CN116211469B - Mechanical arm universal fixture with sterile cover and hair planting system - Google Patents

Mechanical arm universal fixture with sterile cover and hair planting system Download PDF

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Publication number
CN116211469B
CN116211469B CN202310091465.1A CN202310091465A CN116211469B CN 116211469 B CN116211469 B CN 116211469B CN 202310091465 A CN202310091465 A CN 202310091465A CN 116211469 B CN116211469 B CN 116211469B
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CN
China
Prior art keywords
sleeve
sterile cover
shaft
assembly
inner sleeve
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Active
Application number
CN202310091465.1A
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Chinese (zh)
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CN116211469A (en
Inventor
王迎智
袁平
周毅
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Jixian Artificial Intelligence Co Ltd
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Jixian Artificial Intelligence Co Ltd
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Priority to CN202310091465.1A priority Critical patent/CN116211469B/en
Publication of CN116211469A publication Critical patent/CN116211469A/en
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3468—Trocars; Puncturing needles for implanting or removing devices, e.g. prostheses, implants, seeds, wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/40—Apparatus fixed or close to patients specially adapted for providing an aseptic surgical environment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00747—Dermatology
    • A61B2017/00752—Hair removal or transplantation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

Abstract

The invention provides a universal fixture for a mechanical arm with a sterile cover and a hair planting system, wherein the universal fixture comprises: a sterile cover assembly, a collet assembly and a drive shaft assembly for transmitting rotational and linear motion; the sterile cover assembly comprises a sterile cover, a supporting plate and a one-way valve for connecting an air pipe and/or a water pipe, the jacket assembly comprises an outer sleeve and an inner sleeve which are nested, the outer sleeve is sleeved on one side of the inner sleeve, and the transmission shaft assembly is connected with the inner sleeve; the sterile cover is detachably and fixedly connected with the outer side wall of the outer sleeve through the supporting plate, and the inner sleeve or the outer sleeve is detachably and fixedly connected with the surgical tool; the invention combines the sterile cover with the supporting plate, can be quickly disassembled and assembled with the universal clamp, and the universal clamp integrates the inner sleeve and the outer sleeve, thereby realizing the quick disassembly and assembly of various surgical tools.

Description

Mechanical arm universal fixture with sterile cover and hair planting system
Technical Field
The invention relates to the technical field of hair implantation medical instruments, in particular to a mechanical arm universal clamp with a sterile cover and a hair implantation system.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
A variety of surgical tools are required during the hair implantation procedure, such as a hair follicle extractor, a jewel knife, a laser pen, a stylus, or a continuous hair implantation instrument.
The inventor finds that when different surgical tools are used, the clamps are often required to be replaced to ensure the stability of the structure, and each time the clamps are replaced, the surgical tools are required to be installed on different clamps and fixed on the mechanical arm, so that the cost is high, the working efficiency is low, and the switching of each surgical tool cannot be realized rapidly; in the hair planting process, a stricter sterile environment is often needed, corresponding sterile equipment is not arranged in the existing clamp, and the existing clamp is generally used independently, so that the cost is increased, and the matching difficulty in the use process is increased.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the universal fixture for the mechanical arm with the sterile cover and the hair planting system, the sterile cover and the supporting plate are combined for use and can be quickly assembled and disassembled with the universal fixture, and the universal fixture integrates the inner sleeve and the outer sleeve, so that the quick assembly and disassembly of various surgical tools are realized.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides a universal mechanical arm clamp with a sterile cover.
A robotic universal fixture with a sterile cover, comprising:
a sterile cover assembly, a collet assembly and a drive shaft assembly for transmitting rotational and linear motion;
the sterile cover assembly comprises a sterile cover, a supporting plate and a one-way valve for connecting an air pipe and/or a water pipe, the jacket assembly comprises an outer sleeve and an inner sleeve which are nested, the outer sleeve is sleeved on one side of the inner sleeve, and the transmission shaft assembly is connected with the inner sleeve;
the sterile cover is detachably and fixedly connected with the outer side wall of the outer sleeve through the supporting plate, and the inner sleeve or the outer sleeve is detachably and fixedly connected with the surgical tool.
As an alternative implementation mode, the outer side of the outer sleeve is provided with a first buckle, and the supporting plate is provided with a positioning groove matched and fixed with the protruding structure.
As an alternative implementation manner, the sterile cover, the supporting plate and the one-way valve are integrally arranged, and the jacket assembly and the transmission shaft assembly are integrally arranged.
As an optional implementation manner, a second buckle is arranged at a position, which is not wrapped by the outer sleeve, on the outer side of the inner sleeve, and the second buckle is used for being matched and fixedly connected with a flange clamping groove on the mechanical arm flange.
As a further limitation, the inner wall of the arm flange is in contact connection with the outer wall of the outer sleeve and the inner sleeve is not in contact with the outer wall wrapped by the outer sleeve.
As an alternative implementation manner, the transmission shaft assembly comprises a driving mechanism, a transmission shaft and a relay shaft, wherein the driving mechanism is connected with the first end of the transmission shaft, the second end of the transmission shaft is in opposite or contact connection with the first end of the relay shaft, and the second end of the relay shaft is in opposite or contact connection with the planting pen pressing cap.
As a further limitation, the mechanical arm flange is fixedly connected with the driving support, the driving mechanism is fixedly connected with the driving support, the outer side of the transmission shaft is connected with the inner wall of the inner sleeve through the first shaft sleeve, the shaft shoulder width of the transmission shaft is smaller than the inner circular hole length of the first shaft sleeve, and the shaft seal of the transmission shaft is connected with the first shaft sleeve through the second rubber ring;
the outer side of the relay shaft is sleeved with a second sleeve, the second sleeve is connected with the inner wall of the inner sleeve through a third rubber ring, the relay shaft penetrates through the center hole of the second gland and the center hole of the second sleeve, the outer edge of the second gland is connected with the inner wall of the inner sleeve, the second sleeve is matched with the second gland to form a hollow space, and a spring sleeved on the outer side of the relay shaft is arranged in the hollow space.
As an alternative implementation, the operating tip or indicator axis of each surgical tool is coaxial with the robotic flange axis.
As an alternative implementation manner, when the surgical tool is a hair follicle extractor, a jewel knife, a laser pen, and a planting pen, the surgical tool is connected with the inner sleeve through a conversion sleeve structure, and the conversion sleeve structure includes: the device comprises a first rubber ring, a locating pin and a baffle plate;
the first rubber ring is used for being in contact connection with the inner wall of the inner sleeve, the locating pin is used for being matched and fixed with a locating groove at the end part of the jacket assembly, and the baffle is used for being in contact connection with the inner sleeve and/or the end part of the outer sleeve when the surgical tool is inserted into the inner sleeve.
As an alternative implementation mode, when the operation tool is a continuous hair implantation device, an inner hole of a tail circular ring of the continuous hair implantation device is in contact connection with the outer side wall of the outer sleeve, a positioning pin on the tail circular ring is matched and fixed with a positioning groove at the end part of the jacket assembly, and the tail circular ring and the outer sleeve are fixed through screws.
The second aspect of the invention provides a hair growing system, which comprises the universal mechanical arm clamp with the sterile cover.
Compared with the prior art, the invention has the beneficial effects that:
1. the universal fixture for the mechanical arm with the sterile cover is combined with the supporting plate for use, the sterile cover assembly can be quickly assembled and disassembled with the jacket assembly, the jacket assembly can be quickly assembled and disassembled with the flange of the mechanical arm, and the universal fixture integrates the inner sleeve and the outer sleeve, so that the quick assembly and disassembly of various surgical tools are realized.
2. The universal mechanical arm clamp with the sterile cover is provided with the transmission shaft assembly for transmitting the rotary motion and the linear motion, integrates the transmission function, can transmit the linear motion and the rotary motion to the surgical tool, and can be matched with the action of the surgical tool better.
3. According to the universal clamp with the sterile cover for the mechanical arm, the sterile cover component integrates the water pipe and the air pipe, the supporting plate supports the inner space of the sterile cover, and friction with the mechanical arm connected in parallel is avoided.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic structural diagram of a universal mechanical arm fixture with a sterile cover according to an embodiment of the present invention;
FIG. 2 is an application presentation provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a fast fixture and a mechanical arm flange according to an embodiment of the present invention;
FIG. 4 is a schematic view of a surgical tool with a conversion sleeve according to an embodiment of the present invention;
FIG. 5 is a schematic view of fixing and driving a pen according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a propeller shaft and a relay shaft according to an embodiment of the present invention;
FIG. 7 is a schematic view of a continuous hair-planting apparatus according to an embodiment of the present invention;
wherein, 1, a sterile cover; 2. a support plate; 3. a one-way valve; 4. a drive shaft assembly; 5. a jacket assembly; 6. a jacket; 7. an inner sleeve; 8. a directional groove; 9. a first buckle; 10. a second buckle; 11. an orientation block; 12. serial connection; 13. a parallel mechanical arm; 14. a universal clamp; 15. a robotic arm flange; 16. a flange clamping groove; 17. a hair follicle extractor; 18. a gemstone knife; 19. a laser pen; 20. planting pens; 21. a conversion sleeve; 22. a first rubber ring; 23. a positioning pin; 24. a baffle; 25. a driving mechanism; 26. a drive bracket; 27. a transmission shaft; 28. a relay shaft; 29. a first sleeve; 30. a first gland; 31. the second rubber ring; 32. a second gland; 33. a second sleeve; 34. a third rubber ring; 35. a spring; 36. a screw; 37. a continuous hair planting device.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
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 exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", etc. refer to an orientation or a positional relationship based on that shown in the drawings, and are merely relational terms, which are used for convenience in describing structural relationships of various components or elements of the present invention, and do not denote any one of the components or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly attached," "connected," "coupled," and the like are to be construed broadly and refer to either a fixed connection or an integral or removable connection; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present invention can be determined according to circumstances by a person skilled in the relevant art or the art, and is not to be construed as limiting the present invention.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1:
as shown in fig. 1, embodiment 1 of the present invention provides a universal fixture for a mechanical arm with a sterile cover, including:
a sterile cover assembly, a collet assembly 5 and a drive shaft assembly 4 for transmitting rotational and linear movements;
the sterile cover assembly comprises a sterile cover 1, a support plate 2 and a one-way valve 3 (which is convenient for purging and cleaning in operation) for connecting an air pipe and/or a water pipe, the jacket assembly 5 comprises an outer sleeve 6 and an inner sleeve 7 which are nested, the outer sleeve 6 is sleeved on one side of the inner sleeve 7, and the transmission shaft assembly 4 is connected with the inner sleeve 7;
the sterile cover 1 is detachably and fixedly connected with the outer side wall of the outer sleeve 6 through the supporting plate 2, and the inner sleeve 7 or the outer sleeve 6 is detachably and fixedly connected with the surgical tool.
The aseptic cover 1 is arranged, so that the mechanical arm can be protected from being polluted after the mechanical arm is assembled, and the clamping sleeve assembly 5 and the transmission shaft assembly 4 are arranged to support clamping and quick replacement of surgical tools.
Specifically, the outer side of the outer sleeve 6 is provided with a first buckle 9, and a positioning groove matched and fixed with the first buckle 9 is formed in the orientation block 11 of the support plate 2.
In the embodiment, the sterile cover 1, the support plate 2 and the one-way valve 3 are integrally arranged, and the jacket assembly 5 and the transmission shaft assembly 4 are integrally arranged; it can be appreciated that the integrated arrangement in this embodiment may be that the assembly is already completed when leaving the factory, or that the integrated arrangement is directly and firmly fixed by fixing means such as welding.
In this embodiment, a second buckle 10 is disposed at a position of the outer side of the inner sleeve 7 not wrapped by the outer sleeve 6, and the second buckle 10 is used for being fixedly connected with a flange clamping groove 16 on the mechanical arm flange 15 in a matching manner.
As shown in fig. 2, for application demonstration, the serial machine 12 is connected with the parallel mechanical arm 13, the parallel mechanical arm 13 is connected with the universal fixture 14 through the mechanical arm flange 15, the outer wall of the universal fixture 14 is tightly matched with the inner wall of the mechanical arm flange 15 to provide clamping force, and when the universal fixture 14 is disassembled, the second buckle 10 is manually pressed to shrink inwards, and the universal fixture 14 is pulled out outwards.
In this embodiment, as shown in fig. 3, the inner wall of the mechanical arm flange 15 is in contact connection with the outer wall of the outer sleeve 6 and the outer wall of the inner sleeve 7, which is not wrapped by the outer sleeve 6, and the outer wall of the universal fixture is tightly matched with the inner wall of the mechanical arm flange 15 to provide a clamping force, so that when the clamp 14 for the system is disassembled, the second buckle 10 is manually pressed to shrink inwards, and the clamp is pulled out outwards.
In this embodiment, as shown in fig. 4 and 5, the transmission shaft assembly includes a driving mechanism 25, a transmission shaft 27 and a relay shaft 28, the driving mechanism 25 is connected to a first end of the transmission shaft 27, a second end of the transmission shaft 27 is opposite to or in contact with a first end of the relay shaft 28, and a second end of the relay shaft 28 is opposite to or in contact with a capping position of the planting pen 20.
In the embodiment, the mechanical arm flange 15 is fixedly connected with the driving support 26, the driving mechanism 25 is fixedly connected with the driving support 26, the outer side of the transmission shaft 27 is connected with the inner wall of the inner sleeve 7 through the first shaft sleeve 29, and the shaft shoulder width of the transmission shaft 27 is smaller than the inner circular hole length of the first shaft sleeve 29; the two ends of the transmission shaft are isolated by gas, the shaft seal of the transmission shaft 27 is connected with the first shaft sleeve 29 through the second rubber ring 31, and the first gland 30 is connected with the first shaft sleeve 29 through the second rubber ring 31;
more specifically, the left side of fig. 5 is a general structure of a conventional hydraulic cylinder and an air cylinder, the first gland 30 is used as a split structure to facilitate the transmission shaft 27 to be installed into the first shaft sleeve 29, and the first gland 30 and the first shaft sleeve 29 are made into a whole by means of threaded connection, welding and the like; the second rubber ring 31 is arranged in the sealing groove of the first gland 30, the sealing groove and the rubber ring are implemented according to the national standard, the depth of the sealing groove is smaller than the diameter of the rubber ring, but the width of the sealing groove is larger than the diameter of the sealing ring, the transmission shaft 27 and the first gland 30 are elastically tensioned in the groove through the rubber ring, and the first shaft sleeve 29 can compress the deformation of the second rubber ring 31 to realize sealing in a matching way;
the first gland 30 acts, including: (1) technically realizing the assembly of the transmission shaft 27 into the first shaft sleeve 29; (2) The inner hole of the first gland 30 is concentric with the inner hole of the first shaft sleeve 29, so that the transmission shaft 27 moves linearly.
The relay shaft 28 is arranged because the sizes of other tools in the clamp sleeve are larger than those of the planting pen 20, the transmission structure is increased, the length of the transmission shaft 27 and the pushing distance of the driving device can be reduced, the second sleeve 33 is sleeved on the outer side of the relay shaft 28, the second sleeve 33 is connected with the inner wall of the inner sleeve 7 through the third rubber ring 34, and the elastic force between the third rubber ring 34 and the inner wall of the clamp only needs to be larger than the self weight of the relay shaft 28;
the relay shaft 28 passes through the central hole of the second gland 32 and the central hole of the second sleeve 33, the outer edge of the second gland 32 is connected with the inner wall of the inner sleeve, the second sleeve 33 and the second gland 32 are matched to form a hollow space, and a spring 35 sleeved outside the relay shaft is arranged in the hollow space;
more specifically, the second sleeve 33 is analogous to the cartridge housing, the spring 35 is analogous to the cartridge spring, the relay shaft 28 is analogous to the cartridge, the spring 35 is compressed between the lower portion of the shaft shoulder of the relay shaft and the bottom of the second sleeve 33, the state is the initial position, when the relay shaft is pressed by the external force in the groove, the relay shaft can shrink inwards, the external force disappears, and the spring pushes the shaft shoulder of the relay shaft 28 to reset the shaft shoulder. .
Besides the conventional assembly and disassembly of the planting pen 20, the pressing cap is required to be pressed to push hair follicles in the needle head to enter the scalp, so that the tail of the mechanical arm flange 15 is required to be matched with a driving support 26, the driving support 26 is provided with a driving mechanism 25 to provide linear thrust, the thrust is applied to the pressing cap of the planting pen 20 through a transmission shaft 27 and a relay shaft 28, the resetting of the pressing cap is realized through the internal spring force of the planting pen, the spring in the relay shaft 28 structure provides resetting force, and the driving mechanism 27 only needs to drive the transmission shaft 27 of the driving mechanism to reciprocate, so that the pressing cap can be pressed and released.
In this embodiment, the operative tip or index axis of each surgical tool is coaxial with the axis of the robotic flange 15.
In this embodiment, as shown in fig. 6, when the surgical tool is the hair follicle extractor 17, the jewel cutter 18, the laser pen 19, and the implantation pen 20, the surgical tool is fixed to the conversion sleeve 21 by a process treatment, and the surgical tool is connected to the inner sleeve 7 through the conversion sleeve 21, and the conversion sleeve 21 includes: the first rubber ring 22, the locating pin 23 and the baffle 24; the central hole of the conversion sleeve 21 is matched with the outer diameters of different surgical tools, the outer diameters of the conversion sleeve 21 are completely consistent, the first rubber ring 22 is installed and then is tightly matched with the inner hole of the universal fixture 14 to provide clamping force, the positioning pin 23 is matched with the directional groove 8 of the universal fixture 14 to determine the direction, the baffle 24 is matched with the front end of the universal fixture 14 to determine the position, the handheld tool aligns the conversion sleeve 21 with the inner hole of the universal fixture 14, and the positioning pin 23 is aligned with the directional groove 8 to be plugged and pulled out, so that quick assembly and disassembly can be realized.
The first rubber ring 22 is used for being in contact connection with the inner wall of the inner sleeve 7, the positioning pin 23 is used for being matched and fixed with a positioning groove at the end part of the jacket assembly 5, and the baffle 24 is used for being in contact connection with the end part of the inner sleeve 7 and/or the outer sleeve 6 when a surgical tool is inserted into the inner sleeve.
In this embodiment, as shown in fig. 7, when the surgical tool is a continuous hair implantation apparatus 37, an inner hole of a tail ring of the continuous hair implantation apparatus 37 is in contact connection with an outer side wall of the outer sleeve, and a positioning pin on the tail ring is fixedly oriented in cooperation with a positioning groove at the end of the collet assembly, so that the tail ring and the outer sleeve 6 are fixed by a screw 36.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. Mechanical arm universal fixture with aseptic cover, characterized by comprising:
a sterile cover assembly, a collet assembly and a drive shaft assembly for transmitting rotational and linear motion;
the sterile cover assembly comprises a sterile cover, a supporting plate and a one-way valve for connecting an air pipe and/or a water pipe, the jacket assembly comprises an outer sleeve and an inner sleeve which are nested, the outer sleeve is sleeved on one side of the inner sleeve, and the transmission shaft assembly is connected with the inner sleeve;
the sterile cover is detachably and fixedly connected with the outer side wall of the outer sleeve through the supporting plate, and the inner sleeve or the outer sleeve is detachably and fixedly connected with the surgical tool;
the transmission shaft assembly comprises a driving mechanism, a transmission shaft and a relay shaft, wherein the driving mechanism is connected with the first end of the transmission shaft, the second end of the transmission shaft is opposite to or in contact with the first end of the relay shaft, and the second end of the relay shaft is opposite to or in contact with the planting pen pressing cap;
the outer side of the relay shaft is sleeved with a second sleeve, the second sleeve is connected with the inner wall of the inner sleeve through a third rubber ring, the relay shaft penetrates through the center hole of the second gland and the center hole of the second sleeve, the outer edge of the second gland is connected with the inner wall of the inner sleeve, the second sleeve is matched with the second gland to form a hollow space, and a bullet sleeved on the outer side of the relay shaft is arranged in the hollow space.
2. The universal robot arm holder with a sterile cover according to claim 1,
the outer side of the outer sleeve is provided with a first buckle, and the supporting plate is provided with a positioning groove which is matched and fixed with the first buckle.
3. The universal robot arm holder with a sterile cover according to claim 1,
the sterile cover, the supporting plate and the one-way valve are integrally arranged, and the jacket assembly and the transmission shaft assembly are integrally arranged.
4. The universal robot arm holder with a sterile cover according to claim 1,
the outer side of the inner sleeve is not wrapped by the outer sleeve, and a second buckle is arranged at the position of the outer sleeve, and is used for being matched and fixedly connected with a flange clamping groove on the mechanical arm flange.
5. The universal robot arm holder with a sterile cover according to claim 4,
the inner wall of the mechanical arm flange is connected with the outer wall of the outer sleeve in a contact manner, and the inner sleeve is not connected with the outer wall wrapped by the outer sleeve.
6. The universal robot arm holder with a sterile cover according to claim 1,
the mechanical arm flange is fixedly connected with the driving support, the driving mechanism is fixedly connected with the driving support, the outer side of the transmission shaft is connected with the inner wall of the inner sleeve through the first shaft sleeve, the width of the shaft shoulder of the transmission shaft is smaller than the length of the inner circular hole of the first shaft sleeve, and the shaft seal of the transmission shaft is connected with the first shaft sleeve through the second rubber ring.
7. The universal robot arm holder with a sterile cover according to claim 1,
the operating tip or indicating axis of each surgical tool is coaxial with the robotic flange axis.
8. The universal robot arm holder with a sterile cover according to claim 1,
when the surgical tool is hair follicle extraction appearance, precious stone sword, laser pen and planting pen, the surgical tool passes through conversion cover structure and endotheca connection, conversion cover structure includes: the device comprises a first rubber ring, a locating pin and a baffle plate;
the first rubber ring is in contact connection with the inner wall of the inner sleeve, the positioning pin is matched and fixed with a positioning groove at the end part of the jacket assembly, and the baffle is in contact connection with the inner sleeve and/or the end part of the outer sleeve when the surgical tool is inserted into the inner sleeve;
when the surgical tool is a continuous hair-planting device, an inner hole of a tail circular ring of the continuous hair-planting device is in contact connection with the outer side wall of the outer sleeve, and a positioning pin on the tail circular ring is matched and fixed with a positioning groove at the end part of the jacket assembly, and the tail circular ring and the outer sleeve are fixed through screws.
9. A hair planting system is characterized in that,
a robotic universal fixture comprising the sterile enclosure of any one of claims 1-8.
CN202310091465.1A 2023-02-03 2023-02-03 Mechanical arm universal fixture with sterile cover and hair planting system Active CN116211469B (en)

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Application Number Priority Date Filing Date Title
CN202310091465.1A CN116211469B (en) 2023-02-03 2023-02-03 Mechanical arm universal fixture with sterile cover and hair planting system

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Application Number Priority Date Filing Date Title
CN202310091465.1A CN116211469B (en) 2023-02-03 2023-02-03 Mechanical arm universal fixture with sterile cover and hair planting system

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CN116211469B true CN116211469B (en) 2023-10-20

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5413573A (en) * 1991-05-24 1995-05-09 Onesys Oy Device for surgical procedures
CN104363854A (en) * 2012-04-27 2015-02-18 库卡实验仪器有限公司 Robotic surgery system and surgical instrument
CN105640647A (en) * 2014-11-27 2016-06-08 阿瓦特拉医药有限公司 Device for robot-assisted surgery
CN218338525U (en) * 2022-08-19 2023-01-20 武汉联影智融医疗科技有限公司 Sterile cover and surgical system comprising same

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5413573A (en) * 1991-05-24 1995-05-09 Onesys Oy Device for surgical procedures
CN104363854A (en) * 2012-04-27 2015-02-18 库卡实验仪器有限公司 Robotic surgery system and surgical instrument
CN105640647A (en) * 2014-11-27 2016-06-08 阿瓦特拉医药有限公司 Device for robot-assisted surgery
CN218338525U (en) * 2022-08-19 2023-01-20 武汉联影智融医疗科技有限公司 Sterile cover and surgical system comprising same

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