical arm to assist doctors in performing surgery, and the precision of the surgery can be greatly improved.

In the related art, when a surgical operation is performed with the aid of a surgical robot, a tracer is fixed to a patient or a specific device so that the surgical robot recognizes the position of the patient or the specific device to perform the surgical operation.

Currently, tracer assemblies generally comprise a tracer and a connection assembly that can be fixed with the patient or a specific device, the tracer being screwed into the connection assembly by means of screws. The operation of this kind of connected mode is wasted time and energy to the screw probably has the risk of losing at the in-process of coupling assembling dismantlement sterilization, leads to the tracer to fix unstably, influences the operation effect.

Disclosure of Invention

The invention mainly aims to provide a tracer component of a surgical robot, which aims to solve the problem of low installation efficiency of a tracer and a connecting component in the related art.

In order to achieve the above object, the present invention provides a tracer assembly for a surgical robot, comprising: the tracer comprises a tracer body and an installation rod arranged on the tracer body, wherein a limit groove is formed in the side wall of the installation rod; coupling assembling includes and pegs graft complex connector with the installation pole, and the connector includes: the barrel is provided with a first mounting hole extending along the axial direction of the barrel and a second mounting hole intersecting with the first mounting hole, and the first mounting hole is communicated with the second mounting hole; the pushing block is movably arranged in the second mounting hole and provided with a locking position and an avoiding position, a first limiting hole which is arranged corresponding to the first mounting hole is formed in the pushing block, the mounting rod penetrates through the first limiting hole, when the pushing block is located at the locking position, part of the pushing block extends into the limiting groove, when the pushing block is located at the avoiding position, the first limiting hole avoids the mounting rod, and when the mounting rod is assembled with the pushing block, the mounting rod can drive the pushing block to move from the locking position to the avoiding position; and the elastic resetting piece is arranged in the second mounting hole and keeps the push block at the locking position under the action of the elastic resetting force.

Further, the through-hole that the second mounting hole set up for the radial direction along the barrel, the second mounting hole includes by first mounting hole divided first hole section and second hole section, the connector still including setting up the first spacing post in first hole section, the first end and the first spacing post butt of elasticity piece that resets, the second end of elasticity piece and the one end butt that is close to elasticity piece that resets of ejector pad.

Further, the one end that is close to elasticity of ejector pad resets is provided with the breach that extends along the radial direction of barrel, and elasticity resets and sets up in the breach, and elasticity resets the second end of piece and the inner wall butt of breach.

Further, first spacing post includes the pin that penetrates in the second mounting hole from the roof of barrel, and the width of ejector pad reduces gradually in the direction of the one end that is close to elasticity by the ejector pad and resets to the one end of keeping away from elasticity and resets, second mounting hole and ejector pad shape adaptation by the ejector pad.

Further, the ejector pad includes the limiting plate and the ejector plate of being connected with the limiting plate, and first spacing hole sets up on the limiting plate, and the ejector plate thickness is greater than the thickness of limiting plate, is provided with the spacing hole of second on the ejector plate, and the connector still includes the spacing post of second of wearing to locate barrel and the spacing downthehole of second, and wherein, the aperture in the spacing hole of second is greater than the diameter of the spacing post of second.

Furthermore, the first hole section is in clearance fit with the thickness of the limiting plate, and the second hole section comprises a third hole section in clearance fit with the limiting plate and a fourth hole section in clearance fit with the ejector plate.

Further, first mounting hole includes square hole section and the round hole section that is located square hole section below, and the second mounting hole sets up with round hole section intercommunication, and the installation pole includes Fang Ganduan that corresponds the setting with square hole section to and the round bar section that corresponds the setting with round hole section.

Further, coupling assembling includes the connecting rod and sets up the fixer of keeping away from connector one end at the connecting rod.

Further, the barrel still including setting up the third mounting hole on the diapire of barrel and setting up the fixed orifices on the lateral wall of barrel, the connecting rod stretches into in the third mounting hole, and the tracer subassembly still includes the mounting of wearing to establish at fixed orifices and connecting rod.

Further, the holder includes: the fixing seat comprises a fixing seat body, a first fastening plate and a second fastening plate which are arranged on the fixing seat body in parallel; the first end of the first fastening rod is hinged to the end part of the first fastening plate, and the second end of the first fastening rod is a free end; the first end of second fastening pole is articulated with the tip of second mounting plate, and the second end of second fastening pole sets up with first fastening pole is articulated.

By applying the technical scheme of the invention, the tracer can be matched with the vision equipment so that the vision equipment can identify the position of the patient or the specific device. The connection assembly is capable of being secured to a patient or a specific device on the one hand and also of being quickly connected and disconnected from the tracer on the other hand. Coupling assembling includes the connector, and the connector is used for realizing with the quick connection and the dismantlement of spike ware. Specifically, the tracer includes tracer body and installation pole, is provided with the spacing groove on the installation pole, is provided with first mounting hole on the connector and intersects the second mounting hole that sets up with first mounting hole, is provided with the ejector pad in the second mounting hole, is provided with the first spacing hole that corresponds the setting with first mounting hole on the ejector pad, and the ejector pad has latched position and dodges the position, and when the ejector pad was located latched position, partial ejector pad stretched into the spacing inslot. When the push block is located at the avoidance position, the first limiting hole avoids the mounting rod, and the push block can be kept at the locking position under the action of the elastic reset force of the elastic reset piece. When needs equipment spike ware and connector, can stretch into the installation pole to first mounting hole in, at this in-process, the bottom of installation pole is earlier with the ejector pad by latched position ejection to dodging the position, when installation pole downstream to spacing groove when the ejector pad is relative with the ejector pad, the ejector pad is no longer applyed the ejecting power to the ejector pad to the installation pole, the ejector pad can move to the latched position that stretches into the spacing groove by dodging the position under the effect that elasticity resets, if the installation pole has the trend that breaks away from the connector this moment, then stretch into to spacing inslot ejector pad can become the backstop to the installation pole, thereby make the installation pole can not deviate from in the connector, realize the locking of spike ware and coupling assembling. When the tracer is required to be disassembled, the pushing block can be pushed inwards to move from the locking position to the avoiding position, the pushing block is moved out of the limiting groove at the moment, interference on the movement of the mounting rod is avoided, the mounting rod can be separated from the connector, and the disassembly is completed. Above-mentioned structure can realize both automatic locking when the tracer inserts in the connector, only need press the ejector pad when dismantling the tracer, and the tracer can break away from the connector for the tracer is more convenient with the dismantlement and the assembly of coupling assembling, has effectively promoted the loading and unloading efficiency of tracer and coupling assembling. In addition, the connecting assembly adopts a screw-free design, so that the loss of screws in the sterilization process is avoided, and the stability of the assembly of the tracer and the connecting assembly is effectively ensured.

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 the drawings:

FIG. 1 shows a schematic perspective view of a first embodiment of a tracer assembly according to the invention;

FIG. 2 shows a perspective view of the connecting rod and anchor of the tracer assembly of FIG. 1;

FIG. 3 shows a cross-sectional view of the connection head of the tracer assembly of FIG. 1;

FIG. 4 shows an exploded view of the coupling head of the tracer assembly of FIG. 1;

FIG. 5 shows a schematic view of the assembled construction of the tracer and connector of the second embodiment of the tracer assembly according to the invention;

FIG. 6 shows a cross-sectional view of the connection head of the tracer assembly of FIG. 5;

fig. 7 shows a cross-sectional view of the barrel of the connecting head of fig. 5;

fig. 8 shows a top view of a push block of the connecting head of fig. 5;

fig. 9 shows a schematic cross-sectional view of the connection head of the third embodiment of the tracer assembly according to the invention.

Wherein the figures include the following reference numerals:

10. a tracer; 11. a tracer body; 12. mounting a rod; 121. a limiting groove; 122. a square pole section; 123. a round bar section; 20. a connecting assembly; 30. a connector; 31. a cylinder body; 311. a first mounting hole; 3111. a square hole section; 3112. a circular bore section; 312. a second mounting hole; 3121. a first bore section; 3122. a second bore section; 32. a push block; 321. a first limit hole; 322. a notch; 323. a limiting plate; 324. pushing a top plate; 325. a second limiting hole; 326. a first block; 327. a second block; 33. an elastic reset member; 34. a first limit post; 35. a second limit post; 36. a third mounting hole; 37. a fixing hole; 40. a connecting rod; 50. a holder; 51. a fixed seat; 511. a fixed seat body; 512. a first fastening plate; 513. a second fastening plate; 52. a first fastening rod; 53. a second fastening rod.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

As shown in fig. 1, 3, 4 and 5, the tracer assembly of the surgical robot according to the first embodiment includes: a tracer 10 and a connection assembly 20. The tracer 10 comprises a tracer body 11 and a mounting rod 12 arranged on the tracer body 11, wherein a limiting groove 121 is formed in the side wall of the mounting rod 12; coupling assembling 20 includes the connector 30 with installation pole 12 grafting cooperation, specifically, connector 30 includes: cylinder 31, push block 32 and elastic reset piece 33. The cylinder 31 has a first mounting hole 311 extending along the axial direction of the cylinder 31 and a second mounting hole 312 intersecting the first mounting hole 311, and the first mounting hole 311 is communicated with the second mounting hole 312; the push block 32 is movably arranged in the second mounting hole 312 and has a locking position and an avoiding position, a first limiting hole 321 arranged corresponding to the first mounting hole 311 is arranged on the push block 32, the mounting rod 12 penetrates through the first limiting hole 321, when the push block 32 is located at the locking position, part of the push block 32 extends into the limiting groove 121, and when the push block 32 is located at the avoiding position, the first limiting hole 321 avoids the mounting rod 12, wherein when the mounting rod 12 is assembled with the push block 32, the mounting rod 12 can drive the push block 32 to move from the locking position to the avoiding position; the elastic restoring member 33 is disposed in the second mounting hole 312, and maintains the push block 32 in the locking position by the elastic restoring force.

With the solution of the present embodiment, the tracer 10 can cooperate with the vision apparatus to make the vision apparatus recognize the position of the patient or a specific device (such as a surgical tool). The connection assembly 20 is capable of being secured to a patient or a particular device on the one hand and also capable of being quickly connected and disconnected from the tracer 10 on the other hand. The connection assembly 20 includes a connector 30, and the connector 30 is used for quick connection and disconnection with the tracer 10. Specifically, the tracer 10 includes a tracer body 11 and an installation rod 12, a limiting groove 121 is provided on the installation rod 12, a first installation hole 311 and a second installation hole 312 intersecting with the first installation hole 311 are provided on the connector 30, a push block 32 is provided in the second installation hole 312, a first limiting hole 321 corresponding to the first installation hole 311 is provided on the push block 32, the push block 32 has a locking position and an avoiding position, and when the push block 32 is located at the locking position, part of the push block 32 extends into the limiting groove 121. When the pushing block 32 is located at the avoiding position, the first limiting hole 321 avoids the mounting rod 12, and the pushing block 32 can be kept at the locking position under the elastic restoring force of the elastic restoring piece 33. When the tracer 10 and the connector 30 need to be assembled, the mounting rod 12 can be inserted into the first mounting hole 311, in the process, the bottom of the mounting rod 12 firstly pushes the push block 32 from the locking position to the avoiding position, when the mounting rod 12 moves downwards to the position where the limiting groove 121 is opposite to the push block 32, the mounting rod 12 does not apply pushing force to the push block 32, the push block 32 can move from the avoiding position to the locking position where the push block extends into the limiting groove 121 under the action of the elastic reset piece 33, at this time, if the mounting rod 12 has a tendency of being disengaged from the connector 30, the push block 32 extending into the limiting groove 121 can form a stop for the mounting rod 12, so that the mounting rod 12 cannot be disengaged from the connector 30, and the tracer 10 and the connecting assembly 20 are locked. When the tracer 10 needs to be disassembled, the pushing block 32 can be pushed inwards to move from the locking position to the avoiding position, at this time, the pushing block 32 moves out of the limiting groove 121, the moving path of the installation rod 12 is not interfered, the installation rod 12 can be separated from the connector 30, and the disassembly is completed. Above-mentioned structure can realize both automatic lockings when tracer 10 inserts in the connector 30, only needs to press the ejector pad when dismantling tracer 10, and tracer 10 can break away from on the connector 30 for tracer 10 is more convenient with the dismantlement and the assembly of coupling assembling 20, has effectively promoted tracer 10 and coupling assembling 20's loading and unloading efficiency. In addition, the connection assembly 20 adopts a screw-free design, so that the screws are prevented from being lost in the sterilization process, and the stability of the assembly of the tracer 10 and the connection assembly 20 is effectively ensured.

The above-mentioned "the elastic restoring member 33 is disposed in the second mounting hole 312 and keeps the pushing block 32 in the locking position under the elastic restoring force" means that the elastic restoring member 33 can keep the pushing block 32 in the locking position when the pushing block 32 is not subjected to an external force, or the elastic restoring member 33 can move the pushing block 32 from the avoiding position to the locking position and then keep the pushing block in the locking position when the external force applied to the pushing block 32 is removed.

As shown in fig. 3 to 5 and 7, in the first embodiment, the second mounting hole 312 is a through hole disposed along the radial direction of the cylinder 31, the second mounting hole 312 includes a first hole segment 3121 and a second hole segment 3122 separated by the first mounting hole 311, the connection head 30 further includes a first limiting post 34 disposed in the first hole segment 3121, a first end of the elastic restoring member 33 abuts against the first limiting post 34, and a second end of the elastic restoring member 33 abuts against one end of the push block 32 close to the elastic restoring member 33. In the above structure, the elastic restoring member 33 is a spring, the elastic restoring member 33 is disposed in the first hole segment 3121 of the second mounting hole 312, the first end of the elastic restoring member 33 abuts against the first limit post 34, and the second end abuts against the push block 32, so that the elastic restoring member 33 can directly drive the push block 32 to move. In addition, the second mounting hole 312 is a through hole, so that the mounting position of the elastic restoring member 33 is visible, thereby facilitating the assembly of the first limiting column 34, the elastic restoring member 33 and the pushing block 32.

As shown in fig. 3, 4 and 8, in the first embodiment, a notch 322 extending in the radial direction of the cylinder 31 is provided at one end of the push block 32 close to the elastic restoring member 33, the elastic restoring member 33 is provided in the notch 322, and the second end of the elastic restoring member 33 abuts against the inner wall of the notch 322. In the above structure, the notch 322 forms an accommodating space for accommodating the elastic restoring member 33, and at the same time, the side wall of the notch 322 can also guide the movement of the elastic restoring member 33, so that the pushing block 32 can stably move between the locking position and the avoiding position.

As shown in fig. 3 and 4, in the first embodiment, the pushing block 32 includes a limiting plate 323 and a pushing plate 324 connected to the limiting plate 323, the first limiting hole 321 is disposed on the limiting plate 323, the thickness of the pushing plate 324 is greater than that of the limiting plate 323, the pushing plate 324 is provided with a second limiting hole 325, the connector 30 further includes a second limiting post 35 penetrating through the barrel 31 and the second limiting hole 325, wherein the diameter of the second limiting hole 325 is greater than the diameter of the second limiting post 35. In the above embodiment, the push block 32 includes the push plate 324 with a larger thickness and the limit plate 323 with a smaller thickness, and the push plate 324 enables the operator to press again to obtain a better pressing feeling. In addition, the pushing plate 324 is further provided with a second limiting hole 325, and the second limiting post 35 penetrates into the second limiting hole 325 from the top surface of the cylinder 31, so that the pushing block 32 cannot be disengaged from the cylinder 31. The second stopper hole 325 has a diameter larger than the diameter of the second stopper post 35, so that the push block 32 can move in the radial direction of the cylinder 31 to smoothly move between the lock position and the escape position.

Specifically, as shown in fig. 3 and 4, in the first embodiment, the first hole section 3121 is in clearance fit with the thickness of the limit plate 323, and the second hole section 3122 includes a third hole section in clearance fit with the limit plate 323 and a fourth hole section in clearance fit with the ejector plate 324. In the structure, the third hole section and the fourth hole section can form a first step surface, the second step surface can be formed between the ejector plate 324 and the limiting plate 323, and when the ejector block 32 moves to the avoiding position, the first step surface can be abutted against the second step surface, so that an operator can know that the ejector block 32 is ejected to the avoiding position. The setting mode is simple and convenient, and is convenient for operators to use.

As shown in fig. 5 and 6, in the first embodiment, the first mounting hole 311 includes a square hole section 3111 and a circular hole section 3112 located below the square hole section 3111, the second mounting hole 312 is disposed to communicate with the circular hole section 3112, and the mounting rod 12 includes a square rod section 122 disposed to correspond to the square hole section 3111 and a circular rod section 123 disposed to correspond to the circular hole section 3112. In the above-mentioned structure, square pole section 122 can cooperate with square hole section 3111 to both can not produce relative rotation after tracer 10 and connector 30 are installed, thereby promote the fixed stability of tracer 10. It should be noted that the round rod section 123 is a conical rod section with a diameter gradually increasing from bottom to top, and the top of the first limiting hole 321 is provided with a chamfer, so that the round rod section 123 can be more smoothly inserted into the push block 32.

As shown in fig. 1, in the first embodiment, the connecting assembly 20 includes a connecting rod 40 and a retainer 50 disposed at an end of the connecting rod 40 away from the connecting head 30. In the above configuration, the holder 50 is capable of securely engaging a patient or other specific device so that the tracer 10 can be secured to the patient or other specific device.

As shown in fig. 1, in the first embodiment, the cylinder 31 further includes a third mounting hole 36 disposed on the bottom wall of the cylinder 31 and a fixing hole 37 disposed on the side wall of the cylinder 31, the connecting rod 40 extends into the third mounting hole 36, and the tracer assembly further includes a fixing member penetrating through the fixing hole 37 and the connecting rod 40. The structure enables the connecting rod 40 and the connector 30 to be detachably connected, thereby facilitating the operations of sterilizing and the like by separating the connecting rod and the connector. In addition, the connector 30 can be connected with the fixing devices 50 of different shapes, so that the universality of the connector 30 is improved.

As shown in fig. 1 and 2, in the first embodiment, the holder 50 includes: a fixed seat 51, a first fastening rod 52 and a second fastening rod 53. The fixing seat 51 comprises a fixing seat body 511 and a first fastening plate 512 and a second fastening plate 513 which are arranged on the fixing seat body 511 in parallel; a first end of the first fastening rod 52 is hinged to an end of the first fastening plate 512, and a second end of the first fastening rod 52 is a free end; a first end of the second fastening rod 53 is hinged to an end of the second fastening plate 513, and a second end of the second fastening rod 53 is hinged to the first fastening rod 52. In the above structure, the first fastening plate 512, the second fastening plate 513, the first fastening rod 52, and the first fastening rod 52 can enclose the installation space. The free end of the first fastening rod 52 has a fastening position and a detaching position, and when the free end of the first fastening rod 52 moves to the fastening position (the free end of the first fastening rod 52 moves upward in fig. 1), the first fastening rod 52 pulls the first fastening rod 52 to tighten, thereby bringing the first fastening plate 512 and the second fastening plate 513 to tighten, so that the fixture 50 is stably connected to a specific appliance. Accordingly, when the free end of the first fastening rod 52 is moved to the detaching position (the free end of the first fastening rod 52 is moved downward in fig. 2), the volume of the accommodating space is increased, and the specific device can be removed from the accommodating space. The above-described structure enables quick attachment of the tracer assembly to a particular implement via the anchor 50.

Of course, in other embodiments, the fixator may be configured to be fixed to the patient's body.

As shown in fig. 5-8, the present application also provides a second embodiment of a tracer assembly, the tracer assembly of embodiment two differing from embodiment one in that: the specific structure of the connecting head 30 is different. Specifically, in the second embodiment, first limiting column 34 includes a pin penetrating into second mounting hole 312 from the top wall of cylinder 31, the width of push block 32 gradually decreases in the direction from the end of push block 32 close to elastic restoring member 33 to the end far from elastic restoring member 33, and second mounting hole 312 is matched with push block 32 in shape. Specifically, during assembly, the narrower end of the push block 32 can be inserted into the wider end of the second mounting hole 312, the elastic restoring member 33 is inserted into the notch 322 of the push block 32, the first limiting post 34 is inserted into the second mounting hole 312 from the top wall of the barrel 31, and the elastic restoring member 33 abuts against the first limiting post 34, so that the assembly of the connector 30 is realized. The elastic reset piece 33 can keep the pushing block 32 in the locking position without other external forces, and when the pushing block 32 is located in the locking position, the hole wall of the second mounting hole 312 can form a stop fit for the pushing block 32, so that the pushing block 32 cannot be disengaged from the barrel 31. The structure realizes the assembly of the push block 32 and the cylinder 31 by the stop matching of the push block 32 and the second mounting hole 312, and has simple structure and convenient installation.

As shown in fig. 9, the present application also provides a third embodiment of a tracer assembly, the tracer assembly of embodiment three differing from embodiment two in that: the limiting mode of the cylinder 31 and the pushing block 32 is different. Specifically, the cylinder 31 and the push block 32 of the third embodiment are limited by the inclined surface, so as to prevent the push block 32 from coming out of the cylinder 31. The push block 32 of the third embodiment includes a first block 326 and a second block 327. The width of the first block 326 is greater than that of the second block 327, a third step surface is formed between the first block 326 and the second block 327, correspondingly, a fourth step surface is also arranged in the second mounting hole, and the third step surface of the push block 32 and the fourth step surface in the second mounting hole realize limit fit to prevent the push block 32 from coming out of the cylinder 31.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

For ease of description, spatially relative terms such as "over … …", "over … …", "over … …", "over", etc. may be used herein to describe the spatial positional relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A tracer assembly for a surgical robot, comprising:

the tracer (10) comprises a tracer body (11) and a mounting rod (12) arranged on the tracer body (11), wherein a limiting groove (121) is formed in the side wall of the mounting rod (12);

coupling assembling (20), include with installation pole (12) grafting complex connector (30), connector (30) include:

a cylinder (31) having a first mounting hole (311) extending in an axial direction of the cylinder (31) and a second mounting hole (312) intersecting the first mounting hole (311), the first mounting hole (311) and the second mounting hole (312) communicating with each other;

the push block (32) is movably arranged in the second mounting hole (312) and provided with a locking position and an avoiding position, a first limiting hole (321) which is correspondingly arranged with the first mounting hole (311) is formed in the push block (32), the mounting rod (12) penetrates through the first limiting hole (321), when the push block (32) is located at the locking position, part of the push block (32) extends into the limiting groove (121), when the push block (32) is located at the avoiding position, the first limiting hole (321) avoids the mounting rod (12), and when the mounting rod (12) and the push block (32) are assembled, the mounting rod (12) can drive the push block (32) to move from the locking position to the avoiding position;

and the elastic resetting piece (33) is arranged in the second mounting hole (312) and keeps the push block (32) at the locking position under the action of elastic resetting force.

2. The tracer assembly according to claim 1, wherein the second mounting hole (312) is a through hole disposed along a radial direction of the cylinder (31), the second mounting hole (312) includes a first hole section (3121) and a second hole section (3122) separated by the first mounting hole (311), the connector head (30) further includes a first limit post (34) disposed within the first hole section (3121), a first end of the elastic restoring member (33) abuts the first limit post (34), and a second end of the elastic restoring member (33) abuts an end of the push block (32) adjacent to the elastic restoring member (33).

3. The tracer assembly according to claim 2, wherein one end of the push block (32) close to the elastic return member (33) is provided with a notch (322) extending in a radial direction of the cylinder (31), the elastic return member (33) is disposed within the notch (322), and a second end of the elastic return member (33) abuts against an inner wall of the notch (322).

4. The tracer assembly according to claim 2 or 3, wherein the first restraint post (34) comprises a pin penetrating into the second mounting hole (312) from the top wall of the cylinder (31), the width of the push block (32) gradually decreases in a direction from an end of the push block (32) close to the elastic restoring member (33) to an end away from the elastic restoring member (33), and the second mounting hole (312) is adapted to the shape of the push block (32).

5. The tracer assembly according to claim 2 or 3, wherein the push block (32) comprises a limit plate (323) and a push plate (324) connected to the limit plate (323), the first limit hole (321) is disposed on the limit plate (323), the thickness of the push plate (324) is greater than that of the limit plate (323), a second limit hole (325) is disposed on the push plate (324), the connector (30) further comprises a second limit post (35) disposed in the cylinder (31) and the second limit hole (325), wherein the diameter of the second limit hole (325) is greater than the diameter of the second limit post (35).

6. The tracer assembly of claim 5, wherein the first bore section (3121) is clearance fit with a thickness of the limit plate (323), the second bore section (3122) including a third bore section clearance fit with the limit plate (323) and a fourth bore section clearance fit with the push top plate (324).

7. The tracer assembly of claim 1, wherein the first mounting hole (311) comprises Fang Kongduan (3111) and a round bore section (3112) located below the square bore section (3111), the second mounting hole (312) is disposed in communication with the round bore section (3112), and the mounting bar (12) comprises Fang Ganduan (122) disposed in correspondence with the Fang Kongduan (3111) and a round bar section (123) disposed in correspondence with the round bore section (3112).

8. Tracer-assembly according to claim 1, characterized in that the connection assembly (20) comprises a connecting rod (40) and a holder (50) arranged at the end of the connecting rod (40) remote from the connection head (30).

9. The tracer assembly of claim 8, wherein the barrel (31) further comprises a third mounting hole (36) provided on a bottom wall of the barrel (31) and a fixing hole (37) provided on a side wall of the barrel (31), the connecting rod (40) extends into the third mounting hole (36), and the tracer assembly further comprises a fixing member disposed through the fixing hole (37) and the connecting rod (40).

10. The tracer assembly of claim 8, wherein the retainer (50) comprises:

the fixing seat (51) comprises a fixing seat body (511) and a first fastening plate (512) and a second fastening plate (513) which are arranged on the fixing seat body (511) in parallel;

a first fastening rod (52), a first end of the first fastening rod (52) is hinged to the end of the first fastening plate (512), and a second end of the first fastening rod (52) is a free end;

a second fastening rod (53), wherein a first end of the second fastening rod (53) is hinged with the end part of the second fastening plate (513), and a second end of the second fastening rod (53) is hinged with the first fastening rod (52).