CN116725683B

CN116725683B - Quick-insertion type transmission device, electric tool and operation system

Info

Publication number: CN116725683B
Application number: CN202211123737.3A
Authority: CN
Inventors: 张钊; 李卫; 张晓峰
Original assignee: Beijing And Huaruibo Medical Technology Co ltd
Current assignee: Beijing And Huaruibo Medical Technology Co ltd
Priority date: 2022-09-15
Filing date: 2022-09-15
Publication date: 2024-04-30
Anticipated expiration: 2042-09-15
Also published as: CN116725683A

Abstract

The application discloses a quick-insertion type transmission device, an electric tool and a surgical system. The electric tool provided by the embodiment of the application is used for executing operation under the holding of the robot arm, and comprises the following components: a body having a first interface for connection to a robotic arm, a second interface, and a built-in power assembly for powering a surgical tool; the transmission mechanism is arranged at the second interface and provided with a first end and a second end, the first end of the transmission mechanism is connected with the power assembly, and the second end of the transmission mechanism is connected with the surgical tool; the first isolation structure is arranged between the second interface and the transmission mechanism and used for preventing a current path from being formed between the surgical tool and the robot arm. According to the embodiment of the application, the first isolation structure arranged between the transmission mechanism and the main body prevents a current path from being formed between the surgical tool and the robot arm.

Description

Quick-insertion type transmission device, electric tool and operation system

Technical Field

The application belongs to the technical field of medical robots, and particularly relates to a quick-insertion transmission device, an electric tool and a surgical system.

Background

With the development of technology, robots are increasingly being used in the medical field. Surgical robots include robotic arms, surgical tools, and power tools. The robot arm is mounted above the trolley. The power tool is mounted to the end of the robotic arm. The surgical tool is mounted to the end of the power tool. The surgical robot also has a control section for powering and controlling the robotic arm and the tool section. The robot arm is electrically connected to the ground of the circuit.

In the process of the surgical robot, the human body and the grounding end of the circuit have a potential difference due to static electricity of the human body or electric leakage of external equipment. The surgical tool of the surgical robot can be contacted with a human body in the working process, and after the surgical tool is contacted with the human body, the human body is conducted with the grounding end of the circuit to generate current, so that the surgical safety is affected.

In addition, the power tool includes a body and a transmission. The transmission device is fixedly connected with the main body, one end of the transmission device is connected with the power component, and the other end of the transmission device is connected with the surgical tool. The transmission mechanism is used for transmitting the power generated by the power assembly to the surgical tool so that the surgical tool can perform surgical operation. The transmission mechanism is used as a main transmission part, is stressed and worn quickly, and needs to be replaced before the service life is finished. At present, the mounting mode between the transmission mechanism and the main body causes complicated disassembly and assembly of the transmission mechanism and inconvenient maintenance.

Disclosure of Invention

The embodiment of the application provides a quick-insertion transmission device, an electric tool and a surgical system, which aim to solve at least part of defects of the electric tool for surgery in the background art.

In a first aspect, embodiments of the present application provide a quick-connect transmission for connecting a surgical tool to a body of a power tool, comprising: the transmission shell is provided with a first transmission shell end and a second transmission shell end, the first transmission shell end is used for being connected with the main body, and the second transmission shell end extends out of the main body; one end of the input shaft is positioned in the transmission shell, and the other end of the input shaft penetrates out of the first end of the transmission shell and is connected with the power component arranged in the main body; and one end of the output component is positioned in the transmission shell, the other end of the output component is connected with the surgical tool, and one end of the output component positioned in the transmission shell is connected with one end of the input shaft positioned in the transmission shell.

In a second aspect, embodiments of the present application provide a power tool for performing a surgery under the grip of a robotic arm, comprising: a body having a first interface for connection to a robotic arm, a second interface, and a built-in power assembly for powering a surgical tool; and the quick-insertion transmission device is detachably connected with the second interface and comprises a transmission mechanism, wherein the transmission mechanism is used for connecting the power assembly and the surgical tool and transmitting power to the surgical tool.

In a third aspect, embodiments of the present application provide a power tool for performing a surgery under the grip of a robotic arm, comprising: a body having a first interface for connection to a robotic arm, a second interface, and a built-in power assembly for powering a surgical tool; the transmission mechanism is arranged at the second interface and provided with a first end and a second end, the first end of the transmission mechanism is connected with the power assembly, and the second end of the transmission mechanism is connected with the surgical tool; the first isolation structure is arranged between the second interface and the transmission mechanism and used for preventing a current path from being formed between the surgical tool and the robot arm.

In a fourth aspect, embodiments of the present application provide a surgical system comprising: an electric tool; the robot arm is used for carrying an electric tool and providing power for changing the pose of the electric tool; the navigation system is used for acquiring azimuth information of the surgical tool; and a controller for controlling the movement and orientation of the robotic arm based on the orientation information and the pre-stored surgical plan.

The embodiment of the application provides a quick-plug type transmission device, an electric tool and a surgical system, wherein the electric tool on the one hand comprises a main body and the quick-plug type transmission device, the main body comprises a second interface, and the quick-plug type transmission device is detachably connected with the second interface of the main body, so that the quick-plug type transmission device is convenient to disassemble and assemble, and the disassembly and assembly difficulty of the transmission device is reduced; the electric tool comprises a main body, a transmission mechanism and a first isolation structure, wherein a current path is formed between the surgical tool and the robot arm through the first isolation structure arranged between the transmission mechanism and the main body.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings that are needed to be used in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.

FIG. 1 is a schematic view of a surgical system with a power tool provided by the present application;

FIG. 2 is a schematic view of an electric tool according to the present application;

FIG. 3 is a cross-sectional view of the power tool provided by the present application;

FIG. 4 is an overall view of a quick-connect transmission provided by the present application;

FIG. 5 is a cross-sectional view of a quick-connect transmission provided per se;

FIG. 6 is an exploded view of a quick connect transmission according to the present application;

FIG. 7 is an exploded view of a flexible coupling in the power tool provided by the present application;

FIG. 8 is an overall view of another quick-connect transmission provided by the present application;

FIG. 9 is a cross-sectional view of another quick-connect transmission provided by the present application;

FIG. 10 is an exploded view of another quick-connect transmission provided by the present application;

FIG. 11 is an exploded view of a perspective view of the assembly of the quick connect transmission with a body provided by the present application;

FIG. 12 is an exploded view of an alternative view of the assembly of the quick connect transmission with a body in accordance with the present application;

fig. 13 is a schematic cross-sectional structure of a connecting member in the quick-connect transmission device provided by the application.

Reference numerals illustrate:

1. A main body; 11. a main body housing; 12. a first interface; 13. a second interface; 14. a power assembly; 141. an output end; 142. a terminal; 143. a wire clamp; 15. a handle portion; 16. a tracer rack; 17. a fixing seat; 171. a relief hole; 172. a first positioning groove; 18. a wire blocking sleeve;

2. A transmission mechanism; 21. a transmission housing; 211. a cover plate; 212. a transmission main housing; 2121. a second positioning groove; 2122. a third positioning groove; 2100. a first end of the drive housing; 2101. a drive housing second end; 22. an input shaft; 221. an eccentric shaft; 222. a second slot; 223. a first pin hole; 23. an output member; 231. a shifting fork; 232. an output shaft;

3. A flexible coupling; 31. a first coupling member; 32. a second coupling member; 321. a first plug-in connection; 322. a second plug-in connection; 323. a second pin hole;

4. A first isolation structure; 41. a first insulator; 411. a first positioning block; 412. a second positioning block; 413. a third positioning block; 42. a second insulator; 43. a third insulator; 44. a fourth insulator; 45. a connecting piece; 451. a first sub-connector; 452. a second sub-connector; 4521. a jack; 453. clamping springs; 46. an elastic member; 47. a gasket;

5. A second isolation structure;

61. a clamping block; 62. a rotary groove; 621. an inlet end of the rotary groove; 622. a rotary groove positioning end; 623. a protruding portion; 63. a mating groove; 64. a guide groove;

7. a robotic arm.

Detailed Description

Features and exemplary embodiments of various aspects of the present application will be described in detail below, and in order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings and the detailed embodiments. It should be understood that the particular embodiments described herein are meant to be illustrative of the application only and not limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the application by showing examples of the application.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Example 1

As shown in fig. 1 to 3. The embodiment of the application provides a power tool for a surgical system with a robotic arm 7, which performs a surgery under the grip of the robotic arm 7, comprising a surgical tool, a main body 1, a transmission mechanism 2 and a first isolation structure 4. The first isolation structure 4 is disposed between the main body 1 and the transmission mechanism 2.

As shown in fig. 3. The main body 1 includes a main body housing 11 and a power assembly 14. The main body housing 11 has a first interface 12 and a second interface 13. The first interface 12 is for connection to the robotic arm 7. The transmission mechanism 2 is arranged at the second interface 13, the transmission mechanism 2 having a first end and a second end. The first end of the transmission mechanism 2 is connected with the power assembly 14; a second end of the transmission 2 is connected to the surgical tool. The power assembly 14 is built inside the main body housing 11. The robot arm 7 is operable to drive the main body 1 and the transmission mechanism 2 attached to the main body 1 to move, thereby changing the working position. The power assembly 14 drives the surgical tool to act through the transmission mechanism 2 to perform surgical operation.

The first isolation structure 4 is arranged between the second interface 13 and the transmission mechanism 2, the first isolation structure 4 is used for isolating the second interface 13 from the transmission mechanism 2, so that direct contact between the second interface 13 and the transmission mechanism 2 is avoided, and current can be isolated from flowing between the main body 1 and the transmission mechanism 2, thereby preventing a current path from being formed between the surgical tool and the robot arm 7. The first isolation structure 4 is made of an insulating material, such as plastic, resin, carbon fiber, or the like.

Optionally, the power assembly 14 has an output 141; the end of the power assembly 14 facing away from the transmission 2 is a terminal 142. The output 141 is connected to the input shaft 22 of the transmission 2. The terminal 142 is used for connecting a power supply line. A wire clip 143 is provided between the terminal 142 of the power assembly 14 and the main body housing 11. The power supply line can be clamped in the wire clamp 143, and can be kept neat through carding of the wire clamp 143. At the same time, the wire clip 143 can also prevent friction between the power module 14 and the power supply line, thereby protecting the power supply line.

The main body housing 11 is provided with a handle portion 15. The handle portion 15 provides a grip portion for a physician to conveniently manipulate the power tool. The handle portion 15 has a receiving cavity therein for receiving the power assembly 14. The power assembly 14 is mounted in the receiving cavity of the handle portion 15 to maintain stability of the power assembly 14.

The power assembly 14 is typically an electric motor. Of course, other components capable of outputting power may be used.

Optionally, a flexible coupling 3 is arranged between the power assembly 14 and the transmission 2. One end of the flexible coupling 3 is connected with an output end 141 of the power assembly 14; the other end of the flexible coupling 3 is connected with the transmission mechanism 2. A wire retaining sleeve 18 is arranged on the periphery of the flexible coupling 3. The wire retaining sleeve 18 isolates the flexible coupling 3 from the power supply line of the power assembly 14 so as to prevent the power supply line of the power assembly 14 from winding at the flexible coupling 3.

Alternatively, as shown in fig. 4 to 6, the transmission mechanism 2 includes a transmission housing 21, an input shaft 22, and an output member 23. The drive housing 21 has a drive housing first end 2100 and a drive housing second end 2101. The transmission housing first end 2100 is inserted into the second interface 13. One end of the input shaft 22 is located in the transmission housing 21; the other end of the input shaft 22 extends out of the transmission housing first end 2100. One end of the output member 23 is located within the transmission housing 21; the other end of the output member 23 is connected to a surgical tool. And the end of the output member 23 located within the transmission housing 21 is connected to the end of the input shaft 22 located within the transmission housing 21. When the transmission mechanism 2 is connected with the second interface 13, the first end 2100 of the transmission housing is spliced with the second interface 13, the input shaft 22 is in transmission connection with the power assembly 14, the input shaft 22 is in transmission connection with the output part 23 in the transmission housing 21, the output part 23 is in transmission connection with the surgical tool, and the power assembly 14 transmits power to the surgical tool through the input shaft 22 and the output part 23 to drive the surgical tool to act.

The surgical tools can be of various types, the actions of the different types of surgical tools are not identical, and the corresponding matched transmission mechanisms 2 are also not identical.

Illustratively, the surgical tool is a saw blade that performs work by swinging at high speeds. The input shaft 22 is rotatably connected to the transmission housing 21 via bearings or bushings. The portion of the input shaft 22 located within the transmission housing 21 has an eccentric shaft 221. The output member 23 includes a shift fork 231 and an output shaft 232. The shift fork 231 is located in the transmission housing 21, and one end of the shift fork 231 is connected to the eccentric shaft 221. The output shaft 232 is fixedly connected to one end of the fork 231 facing away from the eccentric shaft 221, and the output shaft 232 is perpendicular to the input shaft 22. At least one end of the output shaft 232 extends out of the transmission housing 21 and is coupled to the saw blade. The rotary motion of the input shaft 22 is converted into the swing of the output shaft 232 through the driving connection of the eccentric shaft 221 and the fork 231, thereby driving the saw blade to swing at a high speed.

Optionally, the first isolation structure 4 is provided with a connector 45 at least partially at its outer circumference. The connection 45 is connected to the second interface 13 for fixing the transmission 2 to the body 1.

The first isolation structure 4 is held between the transmission mechanism 2 and the connection 45, in particular between the transmission housing 21 and the connection 45.

Optionally, the first isolation structure 4 has a first connection relationship with the transmission mechanism 2; the first isolation structure 4 has a second connection relationship with the connection 45. The first connection relation and the second connection relation are both fixedly connected.

At this time, the transmission mechanism 2, the first isolation structure 4 and the connecting piece 45 are fixed to each other, and the relative positions are kept unchanged. During the installation process, the transmission mechanism 2, the first isolation structure 4 and the connecting piece 45 are integrally inserted into the second interface 13, and the transmission mechanism 2 is fixed to the main body 1 by the connection of the connecting piece 45 and the second interface 13. The connecting piece 45 and the second interface 13 may be a detachable structure such as a clamping connection or a non-detachable structure such as a welding connection.

Optionally, the first isolation structure 4 has a first connection relationship with the transmission mechanism 2; the first isolation structure 4 has a second connection relationship with the connection 45. At least one of the first connection and the second connection is rotatable in a circumferential direction.

At this time, the connecting piece 45 is screwed with the second interface 13. During the installation process, the transmission mechanism 2, the first isolation structure 4 and the connecting piece 45 are integrally inserted into the second interface 13, the connecting piece 45 is rotated circumferentially relative to the transmission mechanism 2 and the first isolation structure 4, or the first isolation structure 4 and the connecting piece 45 are rotated circumferentially relative to the transmission mechanism 2, and the connecting piece 45 is screwed with the second interface 13, so that the transmission mechanism 2 is fixed to the main body 1.

In general, the first connection relationship between the first isolation structure 4 and the transmission mechanism 2 is a fixed connection; the second connection between the first isolation structure 4 and the connection member 45 is rotatable in a circumferential direction. So as to ensure that the transmission mechanism 2 and the main body 1 keep stable after the transmission mechanism 2 and the main body 1 are fixed.

When the first connection between the first isolation structure 4 and the transmission mechanism 2 is rotatable in the circumferential direction, it may be understood that the whole first isolation structure 4 and the transmission mechanism 2 are rotatable in the circumferential direction, or that a part of the first isolation structure 4 and the transmission mechanism 2 are rotatable in the circumferential direction.

Optionally, the connecting piece 45 is a compression ring, the compression ring is sleeved on the transmission housing 21, and at least a part of the first isolation structure 4 is located between the compression ring and the transmission housing 21. The compression ring and the first isolation structure 4 can rotate circumferentially and can move along the axial direction of the first isolation structure 4.

As shown in fig. 7. Alternatively, the flexible coupling 3 comprises a first coupling member 31 and a second coupling member 32. The first coupling member 31 is coupled to the output 141 of the power assembly 14. The second coupling member 32 is coupled with the input shaft 22 of the transmission mechanism 2. The first coupling member 31 and the second coupling member 32 are coupled to each other to achieve transmission of power of the power unit 14 to the transmission mechanism 2 through the first coupling member 31 and the second coupling member 32.

Illustratively, the first coupling member 31 is keyed to the output 141 of the power pack 14. The second coupling member 32 is inserted into the first coupling member 31. The second coupling member 32 has a first insertion portion 321 at an end facing the first coupling member 31. The first insertion portion 321 is a non-rotating body and is substantially sheet-shaped. The first coupling member 31 is provided with a first slot (not shown) at an end thereof facing the second coupling member 32. The first inserting portion 321 is in inserting fit with the first inserting groove so as to achieve the connection between the first coupling piece 31 and the second coupling piece 32.

Optionally, the input shaft 22 of the transmission 2 is axially movable after engagement with the second coupling member 32.

The second coupling part 32 has, for example, a second socket 322 at the end facing the input shaft 22 of the transmission 2. The second mating portion 322 is a non-rotating body and is substantially sheet-shaped. The input shaft 22 of the transmission mechanism 2 is provided with a second slot 222 toward one end of the second coupling member 32. The second plugging portion 322 is plugged with the second slot 222. The input shaft 22 of the transmission mechanism 2 is provided with a first pin hole 223. The first pin hole 223 penetrates the second slot 222 in the radial direction of the input shaft 22. The second plug portion 322 is provided with a second pin hole 323. When the second inserting portion 322 is inserted into the second slot 222, the first pin hole 223 and the second pin hole 323 are aligned. The pin is inserted after the first pin holes 223 and the second pin holes 323 are aligned. The diameter of the second pin hole 323 is larger than the diameter of the pin shaft, so that the input shaft 22 of the transmission mechanism 2 is matched with the second coupling member 32, and then the transmission mechanism has activity in the axial direction. The amount of play is the difference between the diameter of the second pin hole 323 and the diameter of the pin shaft.

The axial movement between the input shaft 22 and the second coupling 32 does not affect the torque transmission, and the machining accuracy requirement for the second socket 322 is reduced, which helps to reduce the machining cost and improve the machining efficiency.

The projection of the first plug-in connection 321 and the second plug-in connection 322 of the second coupling piece 32 on the cross section is crisscross.

After the pin shaft is inserted into the first pin hole 223 and the second pin hole 323, the pin shaft may be welded with the input shaft 22 to improve structural strength of the input shaft 22 and prevent the pin shaft from falling off.

Optionally, the power tool further comprises a second isolation structure 5. The second isolation structure 5 is disposed between the transmission 2 and the power assembly 14. For example, the second isolation structure 5 may be disposed between the input shaft 22 and the second coupling member 32, between the second coupling member 32 and the first coupling member 31, or between the second coupling member 32 and the output 141 of the power assembly 14. In the example of the application, the second isolation structure 5 is an insulating sleeve, located between the second coupling member 32 and the first coupling member 31. The second isolation structure 5 can both function to block the generation of a current loop between the power assembly 14 and the transmission mechanism 2 and to buffer the connection of the first coupling member 31 and the second coupling member 32.

The first isolation structure 4 and the second isolation structure 5 can be made of plastic, resin, carbon fiber or the like. The second isolation structure 5 may be fixedly connected to the second coupling member 32 by press-fitting, bonding, injection molding, or the like.

Surgical robots belong to three classes of medical instruments, which need to meet corresponding electrical safety requirements. During operation of the surgical robot, an application part of the surgical robot may come into contact with a human body. An electrical isolation is arranged between an application part of the surgical robot and the grounding of the surgical robot, so that the grounding of the surgical robot is prevented from being conducted with a human body through the application part, and the operation safety is prevented from being influenced.

The surgical robot includes a robotic arm, a trolley, a body, and a surgical tool. The base of the robot arm is mounted to the trolley. The main body is mounted at the end of the robot arm away from the trolley. The surgical tool is mounted to the main body, which is an application part of the surgical robot. The main body is internally provided with a power assembly. The power assembly can drive the surgical tool to perform corresponding surgical actions.

The housings of the trolley, the robot arm and the main body are generally made of metal. Metal bolt/screw connections are typically used between the trolley and the robotic arm and between the robotic arm and the body. When in use, the trolley and the robot arm are connected with the grounding end of an external power supply.

The main body includes a main body housing and a power assembly. The power assembly is disposed within the main body housing. A transmission mechanism is arranged between the surgical tool and the power assembly. The transmission mechanism is used for connecting the power assembly and the surgical tool and converting the motion of the power assembly into the motion of the surgical tool. Because the joint of the surgical tool and the transmission mechanism has a large acting force and has relative motion, the insulation structure is not suitable to be arranged at the joint of the surgical tool and the transmission mechanism. The main reasons are as follows: the insulating material of the insulating structure is generally weak in rigidity and strength, and is difficult to meet the transmission requirement between the surgical tool and the transmission mechanism.

A quick release/quick mount mechanism is typically provided between the main body and the end of the robotic arm to facilitate quick release of the main body and the robotic arm. The quick-dismantling/quick-installing mechanism generally comprises a plurality of parts, the quick-dismantling/quick-installing structure is contacted with the main body and the robot arm, and the quick-dismantling/quick-installing structure is connected with the main body and the robot arm and then is required to be firmly and reliably connected. In this case, an insulating structure is provided between the body and the distal end of the robot arm, which may result in insufficient connection strength between the body and the robot arm, and it is difficult to satisfy the use requirement. In the embodiment of the disclosure, the first isolation structure 4 is arranged between the transmission housing 21 of the transmission mechanism 2 and the second interface 13 of the main body 1. The first isolation structure 4 can prevent a current path from being formed between the surgical tool and the main body 1, so that a current path is prevented from being formed between the surgical tool and the robot arm 7, and the safety of a surgery is improved. The first isolation structure 4 is arranged between the transmission housing 21 and the main body 1, and does not influence the connection strength of the transmission housing 21 and the main body significantly, and does not influence the connection strength of the surgical tool and the transmission mechanism 2.

Example two

The embodiment of the application provides a quick-insertion transmission device for connecting a surgical tool to a main body 1 of a power tool, wherein the quick-insertion transmission device comprises a transmission mechanism 2 and a first isolation structure 4. In the embodiment of the transmission mechanism 2, the first isolation structure 4 is attached to the outer surface of the transmission housing 21, and at least a portion of the first isolation structure 4 is located between the transmission housing 21 and the main body 1, so as to block a current path between the transmission housing 21 and the main body 1.

As shown in fig. 3 to 6, the transmission case 21 includes a cover plate 211 and a transmission main case 212. The cover 211 is located at the first end 2100 of the transmission housing, and the cover 211 covers the transmission main housing 212. When the transmission mechanism 2 is inserted into the second port 13 of the main body 1, at least a part of the transmission main housing 212 and the cover 211 are positioned in the second port 13.

The drive main housing 212 is detachably connected to the cover 211, such as by a screw or threaded connection, to facilitate insertion of the input shaft 22 into the drive housing 21.

Optionally, the input shaft 22 of the transmission 2 is rotatably connected to the first cover 211 by means of bearings. At least a portion of the first cover 211 is inserted into the transmission main housing 212.

Optionally, the first isolation structure 4 includes a first insulator 41 and a second insulator 42. The first insulator 41 is bonded to the outer peripheral surface of the cover 211. The second insulator 42 is attached to at least a portion of the transmission main housing 212. The first insulator 41 and the second insulator 42 abut. When the transmission mechanism 2 is inserted into the second interface 13, the first insulator 41 and the second insulator 42 are arranged between the transmission housing 21 and the main body 1, so that direct contact between the transmission housing 21 and the main body 1 is avoided, insulation and isolation between the transmission housing 21 and the main body 1 are realized, and a current path is prevented from being formed between the transmission mechanism 2 and the main body 1.

Optionally, the first isolation structure 4 further comprises a third insulator 43. The third insulator 43 is attached to the outer periphery of the transmission main housing 212, and the third insulator 43 is located at an end of the second insulator 42 facing away from the first insulator 41.

The quick-connect transmission also includes a connector 45. The connecting piece 45 is sleeved on the outer side of the first isolation structure 4, and the connecting piece 45 is connected with the main body 1. At least a portion of the first isolation structure 4 is located between the link 45 and the drive housing first end 2100.

Illustratively, the connector 45 is sleeved outside the third insulator 43. The first insulator 41 and the second insulator 42 are located between the connection 45 and the transmission housing first end 2100. When the connecting piece 45 is connected with the main body 1, the first insulator 41 and the second insulator 42 are located in the second interface 13, and the connecting piece 45 presses the first insulator 41 and the second insulator 42 to prevent the transmission housing 21 from axial movement, so as to ensure that the transmission housing 21 can be stably connected with the main body 1.

The third insulator 43 has a third connection relationship with the transmission housing 21; the third insulator 43 has a fourth connection relationship with the connector 45. In some examples, the third connection relationship and the fourth connection relationship are both fixed connections.

In other examples, at least one of the third connection and the fourth connection is circumferentially rotatable. On the basis, at least one of the third connection relationship and the fourth connection relationship may be axially movable.

In a specific example of the present application, the third connection relationship between the third insulator 43 and the transmission housing 21 is a fixed connection, such as being fixed with an insulating pin. The fourth connection relationship between the third insulator 43 and the connection member 45 is: can not only rotate circumferentially, but also move axially. After the first end 2100 of the transmission housing is inserted into the second interface 13, the connection 45 and the third insulator 43 are first moved axially so that the connection 45 is aligned with the second interface 13, and then the connection 45 is rotated circumferentially so that the connection 45 is screwed into the second interface 13.

A sealing ring is provided between the connecting member 45 and the third insulator 43. After the connecting piece 45 is connected with the main body 1, at least a part of the connecting piece 45 is accommodated in the second interface 13, and a sealing ring is also arranged between the connecting piece 45 and the second interface 13. By using the seal ring between the connecting member 45 and the third insulator 43 and the seal ring between the connecting member 45 and the second interface 13, the sealability between the transmission mechanism 2 and the main body 1 after installation can be improved.

Optionally, the connecting member 45 is provided with an elastic member 46. The elastic member 46 is used for providing restoring power for the axial movement of the connecting member 45. The elastic member 46 is located between the second insulator 42 and the connection member 45.

Optionally, the first isolation structure 4 further comprises a fourth insulator 44. The fourth insulator 44 is attached to the outer periphery of the transmission main housing 212, the fourth insulator 44 is located at the first end 2100 of the third insulator 43 toward the transmission housing, and the fourth insulator 44 abuts against the second insulator 42. The connecting member 45 and the third insulator 43 are rotatable in the circumferential direction and movable in the axial direction. The inner peripheral surface of the third insulator 43 is provided with a stepped surface. The outer peripheral surface of the fourth insulator 44 is provided with a convex edge. One end of the elastic member 46 is connected to a stepped surface of the inner peripheral surface of the third insulator 43; the other end of the elastic member 46 is connected to a convex edge of the outer peripheral surface of the fourth insulator 44. After the connecting piece 45 moves axially relative to the third insulator 43, the elastic piece 46 is stretched or compressed, and an elastic force for restoring the connecting piece 45 axially is generated.

Optionally, the elastic member 46 is provided with a washer 47 at an end facing the step surface. The washer 47 abuts against a stepped surface of the inner peripheral surface of the third insulator 43. The elastic member 46 abuts against the washer 47 to promote the stability of the installation of the elastic member 46.

The elastic member 46 may be a spring or elastic rubber.

As shown in fig. 8 to 10. As an example, the first isolation structure 4 includes a first insulator 41, a second insulator 42, and a third insulator 43. The first insulator 41, the second insulator 42, and the third insulator 43 are in contact with each other to form a continuous insulating structure, thereby preventing a current path from being formed between the transmission case 21 and the main body 1.

Wherein the elastic member 46 is disposed between the second insulator 42 and the connection member 45 (not shown).

The first insulator 41 is connected to the transmission main housing 212. The cover 211 is located in the first insulator 41, and a portion of the cover 211 is inserted into the transmission main housing 212 and is screw-coupled with the transmission main housing 212.

Optionally, a second positioning block 412 is protruding from an end surface of the first insulator 41 that is attached to the transmission main housing 212. A second positioning groove 2121 corresponding to the second positioning block 412 is formed in an end face of the transmission main case 212, which is bonded to the first insulator 41. One or more than one second positioning block 412 and second positioning groove 2121 are provided. When the first insulator 41 is engaged with the transmission main housing 212, the second positioning block 412 is inserted into the second positioning groove 2121. To prevent the first insulator 41 from rotating circumferentially relative to the transmission main housing 212.

Optionally, the end surface of the first insulator 41, which is attached to the transmission main housing 212, is further provided with a third positioning block 413 in a protruding manner, and the end surface of the transmission main housing 212, which is attached to the first insulator 41, is provided with a third positioning groove 2122 corresponding to the third positioning block 413. Since the plurality of second positioning blocks 412 are generally uniformly disposed along the circumferential direction of the first insulator 41, the mounting angle between the first insulator 41 and the transmission main housing 212 can be positioned by the engagement of the third positioning block 413 and the third positioning groove 2122, and mounting errors can be avoided.

Wherein, the third positioning block 413 and the second positioning block 412 may be different in shape to illustrate distinguishing the second positioning block 412 from the third positioning block 413. Specifically, the length and/or width of the third positioning block 413 is different from the length and/or width of the second positioning block 412.

Referring to fig. 3, an embodiment of the present application also provides a power tool including a quick-connect transmission for performing a surgery under the grip of a robot arm 7, including a main body 1 and the quick-connect transmission. The quick-connect transmission is detachably connected with the second interface 13. By providing a detachable mechanism between the quick-connect transmission and the body 1. The detachable mechanism is partially arranged on the quick-plug type transmission device and partially arranged on the second interface 13 of the main body 1.

Optionally, the detachable mechanism between the quick-insertion transmission device and the main body 1 is a screwing structure, such as a threaded connection, or a rotary buckling structure.

Alternatively, as shown in fig. 11 and 12, the detachable mechanism includes a rotary groove 62 and a clamping block 61, one of the rotary groove 62 and the clamping block 61 is disposed at the second interface 13 of the main body 1, the other is disposed at the quick-insertion transmission device, the clamping block 61 is embedded in the rotary groove 62, and the clamping block 61 can move in the rotary groove 62 to change the position. The clamping block 61 changes position in the rotary groove 62, and the connection state of the quick-plug type transmission device and the main body 1 can be switched, specifically: switching in a fixed or non-fixed state.

In some examples, the clamping block 61 is disposed on the connecting member 45 and may be integrally disposed, where the clamping block 61 may be protruding from the connecting member 45. The connecting piece 45 is fixedly connected with the first isolation structure 4 or at least can rotate circumferentially. When the connecting piece 45 and the first isolation structure 4 can at least rotate circumferentially, the connecting piece 45 rotates circumferentially relative to the first isolation structure 4, and the clamping block 61 rotates circumferentially along with the connecting piece 45, so that the clamping block 61 and the rotary groove 62 are screwed.

In some examples, the spin slot 62 is formed in an inner sidewall of the second interface 13.

As shown in fig. 11 and 12, in other examples, the detachable mechanism further includes a fixing base 17. The fixing base 17 is accommodated in the second interface 13, and the fixing base 17 is connected with the main body 1. One end of the quick-insertion type transmission device passes through the bottom of the fixed seat 17 and is connected with the power assembly 14. At this time, the rotary groove 62 is formed on the peripheral surface of the fixing base 17. The rotary groove 62 may penetrate the fixing base 17 along the radial direction of the fixing base 17, or the rotary groove 62 may be formed on the inner peripheral surface or the outer peripheral surface of the fixing base 17.

The fixing seat 17 and the second interface 13 of the main body 1 may be detachably connected, such as a bolt connection, a thread connection, a clamping connection, etc. The fixing seat 17 and the second interface 13 of the main body 1 may also be non-detachable, such as interference fit, welding, riveting, conical fit, etc.

The spiral groove 62 can be spirally formed along the circumferential direction of the second connector 13 or the fixed seat 17, or can be formed along the circumferential direction arc of the second connector 13 or the fixed seat 17. That is, the spiral groove 62 may be a spiral groove 62 or a circular arc groove having an axial lift.

The spin slot 62 includes a spin slot inlet end 621 and a spin slot positioning end 622. The clamping block 61 enters the spin groove 62 along the spin groove inlet end 621 and is movable along the spin groove 62 to the spin groove positioning end 622.

Optionally, the spin slot 62 further includes a mating slot 63. The mating groove 63 communicates with the spin groove locating end 622, and the mating groove 63 extends in the axial direction of the quick-connect transmission. The clamping block 61 can be accommodated in the matching groove 63 to prevent the clamping block 61 from rotating along the circumferential direction of the quick-insertion transmission device, so that the quick-insertion transmission device and the main body 1 are kept in a fixed state.

Alternatively, the spin slot 62 protrudes inwardly toward a sidewall of the second end 2101 of the drive housing to form a protrusion 623. The protrusion 623 is adjacent to the spin slot positioning end 622, and the protrusion 623 and the spin slot positioning end 622 are contoured to form the mating slot 63.

Optionally, the spin slot 62 further includes a guide slot 64. One end of the guide groove 64 is communicated with the rotary groove inlet end 621, and the other end of the guide groove 64 is away from the bottom of the second connector 13 or the bottom of the fixing seat 17 and is open. The engagement block 61 is movable along the open end of the guide groove 64 to the spin groove inlet end 621. After the guide groove 64 is provided, the difficulty of the clamping block 61 entering the rotary groove inlet end 621 can be reduced.

Optionally, the detachable mechanism between the quick-connect transmission and the body 1 further comprises an elastic element 46. The elastic member 46 is configured to: when the clamping block 61 is matched with the rotary groove 62, the driving clamping block 61 is abutted against the bottom of the matching groove 63 along the axial direction of the quick-insertion type transmission device, so that the connecting piece 45 and the fixing seat 17 are positioned in the circumferential direction, the axial direction and the radial direction. Specifically, the connecting member 45 moves axially relative to the third insulator 43, and the locking piece 61 can enter the rotary groove 62 through the guide groove 64, and the elastic member 46 is compressed. When the clamping block 61 is matched with the rotary groove 62, the clamping block 61 starts to slide along the rotary groove 62 to the rotary groove positioning end 622 from the rotary groove inlet end 621. The clamping block 61 enters the matching groove 63, and the elastic piece 46 drives the clamping block 61 to axially reset, so that the clamping block 61 is not easy to break through the limit of the protruding portion 623 and separate from the matching groove 63. In this way, the elastic force of the elastic member 46 enables the axial and circumferential positioning between the connecting member 45 and the fixing base 17. And this positioning is broken when the catch block 61 is disengaged from the mating groove against the elastic force of the elastic member 46.

Alternatively, the outer peripheral surface of the first insulator 41 is provided with a first positioning block 411 protruding. The bottom of the holder 17 is provided with a relief hole 171 into which the first end 2100 of the transmission housing is inserted. The peripheral surface of the relief hole 171 is provided with a first positioning groove 172. After the first end 2100 of the transmission housing is inserted into the relief hole 171 at the bottom of the fixing base 17, the first positioning block 411 is matched with the first positioning groove 172. So as to position the position between the transmission housing 21 and the fixed seat 17 and prevent the transmission housing 21 from rotating circumferentially relative to the fixed seat 17.

Alternatively, the first positioning blocks 411 include at least two, and the shapes of the two first positioning blocks 411 are different, such as different lengths or widths. The shape of the first positioning groove 172 is adapted to the shape of the corresponding first positioning block 411. The transmission housing 21 and the fixed seat 17 are positioned by adopting at least two first positioning blocks 411 and corresponding first positioning grooves 172, so that the reliability of preventing the transmission housing 21 from rotating circumferentially relative to the fixed seat 17 can be improved. The first positioning blocks 411 and the corresponding first positioning grooves 172 with different shapes can prevent error of the installation angle between the transmission shell 21 and the fixed seat 17, and have foolproof effect.

Alternatively, as shown in fig. 13, the connection member 45 includes a first sub-connection member 451 and a second sub-connection member 452. The first sub-coupling 451 is connected to the second sub-coupling 452, the first sub-coupling 451 being located at an end of the second sub-coupling 452 facing the first end 2100 of the transmission housing. The clamping block 61 is protruding from the first sub-connector 451. The first sub-connector 451 and the second sub-connector 452 can be made of different materials to accommodate different surface requirements or weight reduction.

The first sub-connector 451 and the second sub-connector 452 may be fastened by using a clamp spring 453, or may be connected by using a threaded connection, a screw connection, a rivet connection, a welding connection, an interference fit, or the like.

Optionally, a jack 4521 is provided at an end of the second sub-connector 452 facing away from the first sub-connector 451. So that the dismounting tool is inserted into the jack 4521 to rotate the second sub-connector 452, and then drive the first sub-connector 451 and the clamping block 61 to rotate along the circumferential direction, so as to realize the screwing or unscrewing of the clamping block 61 and the screwing groove 62. The jack 4521 may be in the shape of an arc hole, a circular hole, a square hole, a groove, or the like, and the jack 4521 is provided with two or more.

The installation process of the quick-plug type transmission device provided by the embodiment of the application comprises the following steps:

firstly, the first end of the transmission mechanism 2 is inserted into the fixed seat 17 and penetrates through the bottom of the fixed seat 17; the input shaft 22 of the transmission mechanism 2 is connected with the output end 141 of the power assembly 14, and the transmission shell 21 attached with the first insulator 41 and the second insulator 42 is in plug-in fit with the fixed seat 17 so as to ensure the radial positioning between the quick-plug transmission device and the main body 1. And, in the process that the quick-insertion type transmission device is inserted into the main body 1 through the fixing seat 17, the first positioning block 411 is matched with the first positioning groove 172 so as to ensure the circumferential positioning between the quick-insertion type transmission device and the main body 1.

The connecting member 45 moves axially relative to the third insulator 43, and the clamping block 61 can enter the rotary groove 62 through the guide groove 64, and the elastic member 46 is compressed. When the clamping block 61 is matched with the rotary groove 62, the connecting piece 45 rotates relative to the third insulator 43 along the circumferential direction, and the clamping block 61 starts from the inlet end 621 of the rotary groove and slides along the rotary groove 62 to the positioning end 622 of the rotary groove. The clamping block 61 enters the matching groove 63, and the elastic piece 46 drives the clamping block 61 to axially reset, so that the clamping block 61 is not easy to break through the limit of the protruding portion 623 and separate from the matching groove 63. In this way, the elastic force of the elastic member 46 axially positions the connection member 45 and the fixing base 17. The quick-plug type transmission device is fixed to the main body 1, so that the stability of the quick-plug type transmission device after being matched with the main body 1 is ensured.

Example III

As shown in connection with fig. 1. The embodiment of the application also provides a surgical system comprising a surgical tool, a power tool as in the first or second embodiment, a robotic arm 7, a navigation system and a controller. The robot arm 7 is used for carrying a power tool and supplying power for changing the pose of the power tool. The surgical tool interfaces with the output member 23 of the power tool. The power tool provides power for the action of the surgical tool. The navigation system is used for acquiring the azimuth information of the surgical tool. The controller is used to control the movement and orientation of the robotic arm 7 based on the orientation information of the surgical tool and the pre-stored surgical plan.

As shown in fig. 2. Wherein the navigation system comprises a tracking frame 16. The tracer rack 16 is fixedly connected to the outside of the main body housing 11. The tracer rack 16 can show positional information of the surgical tool.

It is easy to understand that in the electric tool, the quick-plug transmission device is detachably connected with the second interface 13 of the main body 1, so that the quick-plug transmission device is convenient to disassemble and assemble, and the disassembly and assembly difficulty of the transmission device is reduced; and the electric tool includes a main body 1, a transmission mechanism 2, and a first isolation structure 4, and a current path is blocked from being formed between the surgical tool and the robot arm 7 by the first isolation structure 4 provided between the transmission mechanism 2 and the main body 1. The specific principle and use of the present invention are described in detail in the first embodiment and the second embodiment, and are not described here again.

The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims

1. A quick-connect transmission for connecting a surgical tool to a body of a power tool, the quick-connect transmission being connected to the body by a detachable mechanism, the quick-connect transmission comprising:

The transmission shell is provided with a first transmission shell end and a second transmission shell end, the first transmission shell end is used for being connected with the main body, and the second transmission shell end extends out of the main body;

One end of the input shaft is positioned in the transmission shell, and the other end of the input shaft penetrates out of the first end of the transmission shell and is connected with the power component arranged in the main body;

one end of the output component is positioned in the transmission shell, the other end of the output component is connected with the surgical tool, and one end of the output component positioned in the transmission shell is connected with one end of the input shaft positioned in the transmission shell;

The detachable mechanism is a screwing structure, the screwing structure comprises two matched components, and the first end of the transmission shell comprises one of the two matched components.

2. The quick connect transmission of claim 1, further comprising a first isolation structure, the first isolation structure conforming to an outer surface of the transmission housing; and at least a portion of the first isolation structure is located between the drive housing and the body for impeding a current path formed between the drive housing and the body.

3. The quick connect transmission of claim 2, further comprising a connector that is sleeved on the first isolation structure, the connector being configured to interface with the body, wherein at least a portion of the first isolation structure is located between the connector and the first end of the transmission housing.

4. A power tool for performing a procedure under the grip of a robotic arm, comprising:

A body having a first interface for connection to a robotic arm, a second interface, and a built-in power assembly for powering a surgical tool;

The quick-plug transmission device is detachably connected with the second interface and comprises a transmission mechanism;

the transmission mechanism is used for connecting the power assembly and the surgical tool and transmitting power to the surgical tool;

the detachable mechanism is arranged between the quick-insertion transmission device and the main body, part of the detachable mechanism is arranged on the quick-insertion transmission device, and the other part of the detachable mechanism is arranged on the main body and is of a screwing structure.

5. The power tool of claim 4, wherein the quick connect transmission further comprises a first isolation structure for impeding a current path between the surgical tool and the robotic arm.

6. The power tool of claim 5, wherein the first isolation structure is disposed between the second interface and the transmission mechanism.

7. The power tool according to claim 6, wherein the detachable mechanism includes a rotary groove and a clamping block, one of the rotary groove and the clamping block is disposed at the second interface of the main body, the other is disposed at the quick-insertion transmission device, the clamping block is embedded in the rotary groove, and the clamping block changes position in the rotary groove to switch the connection state of the quick-insertion transmission device and the main body.

8. The power tool according to claim 7, wherein the detachable mechanism further comprises a fixing base, the fixing base is accommodated in the second interface and connected with the main body, one end of the quick-insertion transmission device penetrates through the bottom of the fixing base to be connected with the power assembly, and the rotary groove is formed in the peripheral surface of the fixing base.

9. The power tool of claim 7, wherein the spin slot has a spin slot inlet end and a spin slot positioning end, the clamping block entering the spin slot along the spin slot inlet end and moving along the spin slot to the spin slot positioning end;

the rotary groove further comprises a matching groove, the matching groove is communicated with the positioning end of the rotary groove, and the clamping block can be accommodated in the matching groove;

And/or, the rotary groove further comprises a guide groove, one end of the guide groove is communicated with the inlet end of the rotary groove, the other end of the guide groove is opened, and the clamping block can move to the inlet end of the rotary groove along the opening end of the guide groove;

And/or, the quick-insertion transmission device comprises a connecting piece, the connecting piece is sleeved on the periphery of at least one part of the first isolation structure, and the clamping block is arranged on the connecting piece.

10. The power tool of claim 9, wherein the detachable mechanism further comprises a resilient member configured to: when the clamping block is matched with the rotary groove, the clamping block is driven to move along the axial direction of the quick-insertion type transmission device, so that the quick-insertion type transmission device and the main body are positioned along the circumferential direction, the axial direction and the radial direction of the quick-insertion type transmission device.

11. A power tool for performing a procedure under the grip of a robotic arm, comprising:

The transmission mechanism is arranged at the second interface and provided with a first end and a second end, the first end of the transmission mechanism is connected with the power assembly, and the second end of the transmission mechanism is connected with the surgical tool;

The first isolation structure is arranged between the second interface and the transmission mechanism and used for blocking a current path between the surgical tool and the robot arm;

The detachable mechanism is arranged between the transmission mechanism and the main body, part of the detachable mechanism is arranged on the transmission mechanism, part of the detachable mechanism is arranged on the main body, and the detachable mechanism is of a screwing structure.

12. The power tool of claim 11, wherein the first isolation structure is provided with a connector at least partially peripherally, the connector being coupled to the second interface for securing the transmission mechanism to the body.

13. The power tool of claim 12, wherein the first isolation structure is held between the transmission mechanism and the connector, the first isolation structure having a first connection relationship with the transmission mechanism, the first isolation structure having a second connection relationship with the connector, the first connection relationship and the second connection relationship being both fixedly connected;

Or, at least one of the first connection relationship and the second connection relationship is rotatable in a circumferential direction.

14. The power tool of claim 12, wherein the transmission mechanism comprises:

The transmission shell is provided with a first transmission shell end and a second transmission shell end, and the first transmission shell end is inserted into the second interface;

One end of the input shaft is positioned in the transmission shell, and the other end of the input shaft penetrates out of the first end of the transmission shell;

and one end of the output component is positioned in the transmission shell, the other end of the output component is connected with the surgical tool, and one end of the output component positioned in the transmission shell is connected with one end of the input shaft positioned in the transmission shell.

15. The power tool of claim 14, wherein the connector is a compression ring, the compression ring is sleeved on the transmission housing, and at least a portion of the first isolation structure is located between the compression ring and the transmission housing.

16. The power tool of claim 11, further comprising a second isolation structure disposed between the transmission mechanism and the power assembly.

17.A surgical system, comprising:

a power tool as claimed in any one of claims 4 to 16;

The robot arm is used for carrying the electric tool and providing power for changing the pose of the electric tool;

the navigation system is used for acquiring azimuth information of the surgical tool;

and a controller for controlling the movement and orientation of the robotic arm based on the orientation information and a pre-stored surgical plan.