CN115956961A - Stab card fixing device and minimally invasive surgery robot thereof - Google Patents

Abstract

The present invention relates to a poking card fixing device and a minimally invasive surgical robot thereof, wherein the poking card fixing device includes a locking mechanism, the locking mechanism is suitable for being driven to lock and position the poking card body; a trigger mechanism, the triggering The locking mechanism is linked with the locking mechanism; wherein when the triggering mechanism triggers the locking mechanism, the locking mechanism is suitable for positioning and setting the poking body. The present invention provides a good positioning condition for the positioning of the poking card body through the locking mechanism, and provides a good trigger driving condition for the locking mechanism through the setting of the trigger mechanism, thereby prompting the trigger mechanism to manipulate the locking mechanism card to set the position / Let go of the poking card body, the working process is simple and efficient.

Description

Stamp card fixation device and its minimally invasive surgical robot

technical field

The invention relates to a minimally invasive robot, in particular to a poking card fixing device and a minimally invasive surgical robot.

Background technique

Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of incision size in minimally invasive surgery, minimally invasive instruments are greatly increased in operation difficulty, and the fatigue and trembling of doctors during long-term surgery will be amplified, which restricts the development of minimally invasive surgery technology. The key factor. With the development of robotic technology, a new technology in the field of minimally invasive medical care that can overcome its shortcomings and inherit its advantages - minimally invasive surgical robot technology has emerged as the times require.

In the process of robot-assisted minimally invasive surgery, a special channel is usually established by poking a card (also called a cannula), and the doctor enters the special channel with the help of slender minimally invasive surgical instruments to perform surgical operations in the abdominal cavity of the human body. Since the poking card must be sterilized after each operation, it is required that the poking card can be detachably fixed on the minimally invasive surgery robot.

Chinese invention patent CN106102642B (hereinafter referred to as reference document 1) discloses a surgical cannula mount and related systems and methods, including: a main body having an orifice for receiving a part of the cannula; a pivotable a clamping arm, the pivotable clamping arm engaging the portion of the bushing received in the aperture; the clamping arm comprising a cam follower surface; the movable clamping arm being movable between a first position and a second position; A block including a cam surface. The cam surface of the block can engage the cam follower surface of the clamping arm in a first position to actuate the clamping arm to a closed position in which the clamping arm engages all the clamping arms received in the aperture. part of the bushing. When the block is in the second position, the clamping arm may be allowed to move to an open position in which the clamping arm does not engage the bushing.

Chinese invention patent application CN112494142A (hereinafter referred to as reference document 2) discloses an instrument clamping device, slave operating equipment and a surgical robot, including a clamping arm, a driving block, an elastic member and an operating mechanism, and the driving block is operated by the elastic member and The mechanism is driven to move, and during the movement of the driving block, the end of the clamping arm touches different parts of the driving block so as to realize the opening and clamping of the clamping arm. The principle of this solution is similar to that of patent 1, both of which drive the slider to move through the handle, and use the cooperation between the slider and the clamping arm to clamp the sleeve.

Chinese invention patent CN106037933B (hereinafter referred to as reference document 3) discloses a catheter clamping and locking mechanism for a minimally invasive surgical robot, including a base and a cover on the mounting base, a catheter clamping link device, and a clamping and locking mechanism. release device. Press one side (or a pair) of clamps in the tube clamping rod device, and the relative rotation of the pair of clamps drives the linear motion hinged with the connecting rod through the connecting rod. The connecting rod moves linearly along the sliding rod, clamping the lock. The pressure head in the release device locks the linear motion connecting rod under the drive of the elastic component, and then locks a pair of chucks; pressing down the pressure head can unlock the linear motion connecting rod, so that the linear motion connecting rod is under the force of the spring Reset under action, thereby causing the pair of chucks to release the catheter.

Chinese utility model patent CN212118197U (hereinafter referred to as reference document 4) discloses a poking card fixing device for quick loading and unloading, including a poking card connector, a platform and a poking card fixing component, and a poking card connector, which is set on the poking card rod body The upper part of the platform, the platform is connected with the poking card connector through the poking card fixing component, and the platform back cover is installed on the platform.

Although the prior art provides various fixing methods for poking cards, the above-mentioned prior art has at least the following defects:

1. Both Comparative Document 1 and Comparative Document 2 use the frictional movement of the cam structure to realize the opening and closing of the lock tongue, which will wear out during long-term use, resulting in a decrease in reliability and locking force;

2. Both the comparison document 2 and the comparison document 3 use two clamping jaws to clamp and poke the card. Compared with the overall fixed type (comparison document 1 and comparison document 4), the clamping reliability is poor;

3. Both comparative document 3 and comparative document 4 are locked by a single-sided lock bolt, which has poor reliability;

4. Reference 2, Reference 3 and Reference 4 all limit the structure through the elastic force of the spring. The aging of the spring during long-term use will lead to poor locking reliability, and when the poking card is subjected to a large external force, Shedding may occur.

To sum up, there are various problems in the existing technical solutions, and it is urgent to invent a better poking card fixing device that can solve the above problems.

Contents of the invention

The object of the present invention is to provide a poking card fixing device to solve the above technical problems.

The first aspect of the present invention provides a poking card fixing device for positioning the poking card body, including:

a locking mechanism, the locking mechanism is adapted to be driven to lock and set the positioning poking body;

A trigger mechanism, the trigger mechanism is linked with the locking mechanism; wherein

When the trigger mechanism triggers the locking mechanism, the locking mechanism is suitable for positioning the poking body.

Preferably, the trigger mechanism includes a rotating cylinder;

The locking mechanism includes two locking parts arranged in mirror images, and the two locking parts form a locking space suitable for clamping the poking body; wherein

When the rotating cylinder rotates to the tightening position, the rotating cylinder is suitable for expanding the locking space;

When the rotating cylinder is reset, the rotating cylinder is suitable for shrinking the locking space so as to clamp and hold the poking body tightly.

Preferably, the poking fixing device includes a fixing bracket suitable for carrying the locking mechanism and the triggering mechanism, and an upper end surface of the fixing bracket has a clamping portion;

The rotating cylinder protrudes from the fixed bracket;

The trigger mechanism also includes a handle portion fixed to the upper end of the rotating cylinder; and

When the locking space is contracted to hold the poking body tightly, the handle portion is locked and fixed in the locking portion.

Preferably, the handle part includes a knob with an open front end and a hollow interior, a retaining spring and a sliding block located in the opening; and

The knob is fixedly connected with the rotating cylinder;

One end of the retaining spring is against the side bottom of the inner chamber of the knob, and the other end is against the sliding block;

The clamping part includes a block located on the fixed bracket, and a block groove suitable for clamping the sliding block is provided on the block; wherein

When the poking card body is tightened, the sliding block is located in the blocking groove.

Preferably, the handle part includes a knob with a rotating head hinged at the end; and

There is a lock body on the rotating head; the clamping part includes a lock cavity opened on the upper end surface of the fixed bracket; wherein

The lock body is adapted to be confined in the lock cavity.

Preferably, the locking part includes a lock tongue rotatably connected in the fixed bracket, sleeved with a torsion spring cylinder on which the torsion spring body is fixed; and

There is a torsion spring groove on the lock tongue, and the torsion arm of the torsion spring body is clamped in the torsion spring groove;

The lower end of the rotating cylinder is hingedly linked with the lock tongue;

The torsion arm is compressed when the rotary cylinder rotates in conjunction with the rotation of the bolt.

Preferably, at least one vertical steel column slot is opened on the side wall of the torsion spring slot, and at least one horizontal steel column slot is opened on the bottom wall of the torsion spring slot, and

A steel column body is respectively arranged in each of the vertical steel column grooves and each of the horizontal steel column grooves, wherein

The circumferential direction of the torsion arm is adapted to be continuously in contact with the steel column body.

As a preference, a sheet group is mirrored at the lower end of the rotating cylinder, and each sheet group is also provided with a linkage assembly;

The sheet group includes sheet bodies arranged parallel to each other;

The linkage assembly includes a connecting piece and four turntable sockets, and a socket group is mirrored on the connecting piece, and each socket group corresponds to two socket bodies, and each socket body a turntable nest is rotatably arranged; and

The two turntable sockets on one side are rotatably arranged between the two sheet bodies, and the two turntable sockets on the other side are hinged to the lock tongue.

Preferably, the side wall of the fixing bracket has an installation opening suitable for the installation of the ferrule body;

The upper end surface of the fixed bracket is a platform surface;

or

The side wall of the fixing bracket has an installation opening suitable for the installation of the ferrule body;

There is a platform on the upper end surface of the fixed bracket;

or

The side wall of the fixing bracket has an installation opening suitable for the installation of the ferrule body;

There is a platform on the upper end surface of the fixing bracket, and a light hole suitable for light transmission is provided on the side wall of the platform.

The present invention has at least the following beneficial effects:

1. The present invention provides a good positioning condition for the positioning of the poking card body through the locking mechanism, and provides a good triggering and driving condition for the locking mechanism through the setting of the trigger mechanism, thereby prompting the trigger mechanism to control the locking mechanism card setting Positioning/releasing the poking card body, the working process is simple and efficient.

2. The locking mechanism of the present invention forms a rigid limit through the set-up part and the handle part matched with it, which can avoid the original torsion spring (or the prior art The spring in the center) the locking force is insufficient and the card falls off.

3. The structure of the locking mechanism of the present invention is compact, especially the structure of the third embodiment occupies a small longitudinal space, which can save the space size at the end of the instrument movement platform, making the equipment more miniaturized, and conforming to the development trend of surgical robots.

The second aspect of the present invention also provides a minimally invasive surgical robot, including a base, a cart handle located at the rear end of the base, a lifting column fixed on the base, a mechanical arm connected to the lifting column, and a mechanical arm located at the end of the mechanical arm. The equipment movement platform; the end of the equipment movement platform is fixed with the poking fixing device as mentioned above.

This kind of minimally invasive surgical robot provides convenience for the overall working process, improves work efficiency, and is easy to disassemble and assemble through the poking card fixing device.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a perspective view of a preferred embodiment of the poking card body of the present invention;

Fig. 2 is an exploded view of a poking card fixing device with a poking card body of the present invention;

Fig. 3 is a schematic structural view of a preferred embodiment of a poking card fixing device of the present invention;

Fig. 4 is a partial structural schematic diagram of a poking card fixing device of the present invention;

Fig. 5 is a schematic structural view of the upper cover of the present invention;

Fig. 6 is a schematic structural view of a locking mechanism and a trigger mechanism of the present invention;

Fig. 7 is a structural schematic diagram of a rotating cylinder of the present invention;

Fig. 8 is a structural schematic diagram of the linkage assembly of the present invention;

Fig. 9 is a structural schematic diagram of the dead bolt of the present invention;

Fig. 10 is an exploded schematic diagram of the knob of Embodiment 1 of the present invention;

Fig. 11 is a schematic structural view of a poking card fixing device according to Embodiment 2 and Embodiment 3 of the present invention;

Fig. 12 is a structural schematic diagram of a knob with a rotating head according to Embodiment 3 of the present invention;

Fig. 13 is a schematic structural view of the upper cover of Embodiment 2 of the present invention;

Fig. 14 is a schematic structural view of the ferrule body of Embodiment 1 of the present invention;

Fig. 15 is a structural schematic diagram of another viewing angle of the ferrule body of the first embodiment of the present invention.

In the picture:

100, poking card body, 101, poking card slot, 102, inclined and inverted surface;

200, locking mechanism, 210, deadbolt, 211, holding chamber, 212, torsion spring groove, 213, vertical steel column groove, 214, horizontal steel column groove, 215, buckle head, 220, torsion spring cylinder, 230, torsion spring body, 231, torsion arm, 240, guide post;

300, trigger mechanism, 310, rotating cylinder, 311, concave ring groove, 312, waist-shaped cylinder, 313, sheet body, 320, linkage assembly, 321, connector, 322, socket body, 323, turntable socket, 324. Linkage cylinder, 330. Knob, 331. Knob, 332. Base, 3321. Sliding notch, 3322. Retraction port, 3323. Carrying platform, 333. Slider, 3331. T-shaped port, 3332. T Shaped long arm, 334, locking spring, 335, rotating head, 336, lock body, 3361, guide contact surface, 337, groove chamber;

400, ferrule body, 410, ring piece, 420, flanging, 430, ferrule slot, 440, profiling protrusion, 450, ferrule chuck;

500, fixed bracket, 510, upper cover body, 511, upward inclined table top, 512, horizontal cover surface, 513, light hole, 514, avoidance groove, 515, blocking platform, 516, blocking groove, 517, platform body, 518, Lock cavity, 520, middle cover body, 530, lower bottom cover, 531, installation opening, 532, ferrule unlocking part, 5321, bracket chuck, 533, inclined table top, 534, lamp socket.

Detailed ways

The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.

As shown in Figures 1 to 10, 14, and 15, the present invention provides a poking card fixing device for positioning the poking card body 100, including:

Locking mechanism 200, the locking mechanism 200 is suitable to be driven to lock and set the poking card body 100; triggering mechanism 300, the triggering mechanism 300 is linked with the locking mechanism 200; wherein when the triggering mechanism 300 triggers the locking mechanism 200, the lock The tightening mechanism 200 is suitable for positioning the poking body 100 of the card setting.

The poking card fixing device is mainly used for fixing the poking card body 100, and there is a connecting block on the side wall of the poking card body 100, and a poking card slot 101 is opened in the mirror image of the side wall of the connecting block, the poking card slot 101 The edge of 101 has an inclined surface 102, the inclined surface 102 mainly provides a good guiding installation condition for the subsequent installation, preferably the cross section of the card slot 101 is a waist-shaped hole, the overall structure The stability of the trigger mechanism 300 is relatively high; the trigger mechanism 300 is an active mechanism, which serves as a driving source, and the transmission form of the driving source includes but is not limited to rotation output or pressing output; the locking mechanism 200 mainly functions to position or release the card body 100 , and its overall positioning state and release state are guaranteed by the trigger mechanism 300 . The locking mechanism 200 and the triggering mechanism 300 are carried in the fixing bracket 500 as a whole, and the poking body 100 will firstly be connected with the fixing bracket 500 before being connected with the locking mechanism 200 .

Specifically, the fixed bracket 500 includes an upper cover body 510, a lower bottom cover 530 and a middle cover body 520. There is an installation space for installing the locking mechanism 200 on the lower bottom cover 530, and an installation opening 531 is provided on the side, and the upper part is opened for use. In order to fix the upper cover 510; and in order to better position and fix each component in the locking mechanism 200 and not hinder the aesthetics of the overall structure, a middle cover 520 is synchronously arranged under the upper cover 510. The cover body 520 is mainly used to carry the position-limiting and locking mechanism 200 from the top, while the function of the lower bottom cover 530 is mainly to carry the position-limiting and locking mechanism 200 from the bottom.

In the structure of the lower bottom cover 530, two card sleeve unlocking parts 532 are mirrored on the outer wall at the installation port 531. The ferrule unlocking portion 532 has a bracket clip 5321 . The other side of the lower bottom cover 530 away from the installation opening 531 has a downwardly inclined platform 533 ; correspondingly, the upper cover 510 has an upwardly inclined platform 511 and a horizontal covering surface 512 .

In order to facilitate the indication of the state of the equipment movement platform and the poking body 100, there is a lamp holder in the lower bottom cover 530, and a lamp hole 513 is respectively opened on the upper inclined platform 511 and the horizontal cover surface 512, and at the bottom position of the lower bottom cover 530. A light socket 534 is also provided on both sides.

In the connection between the lower bottom cover 530 and the upper cover body 510 , the form of a key bayonet, the form of a nut lock and the form of side wall bonding are respectively adopted. Specifically, there is an avoidance groove 514 near the upper inclined platform 511 on the upper cover body 510. The existence of the avoidance groove 514 mainly provides a good movement space for the trigger mechanism 300; synchronously, in order to lock the trigger mechanism 300, There is a blocking platform 515 on the upper cover body 510 , and a blocking groove 516 is formed in the middle of the blocking platform 515 . Of course, other different structures can also be used to lock the trigger mechanism 300, which will be introduced in subsequent embodiments.

The specific structure of the trigger mechanism 300 includes a rotating cylinder 310, the rotating cylinder 310 is rod-shaped, and its waist is provided with a concave ring groove 311 to form a cylindrical structure, and the upper and lower ends of the concave ring groove 311 are sleeved and fixed respectively. There is a bearing, that is, the inner wall of the inner ring of the bearing is tightly hugged by the cylindrical structure, the outer wall of the outer ring of the upper bearing is tightly hugged by the upper cover body 510 , and the outer ring outer wall of the lower bearing is tightly hugged by the middle cover body 520 . A waist-shaped cylinder 312 is provided at the upper end of the rotating cylinder 310; a sheet group is arranged in a mirror image at the lower end of the rotating cylinder 310, and each sheet group includes two sheet bodies 313 arranged parallel to each other; in order to facilitate the subsequent connection ;A linkage assembly 320 is also arranged on the sheet body group, and the linkage assembly 320 includes a connector 321, and the mirror image on the connector 321 is provided with a socket group, and each socket group corresponds to two socket bodies 322, and the socket The main body 322 sinks to form a conical frustum; a turntable pocket 323 is rotatably arranged in each pocket body 322, and the turntable pocket 323 is adapted to the pocket body 322; the upper and lower turntable pockets 323 are connected by a linkage cylinder 324 limit; a group of turntable sockets 323 on one side are located between the two chip bodies 313 and the ends of the linkage cylinders 324 are plugged and fixed in the chip bodies 313 respectively. A bearing fixedly connected with the lower bottom cover 530 is synchronously arranged at the bottom of the rotating cylinder 310 , the outer ring of the bearing is tightly hugged with the lower bottom cover 530 , and the inner ring is fixedly connected with the rotating cylinder 310 . This embodiment provides a preferred composition structure of the linkage assembly 320, as long as the linkage between the rotating cylinder 310 and the locking part can be realized (that is, when the rotating cylinder 310 rotates in one direction, the locking part will be locked, and the locking part will be locked in the other direction. Turning in another direction will cause the locking part to be released), and other similar structures can also be used in the present invention.

A knob 330 is fixed on the end of the rotating cylinder 310 protruding from the upper cover 510. The knob 330 is convenient to drive the rotating cylinder 310 to rotate. The upper end of 310 is provided with a waist-shaped cylinder, which is convenient to achieve a good anti-rotation effect after being inserted into the knob 330; specifically, other forms such as clamping can also be used for positioning between the knob 330 and the rotating cylinder 310. limited.

After the knob 330 is in place, the present embodiment sets up a corresponding structure to lock the knob 330 to ensure the stability of the overall structure and prevent the original torsion spring (or the current There are springs in the technology) the locking force is insufficient and the poke card falls off. This structure is that the inside of the knob 330 is hollow and has an opening at the front end. A clamping spring 334 is arranged in the opening. One end of the clamping spring 334 is against the side bottom of the inner cavity of the knob 330, and the other end is against the sliding block to slide A block is slidably disposed at the opening.

Specifically, the structure of the knob 330 includes a knob 331 and a bottom platform 332 with the above-mentioned hollow interior, a sliding notch 3321 is opened on the bottom platform 332 and a shrinkage opening 3322 is provided at the end of the sliding notch 3321, and the There is a carrying platform 3323 on the bottom platform 332 on one side of the mouth 3322, and a bottom platform 332 connecting port for connecting with the rotating cylinder 310 is provided on the bottom platform 332; the cross section of the sliding part 333 is T-shaped, and the The T-shaped port 3331 of the sliding part 333 is located in the sliding notch 3321, and the sliding notch 3321 provides a sliding space for the T-shaped port 3331, while the T-shaped long arm 3332 of the sliding part 333 is located in the closing opening, and the spring 334 is clamped. Then it is carried on the bearing platform 3323, and the clamping spring 334 can relatively expand and contract on the bearing platform 3323; specifically, under the action of the clamping spring 334, the sliding member 333 can be pushed to slide relative to the sliding notch 3321 until it becomes T-shaped. The long arm 3332 is locked into the blocking groove 516 . When it is necessary to operate the trigger mechanism 300 , the doctor only needs to press the sliding member 333 to disengage from the retaining groove 516 on the upper cover body 510 , and then turn the knob 330 .

The locking mechanism 200 includes two locking parts arranged in mirror image. The locking part is carried and placed in the lower bottom cover 530 , and the trigger mechanism 300 , that is, the rotating cylinder 310 is arranged between the two locking parts. Specifically, the structure of the locking part includes the lock tongue 210 that is rotatably connected in the lower bottom cover 530 and the torsion spring cylinder 220 that is sleeved and fixed with the torsion spring body 230 . A torsion spring groove 212 is provided, and the torsion arm 231 of the torsion spring body 230 is clamped in the torsion spring groove 212; there is a storage bin 211 near the torsion spring groove 212 on the lock tongue 210, and the main use of the storage bin 211 is in the storage bin 211. In accommodating the linkage assembly 320, that is, the linkage cylinder 324 in the linkage assembly 320 is plugged into the accommodation chamber 211 and the turntable socket 323 is rotatably arranged in the accommodation chamber 211, on the side away from the torsion spring cylinder 220 The end of the locking tongue 210 has a locking head 215, which is suitable for locking and fixing the poking body 100, and the gap between the two locking heads 215 forms a locking space.

Generally, the material used for the lock tongue 210 is aluminum, and its hardness is lower than that of the torsion spring arm 231. Therefore, the problem of damage to the torsion spring groove 212 may occur during use. In order to facilitate processing and extend the lock For the service life of the tongue 210, the torsion spring groove 212 is preferably opened as a mirror image, which is convenient for subsequent flip replacement; on the side wall of the torsion spring groove 212, there is at least one vertical steel column groove 213, preferably three, in the torsion spring groove At least one horizontal steel column groove 214 is opened on the bottom wall of 212 , preferably one, and a steel column body is respectively arranged in each horizontal steel column groove 214 and each vertical steel column groove 213 . The torsion arm 231 of the torsion spring extends into the torsion spring groove 212 and is carried on the steel column body in the horizontal steel column groove 214 and against the steel column body in the vertical steel column groove 213, so that the overall line friction becomes The point contact reduces the frictional force very well and provides the wear resistance of the torsion spring groove 212 . The reason why the three vertical steel column grooves 213 are provided is more for the purpose that the torsion arm 231 can continuously abut against different steel column bodies during the rotation process of the rotating column body 310 . In some side walls of the torsion spring groove 212 mentioned above, there is no contact with the torsion arm 231 during the operation of the rotating cylinder 310 , so there is no need to set the vertical steel column groove 213 .

Furthermore, the lower end of the torsion spring column 220 and the guide column 240 around which the locking tongue 210 rotates are inserted into the lower bottom cover 530 , and the upper end is inserted into the middle cover 520 .

Specifically, before the poking body 100 is connected with the locking mechanism 200 , in order to strengthen the overall connection strength and ensure a good connection effect, a ferrule body 400 is also provided on the fixing bracket 500 .

The ferrule body 400 includes an annular piece 410 with a through opening, and a flange 420 adapted to the annular piece 410. On the flange 420, there is a ferrule slot 430 that is matched with the bracket clamp head 5321 in a mirror image. The port and the installation port 531 are compatible with each other, and a profiling protrusion 440 adapted to the poking card body 100 is extended from the inner edge of the annular piece 410 to the inner cavity of the fixing bracket 500, and the two sides of the profiling protrusion 440 are respectively mirrored. The above ferrule slot 430 is provided, on the other side surface of the profiling protrusion 440 there is a ferrule chuck 450 for interconnecting with the poking body 100, and the annular piece 410 has a shape suitable for the poking body 100 to avoid depressions.

At least the profiling protrusion 440 in the ferrule body 400 is made of flexible material. When the profiling protrusion 440 is connected with the poking body 100 and interlocked with the locking mechanism 200, because of its own damping performance, thus It strengthens the overall connection strength very well.

Embodiment two

The difference between the second embodiment and the first embodiment lies in the difference of the fixing bracket 500 .

As shown in FIGS. 11 and 13 , in this embodiment, the upper cover body 510 on the fixing bracket 500 is specifically a platform surface, that is, the knob 330 can rotate freely without other interference. This form can well reduce the height dimension, thereby ensuring and expanding the overall movement stroke.

As an alternative embodiment, a platform 517 can be set on the upper cover 510, and the platform 517 is preferably a platform surface, and in order to avoid interference with the operation of the knob 330, the platform 517 is placed close to the knob 330 is provided with an avoidance groove 514 . Preferably, the vertical height of the table body 517 is selected to be short or flush with the vertical height of the knob 330, thereby greatly ensuring and enlarging the overall motion stroke of the apparatus motion platform.

Embodiment Three

As shown in Figures 11 and 12, the difference between Embodiment 3 and Embodiments 1 and 2 is that the limit form of the knob 330 is different.

A rotating head 335 is hinged at the end of the knob 330, and an adapted lock body 336 is arranged at the end of the rotating head 335, while a lock cavity 518 is arranged on the end face of the upper cover body 510, and the lock body 336 can It is locked in the lock cavity 518 .

A groove cavity 337 is formed at the end of the knob 330, and a shaft body is traversed in the groove cavity 337. The rotating head 335 is arranged in the groove cavity 337 and is rotatably arranged relative to the shaft body. There is a smooth guide contact surface 3361 , which facilitates the process of promoting the rotation of the rotating head 335 in the groove cavity 337 .

Correspondingly, the lock body 336 is locked in the lock chamber 518 to form a position for the rotation head 335 , thereby preventing the rotation of the knob 330 . And after the lock body 336 is out of the lock cavity 518 , the turning head 335 will be higher than the horizontal plane of the knob 330 , so that it is easy to grasp by hand and promote the turning of the knob 330 .

It should be stated that the structure of the lock body 336 and the lock cavity 518 includes but is not limited to the form of a key bayonet. As a preferred form, a first magnetic steel can be arranged in the lock cavity 518, that is, from the upper cover body 510 A first magnetic steel is installed on the back of the lock body, and a second magnetic steel is installed at the lock body 336, that is, when the lock body 336 is located in the lock cavity 518, the two are adsorbed and fixed by magnetic force, thereby improving the stability of the structure and preventing Factors such as shaking in the working process of the equipment cause the lock body 336 to disengage from the lock gun 518 .

Inspired by the above-mentioned ideal embodiment according to the present invention, through the above-mentioned description content, relevant workers can make various changes and modifications within the scope of not departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, but must be determined according to the scope of the claims.

Claims (10)

1. The utility model provides a prick card fixing device for the card body is pricked in location, its characterized in that includes:

a locking mechanism adapted to be driven to engage the poke card body;

the trigger mechanism is linked with the locking mechanism; wherein

When the trigger mechanism triggers the locking mechanism, the locking mechanism is suitable for positioning the card-setting poking card body.

2. The card retaining apparatus of claim 1,

the trigger mechanism comprises a rotating cylinder;

the locking mechanism comprises two locking parts which are arranged in a mirror image manner, and the two locking parts form a locking space suitable for clamping the poking card body; wherein

When the rotating cylinder rotates to the tightening station, the rotating cylinder is suitable for opening the locking space;

when the rotation cylinder resets, the rotation cylinder is suitable for to contract locking space is established in order to block and is held stabbing the card body tightly.

3. The card retaining apparatus of claim 2,

the poking card fixing device comprises a fixing support suitable for bearing the locking mechanism and the triggering mechanism, and a clamping part is arranged on the upper end face of the fixing support;

the rotating cylinder extends out of the fixed support;

the trigger mechanism also comprises a handle part fixed at the upper end part of the rotating cylinder; and

when the locking space is contracted to hold the poking card body tightly, the handle part is clamped and fixed in the clamping part.

4. The card retaining apparatus of claim 3,

the handle part comprises a knob, a spring and a sliding block, wherein the front end of the knob is provided with an opening, the interior of the knob is hollow, and the spring and the sliding block are clamped in the opening; and

the knob is fixedly connected with the rotating cylinder;

one end of the clamping spring is propped against the side bottom of the inner cavity of the knob, and the other end of the clamping spring is propped against the sliding block;

the clamping part comprises a blocking table positioned on the fixed support, and a blocking groove suitable for clamping the sliding block is formed in the blocking table; wherein

When stabbing the card body and being held tightly, the sliding block is located keep off the inslot just the card is established the spring and is in the compression state.

5. The card retaining apparatus of claim 3,

the handle part comprises a knob of which the end part is hinged with a rotating head; and

the rotating head is provided with a lock body; the clamping part comprises a lock cavity arranged on the upper end face of the fixed support; wherein

The lock body is adapted to be confined within the lock cavity.

6. The fastener of any one of claims 3 to 5, wherein the fastener is a screw fastener,

the locking part comprises a lock tongue which is rotatably connected in the fixed support, and a torsion spring cylinder body which is fixedly sleeved with a torsion spring body; and

the lock tongue is provided with a torsion spring groove, and a torsion arm of the torsion spring body is clamped in the torsion spring groove;

the lower end of the rotating cylinder is hinged and linked with the lock tongue;

when the rotating cylinder rotates to rotate in cooperation with the lock tongue, the torque arm is pressed.

7. The card retaining apparatus of claim 6,

at least one vertical steel column groove is arranged on the side wall of the torsion spring groove, at least one transverse steel column groove is arranged on the bottom wall of the torsion spring groove, and

a steel column body is respectively arranged in each vertical steel column groove and each transverse steel column groove, wherein

The circumferential direction of the torque arm is suitable for being continuously attached to the steel column body.

8. The card retaining apparatus of claim 7,

the lower end of the rotating cylinder is provided with a sheet body group in a mirror image mode, and each sheet body group is also provided with a linkage assembly;

the sheet body group comprises sheet bodies which are arranged in parallel;

the linkage assembly comprises a connecting piece and four turntable pits, wherein the connecting piece is provided with a pit set in a mirror image manner, each pit set is correspondingly provided with two pit bodies, and each turntable pit is rotatably arranged in each pit body; and

the two turntable nests on one side are rotatably arranged between the two sheet bodies, and the two turntable nests on the other side are hinged with the lock tongue.

9. The card retaining apparatus of claim 8,

the side wall of the fixed bracket is provided with an installation opening suitable for installing the ferrule body;

the upper end surface of the fixed support is a flat table surface;

or

The side wall of the fixed bracket is provided with an installation opening suitable for installing the ferrule body;

a table body is arranged on the upper end surface of the fixed bracket;

or alternatively

The side wall of the fixed bracket is provided with an installation opening suitable for installing the ferrule body;

the upper end surface of the fixed support is provided with a table body, and the side wall of the table body is provided with a lamp hole suitable for light transmission.

10. A minimally invasive surgery robot comprises a base, a cart handle positioned at the rear end of the base, a lifting upright post bearing and fixed on the base, a mechanical arm connected with the lifting upright post, and an instrument motion platform positioned at the tail end of the mechanical arm;

the poking card fixing device is characterized in that the poking card fixing device as claimed in any one of claims 1-9 is fixed at the tail end of the instrument moving platform.

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