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

Abstract

The invention relates to a stabbing card fixing device and a minimally invasive surgical robot thereof, wherein the stabbing card fixing device comprises a locking mechanism, and the locking mechanism is suitable for being driven to clamp a stabbing card body; the trigger mechanism is linked with the locking mechanism; when the trigger mechanism triggers the locking mechanism, the locking mechanism is suitable for positioning the card-setting poking card body. According to the invention, a good positioning condition is provided for positioning the poking card body through the locking mechanism, and a good trigger driving condition is provided for the locking mechanism through the arrangement of the trigger mechanism, so that the trigger mechanism is promoted to operate the locking mechanism to clamp and position/release the poking card body, and the poking card is simple in working process and high in efficiency.

Description

Stab card fixing device and minimally invasive surgery robot thereof

Technical Field

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

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, the difficulty of the surgical operation is greatly increased, and the actions of fatigue, trembling and the like of a doctor in the long-time surgical process are amplified, which becomes a key factor restricting the development of the minimally invasive surgery technology. With the development of the robot technology, a novel minimally invasive surgery robot technology, which can overcome the defects and inherit the advantages, in the minimally invasive medical field, is produced.

In robotic-assisted minimally invasive surgical procedures, a dedicated channel is typically created through a stab card (also called a cannula) into which a surgeon performs surgical tasks within the abdominal cavity of the body with the aid of elongated minimally invasive surgical instruments. Since the stab card must be sterilized after each operation, it is required that the stab card can be detachably fixed on the minimally invasive surgery robot.

Chinese invention patent CN106102642B (hereinafter referred to as reference 1) discloses a surgical cannula mount and related system and method, comprising: a body having an aperture that receives a portion of a cannula; a pivotable clamp arm engaging a portion of the cannula received within an aperture; the clamp arm includes a cam follower surface; a block movable between a first position and a second position, the block including a cam surface. The cam surface of the block may engage a cam follower surface of the clamp arm in a first position to actuate the clamp arm to a closed position in which the clamp arm engages a portion of the cannula received in the aperture. When the block is in the second position, the clamp arms may be allowed to move to an open position in which the clamp arms do not engage the cannula.

Chinese patent application CN112494142A (hereinafter referred to as reference 2) discloses an instrument clamping device, slave operation device and surgical robot, comprising a clamping arm, a driving block, an elastic member and an operation mechanism, wherein the driving block is driven by the elastic member and the operation mechanism to move, and during the movement of the driving block, the tail end of the clamping arm pushes against different parts of the driving block to realize the opening and clamping of the clamping arm. The principle of the scheme is similar to that of patent 1, the handle drives the sliding block to move, and the sliding block is matched with the clamping arm, so that the sleeve is clamped tightly.

Chinese patent CN106037933B (hereinafter referred to as reference 3) discloses a catheter clamping and locking mechanism for a minimally invasive surgical robot, which includes a base, a cover mounted on the base, a catheter clamping link device, and a clamping and locking release device. Pressing one side (or a pair of) chucks in the conduit clamping connecting rod device, wherein the opposite rotation motions of the pair of chucks drive a linear motion connecting rod hinged with the connecting rod to do linear motion along a sliding rod through the connecting rod, and a pressure head in the clamping locking release device locks the linear motion connecting rod under the drive of an elastic component so as to lock the pair of chucks; the linear motion connecting rod can be unlocked by pressing the pressure head downwards, so that the linear motion connecting rod is reset under the action of the elastic force of the spring, and the pair of chucks release the guide pipe.

Chinese utility model patent CN212118197U (hereinafter referred to as contrast document 4) discloses a stab card fixing device for fast loading and unloading, including stabbing card connecting piece, platform and stabbing card fixed subassembly, stabbing the card connecting piece, the suit is on stabbing the upper portion of the card body of rod, and the platform is connected with stabbing the card connecting piece through stabbing card fixed subassembly, and the lid is installed on the platform behind the platform.

Although the prior art provides various fixing ways for the stamp card, the prior art at least has the following defects:

1. the comparison documents 1 and 2 realize the opening and closing of the lock tongue by utilizing the friction motion of a cam structure, and the abrasion can be generated in the long-term use process, so that the reliability and the locking force are reduced;

2. the comparison documents 2 and 3 are both structures that the poking card is clamped by two clamping jaws, and compared with the integrally fixed type (comparison documents 1 and 4), the clamping reliability is poor;

3. the comparison files 3 and 4 are locked by a single-side bolt, so that the reliability is poor;

4. the comparison files 2, 3 and 4 are all completed in the structure through the elastic force of the spring, the spring is aged in the long-term use process, the locking reliability is poor, and when the stamp card receives large external force, the phenomenon of falling off can occur.

In summary, various problems exist in the prior art, and a better poking card fixing device capable of solving the above problems needs to be invented.

Disclosure of Invention

The invention aims to provide a poking card fixing device to solve the technical problem.

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

the locking mechanism is suitable for being driven to clamp the positioning poking 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.

Preferably, the trigger mechanism comprises a rotating cylinder;

the locking mechanism comprises two locking parts 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 rotating cylinder resets, the rotating cylinder is suitable for contracting the locking space to clamp the holding stab card body.

Preferably, 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 locking space is by shrink in order to hug closely stab the card body, the handle portion is established by the card and is fixed in the card is established the portion.

Preferably, the handle part comprises a knob with an opening at the front end and a hollow interior, and a clamping spring and a sliding block which are positioned 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.

Preferably, the handle part comprises a knob with a rotating head hinged at the end part; 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.

Preferably, the locking part comprises a bolt which is rotatably connected in the fixed support, and a torsion spring cylinder body which is fixedly sleeved with the 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.

Preferably, at least one vertical steel column groove is formed on the side wall of the torsion spring groove, at least one transverse steel column groove is formed on the bottom wall of the torsion spring groove, an

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.

Preferably, 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 a pit port group is arranged on the connecting piece in a mirror image manner, each pit port group is correspondingly provided with two pit port bodies, and one turntable pit is rotatably arranged in each pit port 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.

Preferably, the side wall of the fixing bracket is provided with a mounting opening suitable for mounting the ferrule body;

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

or alternatively

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

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

or

The side wall of the fixed bracket is provided with an installation opening suitable for installing the cutting sleeve 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.

The invention has at least the following beneficial effects:

1. according to the invention, a good positioning condition is provided for positioning the poking card body through the locking mechanism, and a good trigger driving condition is provided for the locking mechanism through the arrangement of the trigger mechanism, so that the trigger mechanism is promoted to operate the locking mechanism to clamp and position/release the poking card body, and the poking card is simple in working process and high in efficiency.

2. The locking mechanism of the invention forms rigid limit through the clamping part and the handle part matched with the clamping part, and can avoid the phenomenon that the original torsion spring (or the spring in the prior art) has insufficient locking force to cause card poking and falling when a large external force is applied due to an accident.

3. The locking mechanism of the invention has small structure, especially the longitudinal space of the structure of the third embodiment occupies small space, and the space size of the tail end of the instrument motion platform can be saved, so that the equipment is more beneficial to miniaturization and conforms to the development trend of surgical robots.

The invention also provides a minimally invasive surgery robot, which 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 fixed at the tail end of the instrument moving platform.

This kind of minimal access surgery robot through stabbing card fixing device, for whole working process facilitates, improves work efficiency, easy dismounting.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a perspective view of a preferred embodiment of the poke card body of the present invention;

FIG. 2 is an exploded view of a card holding device with a card body of the present invention;

FIG. 3 is a schematic structural diagram of a preferred embodiment of a card retaining apparatus of the present invention;

FIG. 4 is a schematic view of a partial structure of a card holding device according to the present invention;

FIG. 5 is a schematic structural diagram of the upper cover of the present invention;

FIG. 6 is a schematic view of a portion of the locking mechanism and trigger mechanism of the present invention;

FIG. 7 is a schematic view of the rotating cylinder of the present invention;

FIG. 8 is a schematic structural view of the linkage assembly of the present invention;

fig. 9 is a schematic structural view of the locking tongue of the present invention;

FIG. 10 is an exploded view of the knob according to the first embodiment of the present invention;

fig. 11 is a schematic structural diagram of a stamp card fixing device according to a second embodiment and a third embodiment of the present invention;

FIG. 12 is a schematic structural view of a rotary knob with a rotary head according to a third embodiment of the present invention;

fig. 13 is a schematic structural view of an upper cover according to a second embodiment of the present invention;

fig. 14 is a schematic structural view of a ferrule body according to a first embodiment of the present invention;

fig. 15 is a schematic structural view of another view of the ferrule body according to the first embodiment of the invention.

In the figure:

100. the card stamping device comprises a card stamping body 101, card stamping clamping grooves 102 and inclined reverse surfaces;

200. the locking mechanism comprises a locking mechanism 210, a locking tongue 211, an accommodating bin 212, a torsion spring groove 213, a vertical steel column groove 214, a transverse steel column groove 215, a locking head 220, a torsion spring column 230, a torsion spring body 231, a torsion arm 240 and a guide column;

300. a trigger mechanism 310, a rotating cylinder 311, a concave ring groove 312, a kidney-shaped cylinder 313, a sheet body 320, a linkage component 321, a connecting piece 322, a socket body 323, a rotating disc socket 324, a linkage cylinder 330, a knob 331, a handle button 332, a bottom table 3321, a sliding notch 3322, a contraction opening 3323, a bearing table 333, a sliding piece 3331, a T-shaped port 3332, a T-shaped long arm 334, a clamping spring 335, a rotating head 336, a lock body 3361, a guide contact surface 337 and a groove cavity;

400. the cutting sleeve comprises a cutting sleeve body 410, an annular sheet 420, a flanging 430, a cutting sleeve clamping groove 440, a profiling bulge 450 and a cutting sleeve clamping head;

500. the lamp holder comprises a fixed support, 510, an upper cover body, 511, an upper inclined table surface, 512, a horizontal covering surface, 513, lamp holes, 514, an avoiding groove, 515, a blocking table, 516, a blocking groove, 517, a table body, 518, a lock cavity, 520, a middle cover body, 530, a lower bottom cover, 531, a mounting opening, 532, a clamping sleeve unlocking part, 5321, a support clamping head, 533, a lower inclined table surface, 534 and a lamp opening.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

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

a locking mechanism 200, the locking mechanism 200 being adapted to be driven to click the position stamp card body 100; the trigger mechanism 300, the trigger mechanism 300 is linked with the locking mechanism 200; wherein the locking mechanism 200 is adapted to position the card-marking card body 100 when the locking mechanism 200 is triggered by the trigger mechanism 300.

The poking card fixing device is mainly used for fixing a poking card body 100, a connecting block is arranged on the side wall of the poking card body 100, a poking card slot 101 is formed in the side wall of the connecting block in a mirror image mode, an inclined reverse surface 102 is arranged on the edge of the poking card slot 101, the inclined reverse surface 102 mainly provides a good guiding installation condition for subsequent installation, the cross section of the optimal poking card slot 101 is in a kidney-shaped hole shape, and the stability of the whole structure 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, a rotation output or a pressing output; the locking mechanism 200 mainly functions to position or release the card body 100, and the overall positioning state and release state are ensured by the trigger mechanism 300. The locking mechanism 200 and the triggering mechanism 300 are integrally carried in the fixing bracket 500 and the stamp card body 100 is first connected to the fixing bracket 500 before being connected to the locking mechanism 200.

Specifically, the fixing bracket 500 includes an upper cover 510, a lower cover 530 and a middle cover 520, the lower cover 530 has an installation space for installing the locking mechanism 200 thereon, the side has an installation opening 531, and the upper portion is opened for fixing the upper cover 510; in order to better position and fix the components of the locking mechanism 200 and not to hinder the aesthetic appearance of the whole structure, a middle cover 520 is synchronously arranged under the upper cover 510, the middle cover 520 is mainly used for carrying the limit locking mechanism 200 from the upper part, and the lower cover 530 is mainly used for carrying the limit locking mechanism 200 from the lower part.

In the structure of the lower bottom cover 530, two sleeve unlocking portions 532 are arranged on the outer side wall of the mounting opening 531 in a mirror image manner, the sleeve unlocking portions 532 are clamped on the side wall of the lower bottom cover 530 in a sheet shape, and a support clamping head 5321 is arranged on the sleeve unlocking portions 532. The other side of the lower bottom cover 530 far away from the mounting opening 531 is provided with a lower inclined table top 533; accordingly, the upper cover 510 has an upper inclined surface 511 and a horizontal covering surface 512.

In order to indicate the state of the instrument movement platform and the poking card body 100, a lamp head is arranged in the lower bottom cover 530, lamp holes 513 are respectively formed in the upper inclined table surface 511 and the horizontal covering surface 512, and a lamp socket 534 is respectively formed on two sides of the bottom of the lower bottom cover 530.

The connection between the lower bottom cover 530 and the upper cover 510 is in the form of a snap-in bayonet, a nut lock, and a sidewall fitting. Specifically, an avoiding groove 514 is formed in the upper cover body 510 close to the upper inclined table surface 511, and the existence of the avoiding groove 514 mainly provides a good movement space for the trigger mechanism 300; synchronously, in order to lock the trigger mechanism 300, a stopper 515 is provided on the upper cover 510, and a stopper groove 516 is provided in the middle of the stopper 515. Of course, various other structures for locking the trigger mechanism 300 may be used, as will be described in the embodiments that follow.

The trigger mechanism 300 includes a rotating cylinder 310, the rotating cylinder 310 is rod-shaped, a concave ring slot 311 is formed in a waist portion of the rotating cylinder, so as to form a cylinder structure, a bearing is respectively sleeved and fixed at an upper end and a lower end of the concave ring slot 311, that is, an inner ring inner wall of the bearing is tightly held with the cylinder structure, an outer ring outer wall of the bearing at the upper end is tightly held with the upper cover 510, and an outer ring outer wall of the bearing at the lower end is tightly held with the middle cover 520. A kidney-shaped cylinder 312 is provided at the upper end of the rotating cylinder 310; the lower end of the rotating cylinder 310 is provided with sheet body groups in a mirror image mode, and each sheet body group comprises two sheet body 313 which are arranged in parallel; to facilitate subsequent connection; the sheet body group is also provided with a linkage assembly 320, the linkage assembly 320 comprises a connecting piece 321, the mirror image on the connecting piece 321 is provided with a socket group, each socket group is correspondingly provided with two socket bodies 322, and the socket bodies 322 sink to form a conical table body; a rotating disc socket 323 is rotatably arranged in each socket body 322, and the rotating disc socket 323 is matched with the socket body 322; the upper turntable nest 323 and the lower turntable nest 323 are limited by a linkage cylinder 324; a set of swivel plate nests 323 on one side is positioned between the two plate bodies 313 and the ends of the linkage posts 324 are respectively inserted and fixed in the plate bodies 313. The bottom of the rotating cylinder 310 is synchronously provided with a bearing fixedly connected with the lower bottom cover 530, the outer ring of the bearing is tightly embraced with the lower bottom cover 530, and the inner ring of the bearing is fixedly connected with the rotating cylinder 310. While the present embodiment shows a preferred combination structure of the linkage assembly 320, other similar structures can be used in the present invention as long as the linkage between the rotating cylinder 310 and the locking part can be realized (i.e. the rotating cylinder 310 can be rotated in one direction to lock the locking part and rotated in the other direction to unlock the locking part).

A knob 330 is fixed on the end of the rotating cylinder 310 extending out of the upper cover 510, the knob 330 is convenient for driving the rotating cylinder 310 to rotate, and in order to prevent the knob 330 from rotating relative to the rotating cylinder 310, the upper end of the rotating cylinder 310 is provided with a waist-shaped cylinder, so that a good rotation-proof effect can be realized after the knob 330 is inserted in the rotating cylinder; specifically, the knob 330 and the rotating cylinder 310 may be positioned by other forms such as clamping, and the positioning is not limited thereto.

After the knob 330 moved to the right place, this embodiment has set up corresponding structure and has carried out the card to establish the location to knob 330 and in order to guarantee overall structure's stability, prevents to stick the card and drop because the accident leads to receiving when great external force, original torsional spring (or the spring among the prior art) locking force is not enough and takes place to stab. The structure is that the inside of the knob 330 is hollow and the front end is provided with an opening, a clamping spring 334 is arranged in the opening, one end of the clamping spring 334 props against the side bottom of the inner cavity of the knob 330, the other end of the clamping spring 334 props against a sliding block, and the sliding block is arranged at the opening in a sliding way.

Specifically, the knob 330 includes a knob 331 and a base 332 having the hollow interior, the base 332 being formed with a sliding slot 3321 and a contraction port 3322 at an end of the sliding slot 3321, a bearing table 3323 on a surface of the base 332 away from the contraction port 3322, the base 332 being formed with a connection port for connecting to the rotary cylinder 310; the cross section of the sliding member 333 is T-shaped, the T-shaped port 3331 of the sliding member 333 is located in the sliding notch 3321, the sliding notch 3321 provides a sliding space for the T-shaped port 3331, the T-shaped long arm 3332 of the sliding member 333 is located in the receiving opening, the locking spring 334 is supported on the bearing table 3323, and the locking spring 334 can relatively extend and retract on the bearing table 3323; specifically, under the action of the latching spring 334, the pushing sliding member 333 can slide relative to the sliding notch 3321 until the T-shaped long arm 3332 is latched into the latching groove 516. When the trigger mechanism 300 needs to be operated, the doctor only needs to press the sliding member 333 to disengage from the stopping groove 516 of the upper cover body 510, and then turn the knob 330.

The latch mechanism 200 includes two latch portions arranged in mirror image, the latch portions being carried within the lower base housing 530, and the trigger mechanism 300, i.e., the rotating cylinder 310, being disposed between the latch portions. Specifically, the locking part includes a bolt 210 rotatably connected in the lower bottom cover 530 and a torsion spring cylinder 220 sleeved with and fixed to a torsion spring body 230, the bolt 210 near one side of the torsion spring cylinder 220 is provided with a torsion spring groove 212, and a torsion arm 231 of the torsion spring body 230 is clamped in the torsion spring groove 212; the locking bolt 210 is provided with a containing cabin 211 near the torsion spring groove 212, the containing cabin 211 is mainly used for containing the linkage assembly 320, namely, a linkage cylinder 324 in the linkage assembly 320 is inserted and clamped in the containing cabin 211, a rotary disc pit 323 is rotatably arranged in the containing cabin 211, the end of the locking bolt 210 at one side far away from the torsion spring cylinder 220 is provided with a locking head 215, the locking head 215 is suitable for clamping the fixed poking card body 100, and a locking space is formed by a gap between the two locking heads 215.

Generally, the latch 210 is made of aluminum, and the hardness of the aluminum is lower than that of the torsion arm 231 of the torsion spring, so that the problem of damaging the torsion spring groove 212 can occur in the using process, and for convenience of processing and prolonging the service life of the latch 210, the torsion spring groove 212 is preferably formed in a mirror image manner, so that the subsequent overturning and replacing can be facilitated; at least one vertical steel column groove 213, preferably three, is opened on the side wall of the torsion spring groove 212, at least one horizontal steel column groove 214, preferably 1, is opened on the bottom wall of the torsion spring groove 212, and a steel column body is respectively arranged in each horizontal steel column groove 214 and each vertical steel column groove 213. The torque arm 231 of the torsion spring extends into the torsion spring slot 212 and bears the steel column body in the transverse steel column slot 214 and abuts against the steel column body in the vertical steel column slot 213, so that the overall line friction is changed into point contact, thereby well reducing the friction force and providing the wear resistance of the torsion spring slot 212. Three vertical steel column slots 213 are provided, and more particularly, the torque arm 231 can continuously abut against different steel column bodies during the rotation of the rotating cylinder 310. In some of the side walls of the torsion spring slot 212, there is no contact with the torsion arm 231 during the operation of the rotating cylinder 310, so that the vertical steel column slot 213 is not required.

More, the torsion spring cylinder 220 and the bolt 210 are inserted into the lower bottom cover 530 at the lower end and the middle cover 520 at the upper end respectively around the rotating guide post 240.

Specifically, before the stab card body 100 is connected with the locking mechanism 200, in order to enhance the overall connection strength and ensure a good connection effect, the fixing bracket 500 is further provided with a stab card body 400.

This cutting ferrule body 400 is including having the annular piece 410 of running through the mouth, with the turn-ups 420 of annular piece 410 adaptation, mirror image sets up the cutting ferrule draw-in groove 430 with support dop 5321 mutual adaptation on this turn-ups 420, run through mouthful and the mutual adaptation of installing port 531, extend to fixed bolster 500 inner chamber by the inward flange of annular piece 410 have with the profile modeling arch 440 of stabbing card body 100 adaptation, mirror image sets up above-mentioned cutting ferrule draw-in groove 430 respectively in the both sides of this profile modeling arch 440, have the cutting ferrule dop 450 that is used for with stabbing card body 100 interconnect on the other side surface of this profile modeling arch 440, it dodges sunken to have the adaptation stabbing card body 100 shape on annular piece 410.

At least the profiling protrusion 440 of the card sleeve body 400 is made of flexible material, and when the profiling protrusion 440 is connected with the card poking body 100 and is mutually clamped with the locking mechanism 200, the overall connection strength is well enhanced due to the damping performance of the profiling protrusion 440.

Example two

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

As shown in fig. 11 and 13, in this embodiment, the upper cover 510 of the fixing bracket 500 is embodied as a platform surface, i.e., the knob 330 can rotate freely without any other interference. In such a form, the height dimension can be reduced well, so that the overall movement stroke is ensured and enlarged.

As an alternative embodiment, a platform 517 may be disposed 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, an avoiding groove 514 is disposed on the platform 517 near the knob 330. Preferably, the vertical height of the platform 517 is selected to be short or flush with the vertical height of the knob 330, so as to greatly ensure and enlarge the movement stroke of the whole instrument movement platform.

EXAMPLE III

As shown in fig. 11 and 12, the third embodiment is different from the first and second embodiments in the limit form of the knob 330.

A rotating head 335 is hinged to the end of the knob 330, a lock body 336 is provided at the end of the rotating head 335, and a lock cavity 518 is provided on the end surface of the upper cover 510, and the lock body 336 can be locked in the lock cavity 518.

A cavity 337 is formed at an end of the knob 330, a shaft body is traversed within the cavity 337, the rotator head 335 is disposed within the cavity 337 and is rotatably disposed relative to the shaft body, and a smooth guide contact surface 3361 is provided at the rotator head 335 near the cavity 337, the guide contact surface 3361 facilitating the rotation of the rotator head 335 within the cavity 337.

Accordingly, the lock body 336 is captured within the lock cavity 518 to position the rotating head 335, thereby preventing rotation of the knob 330. After the lock body 336 is disengaged from the lock cavity 518, the swivel head 335 may be raised relative to the horizontal plane of the knob 330 to facilitate manual grasping and rotation of the knob 330.

It should be noted that the structure of the lock body 336 and the lock cavity 518 includes, but is not limited to, the form of a bayonet lock, as a preferred form, a first magnetic steel may be disposed in the lock cavity 518, that is, the first magnetic steel is installed from the back of the upper cover 510, 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 first magnetic steel and the second magnetic steel are fixed by being attracted by magnetic force, so as to improve the structural stability, and prevent the lock body 336 from being separated from the lock gun 518 due to factors such as shaking during the operation of the device.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and 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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