CN116983093A

CN116983093A - Cannula adapter and surgical robot

Info

Publication number: CN116983093A
Application number: CN202310171985.3A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Shenzhen Konuositeng Technology Co ltd
Current assignee: Shenzhen Konuositeng Technology Co ltd
Priority date: 2023-02-17
Filing date: 2023-02-17
Publication date: 2023-11-03

Abstract

The application discloses a cannula adapter and a surgical robot. The cannula adapter comprises: an adapter body; a clamping arm having a first passive portion and a second passive portion; an operating mechanism having an operating portion and a first actuating portion, the operating mechanism being movable in a linear direction, the first actuating portion being operable to act on the first passive portion when the operating mechanism is moved; the second actuating part is positioned on the inner side of the adapter body, is fixedly arranged relative to the adapter body and can act on the second passive part; the first actuating part has components of a first direction and a second direction on the action direction of the first passive part, and the second actuating part has components of a second direction and a third direction on the action direction of the second passive part; when the operating part is positioned at the first position, the clamping arm is in an open state, and when the operating part is positioned at the second position, the clamping arm is in a clamping state; the movement direction of the gripping arm has components of the second direction and the third direction when the operating mechanism moves in the first direction.

Description

Cannula adapter and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a cannula adapter and a surgical robot.

Background

The master-slave minimally invasive surgery robot can help doctors to realize accurate positioning of surgery, and has the advantages of reducing wounds of patients and shortening postoperative recovery time. The device has a stable operation platform, and can solve the tremble of doctors and the like, so that the device has a great deal of application in clinical surgery.

The surgical robot on the patient side performs a surgical operation by means of a surgical tool with an end effector. Among the surgical tools commonly available are scissors, clip lights. Whereas the pitch, yaw and grip actions of the end effector are typically accomplished using a wire rope configuration.

At the body end, the body cavity is typically opened and a passageway is created through an instrument called a cannula. Firstly, placing a mark point of a sleeve on the surface of the belly of a human body, then enabling a surgical micro-instrument to enter the human body through a sleeve channel, and utilizing the rigidity of the sleeve to support an slender tube of the surgical instrument so as to avoid deformation of the slender tube. In the early stage of the opening of the abdominal cavity, gas is injected into the abdominal cavity through the air hole on the sleeve, so that the abdominal cavity bulges and the operation space of the instrument is vacated. In surgery, the cannula is of different types and lengths depending on the type of surgical instrument and the thickness of the patient's abdominal cavity; such as the model for 8mm diameter instruments, the model for 5mm diameter instruments, camera bushings, etc. It follows that the cannula plays an important role in the surgical robot.

Correspondingly, the corresponding structure of the sleeve connected to the robot arm is called a sleeve adapter. The sleeve adapter needs to be capable of easily and quickly connecting the sleeve under manual operation, can be safely and firmly connected with the sleeve, and cannot shake and the like.

Since the movement range of the robot arm is large and 3 to 4 robots participate in the operation at the same time, it is required that the size of the cannula adaptor is as small as possible to prevent interference compression to the human body or spatial interference between the robot arm and the robot arm.

The range of movement of the cannula is limited during the initial stages of surgical deployment, once the cannula is inserted into the body. At the moment, a control button on the mechanical arm of the surgical robot can be pressed, so that the dragging follow-up of the mechanical arm is realized, and the mechanical arm is dragged to the vicinity of the sleeve to be in butt joint. Typically, a healthcare worker holds the cannula using a single hand trailing arm, the other hand. Therefore, the assembly of the sleeve, the mechanical arm and the sleeve adapter should have good operability, reliability and convenience.

However, the existing sleeve adapter has the problems of large occupied space, difficult single-hand operation, poor convenience, complex structure and the like.

Accordingly, there is a need for a cannula adapter and surgical robot that at least partially address the above issues.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the application is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

To at least partially solve the above problems, the present application provides a cannula adapter for a surgical robot, the cannula adapter comprising:

an adapter body;

a clamping arm having a first passive portion and a second passive portion;

an operation mechanism having an operation portion and a first actuation portion, the operation portion being fixedly provided with respect to the first actuation portion, the operation portion being located outside the adapter body, the first actuation portion being located inside the adapter body, the operation mechanism being movable in a linear direction with respect to the adapter body, the operation mechanism being capable of acting on the first passive portion when in motion;

a second actuating portion located inside the adapter body, the second actuating portion being fixedly disposed with respect to the adapter body, the second actuating portion being operable on the second passive portion;

the first actuating part has components in a first direction and a second direction on the action direction of the first actuating part on the first passive part, the second actuating part has components in the second direction and a third direction on the action direction of the second passive part, and the plane where the second direction and the third direction are located is perpendicular to the first direction;

the clamping arms are in a clamping state when the operating part is positioned at a first position, and the distance between the first position and the adapter main body is smaller than that between the second position and the adapter main body when the operating part is positioned at a second position;

the operating part can move linearly between a second position and a first position, the clamping arm can be switched between an open state and a clamping state, and when the operating mechanism moves along the first direction, the moving direction of the clamping arm has components of a second direction and a third direction.

According to the sleeve adapter, the risk of injury to operators during resetting of the operating mechanism can be reduced, single-hand operation is facilitated, and the use experience of a user is improved.

Optionally, the clamping arm further comprises a reset piece, wherein the reset piece acts on the clamping arm to provide a force for the clamping arm to tend to be in a clamping state; or (b)

The reset element acts on the operating mechanism to provide a force of the operating portion tending to the second position.

Optionally, a guide part is fixedly arranged in the adapter main body, and the operating mechanism is connected with the guide part and is configured to be capable of moving along the first direction under the action of the guide part.

Optionally, the guide part is configured as a guide rod extending along the first direction, and the operating mechanism is sleeved on the guide rod so that the operating mechanism can move along the first direction.

Optionally, the operating mechanism includes an operating portion and a support portion, the support portion is sleeved on the guide rod, the operating portion is disposed at one end of the support portion, and the first actuating portion is disposed at the support portion and is close to the other end of the support portion.

Optionally, a chassis is fixedly disposed in the adapter body, and the clamping arm is disposed on the chassis and configured to be slidable on the chassis.

Optionally, the reset member is connected between the chassis and the clamping arm.

Optionally, the clamping arm has a first side and a second side opposite the first side, wherein the first side is closer to the sleeve than the second side, the second passive portion of the clamping arm comprises a first guiding surface and a second guiding surface, wherein the first guiding surface is provided at the first side and the second guiding surface is provided at the second side;

the first guiding surface is perpendicular to a plane p where the second direction and the third direction are located, an intersecting line of the first guiding surface and the plane p simultaneously has components of the second direction and the third direction, and the first guiding surface is parallel to the second guiding surface;

the second actuation portion has a first guide portion disposed toward the first guide surface and a second guide portion disposed toward the second guide surface such that the clamp arm is at least partially between the first guide portion and the second guide portion;

wherein the first guide part can be matched and guided with the first guide surface so as to guide the clamping arm to be switched from the clamping state to the open state when the operating mechanism moves from the first position to the second position;

the second guide part can be matched and guided with the second guide surface so as to guide the clamping arm to be switched from the open state to the clamping state when the operating mechanism moves from the second position to the first position.

Optionally, the first guide is provided as a surface cooperating with the first guide surface.

Optionally, the second guide is provided as a surface cooperating with the second guide surface.

Optionally, the clamping arm further includes a clamping portion, the clamping portion is located at one end of the clamping arm, the second passive portion is connected to the clamping portion, and the first passive portion is connected to the second passive portion.

Optionally, the distance between the first guide portion and the second guide portion is adapted to the thickness of the second passive portion.

Optionally, the clamping arm further has a third passive part, the third passive part is connected to the first passive part, the third passive part partially surrounds the operating mechanism, the operating mechanism further has a third actuating part, the third actuating part is located on the inner side of the adapter main body, and the operating mechanism can act on the third passive part when moving.

A second aspect of the application provides a surgical robot comprising a cannula adapter according to the first aspect described above.

The surgical robot according to the present application has the above-described cannula adaptor, and thus can achieve similar technical effects as the above-described cannula adaptor.

Drawings

The following drawings are included to provide an understanding of the application and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the application and their description to explain the principles of the application.

In the accompanying drawings:

FIG. 1 is a schematic view of a cannula adapter according to an embodiment of the present application;

FIG. 2 is an exploded view of the cannula adapter of FIG. 1;

FIG. 3 is a schematic top view of an adapter body with an upper housing removed according to an embodiment of the present application;

FIG. 4 is a schematic bottom view of an upper housing of an adapter body according to an embodiment of the present application;

FIG. 5 is a partial schematic view of the internal construction of an adapter body according to an embodiment of the present application;

FIG. 6 is a partial schematic view of another view of the internal construction of an adapter body according to an embodiment of the present application;

FIG. 7 is a schematic illustration of the engagement of the operating mechanism and the clamping arm according to an embodiment of the present application;

fig. 8 is a schematic cross-sectional view of a gripping arm of an adapter body in a gripping state according to an embodiment of the application;

FIG. 9 is a schematic cross-sectional view of the clamping arms of the adapter body in an expanded state in accordance with an embodiment of the present application; and

fig. 10 is a schematic view of the movement direction of the clamp arm of the adapter body according to an embodiment of the present application.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the application may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the application.

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 application. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and do not have any other meaning, such as a particular order or the like. Also, for example, the term "first component" does not itself connote the presence of "second component" and the term "second component" does not itself connote the presence of "first component". It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like are used herein for illustrative purposes only and are not limiting.

Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings.

The surgical robot of the present application has one or more robotic arms. Referring to fig. 1 and 2, the robotic arm includes a cannula 11, a cannula adapter 10, and a sterile adapter 12. Wherein sterile adapter 12 is first mounted to cannula adapter 10 and locked, which may be separated by a sterile dressing or the like. Cannula 11 is then mounted to sterile adapter 12 and enables cannula 11 to be locked by cannula adapter 10.

Specific structure of the cannula adapter 10 referring to fig. 3 to 10, the cannula adapter 10 includes: an adapter body 100; a clamp arm 110 having a first passive part 111 and a second passive part 112; an operation mechanism 120 having an operation portion 121 and a first actuation portion 123, the operation portion 121 and the first actuation portion 123 being fixedly disposed relative to each other, the operation portion 121 being located outside the adapter body 100, the first actuation portion 123 being located inside the adapter body 100, the operation mechanism 120 being movable in a linear direction relative to the adapter body 100, the first actuation portion 123 being capable of acting on the first passive portion 111 when the operation mechanism 120 is moved; a second actuating portion, located inside the adapter body 100, the second actuating portion being fixedly disposed with respect to the adapter body 100, the second actuating portion being capable of acting on the second passive portion 112; the first actuating portion 123 has components of a first direction D1 and a second direction D2 on the acting direction of the first passive portion 111, and the second actuating portion has components of a second direction D2 and a third direction D3 on the acting direction of the second passive portion 112, wherein a plane where the second direction D2 and the third direction D3 are located is perpendicular to the first direction D1; when the operation part 121 is located at the first position, the clamping arm 110 is in an open state, and when the operation part 121 is located at the second position, the clamping arm 110 is in a clamping state, and the distance between the first position and the adapter main body 100 is smaller than the distance between the second position and the adapter main body 100; the operation portion 121 is linearly movable between a second position and a first position, the clamp arm 110 is switchable between an open state and a clamped state, and when the operation mechanism 120 is moved in the first direction D1, the movement direction of the clamp arm 110 has components of the second direction D2 and the third direction D3.

According to the sleeve adapter 10 provided by the application, the force application direction of the operating mechanism is more ergonomic, an operator can control the force application force more easily when using the sleeve adapter, the risk of injury to the operator when resetting the operating mechanism 120 can be reduced, the sleeve adapter is more beneficial to one-hand operation, and the use experience of a user is improved.

The cannula adapter 10 further includes a reset member 150 that acts on the clamping arm 110 to provide a force tending to clamp the clamping arm 110 in a clamped condition. Alternatively, the reset member 150 acts on the operating mechanism 120 to provide a force that biases the operating portion 121 toward the second position. As one implementation, the reset member 150 is configured as a tension spring coupled between the chassis 140 and the clamp arm 110 to provide a force to the clamp arm 110 tending to a clamped condition. In some embodiments, the restoring member 150 may also be configured as a compression spring coupled between the chassis 140 and the operating mechanism 120 (e.g., a bracket) to provide a force to the operating mechanism 120 toward the second position.

Referring to fig. 7 and 10, the first direction D1 may be a vertical direction, that is, the operator may press the operation part 121 to move downward, and release the operation part 121 to automatically reset upward. The second direction D2 and the third direction D3 may be located on the same plane p, and the plane p is perpendicular to the vertical direction. Alternatively, the second direction D2 may be a front-to-back or longitudinal direction of the cannula adapter 10, and the third direction D3 may be a left-to-right or transverse direction of the cannula adapter 10.

The adapter body 100 is provided with a chassis 140 therein to provide support of the clamping arm 110 in the first direction D1 such that the clamping arm 110 does not move in the first direction D1 and is capable of sliding on the chassis 140. Preferably, the return member 150 is configured as an elastic member, such as a spring.

Referring to fig. 5, 6 and 7, the operating mechanism 120 is connected to the guide portion and is configured to be movable in the first direction D1 by the guide portion. Specifically, the guide part is configured as a guide rod 141 extending in a vertical direction, and the guide rod 141 may be coupled to the bottom chassis 140 by a bolt. The operating mechanism 120 includes an operating portion 121 and a holder portion 122, and the operating portion 121 is provided at the tip of the holder portion 122. The support portion 122 is sleeved on the guide rod 141 so that the operating mechanism 120 can move up and down along the guide rod 141 along the first direction D1.

The first actuating portion 123 is configured as a slope provided at the bottom end of the holder portion 122, and the first passive portion 111 of the clamp arm 110 is configured as a slope provided facing the first actuating portion 123. Thereby, it is made possible that when the holder portion 122 moves downward, the first actuating portion 123 acts on the first passive portion 111, the acting force having a component in the first direction D1 and a component in the second direction D2, and the clamp arm 110 has a tendency to move in the second direction D2 since the clamp arm 110 has no degree of freedom in the first direction D1. When the clamp arm 110 returns under the action of the return member 150, the first passive portion 111 acts on the first actuating portion 123 with a component in the first direction D1 and a component in the second direction D2, and the holder portion 122 has no degree of freedom in the second direction D2, so that the holder portion 122 has a tendency to move in the first direction D1.

In an embodiment not shown, the guide may be a slide rail, a slider, a linear bearing, or the like, as long as it enables the operating mechanism 120 to move up and down.

The clamping arm 110 further includes a clamping portion 116 at one end of the clamping arm 110, the second passive portion 112 is connected to the clamping portion 116, and the first passive portion 111 is connected to the second passive portion 112. The clamping arm 110 has a first side and a second side opposite the first side, wherein the first side is closer to the sleeve 11 than the second side. The second passive part 112 includes a first guide surface 113 and a second guide surface 114, wherein the first guide surface 113 is disposed on the first side, and the second guide surface 114 is disposed on the second side.

As one implementation, the plane of the first guide surface 113 intersects both the second direction D2 and the third direction D3, and the plane of the second guide surface 114 intersects both the second direction D2 and the third direction D3. Further, the first guiding surface 113 is perpendicular to the plane p in which the second direction D2 and the third direction D3 are located, and the intersection line of the first guiding surface 113 and the plane p has both components of the second direction D2 and the third direction D3, and the first guiding surface 113 is parallel to the second guiding surface 114.

Referring to fig. 3, 4, 8 and 9, the adapter body 100 may be roughly divided into an upper case and a lower case. Wherein fig. 4 generally shows a schematic bottom view of the upper housing. The second actuating portion is preferably provided on the upper housing. Illustratively, the second actuating portion includes a first tab 133 and a second tab 134. When the upper and lower housings are docked, the clamping arm 110 is at least partially between the first and second lugs 133, 134. In other words, the second passive portion 112 of the clamping arm 110 is located between the first bump 133 and the second bump 134. The second actuating portion has a first guide portion 131 and a second guide portion 132, wherein the first guide portion 131 is disposed on the first projection 133, and the first guide portion 131 is disposed toward the first guide surface 113. The second guide portion 132 is disposed on the second bump 134, and the second guide portion 132 is disposed toward the second guide surface 114.

Alternatively, the first guide portion 131 is configured to be in line-contact engagement with the first guide surface 113, and the second guide portion 132 is configured to be in line-contact engagement with the second guide surface 114. Preferably, the first guide portion 131 is provided as a surface to be mated with the first guide surface 113, and the second guide portion 132 is provided as a surface to be mated with the second guide surface 114.

Thereby, a guide channel is formed between the first projection 133 and the second projection 134, and the first guide portion 131, the second guide portion 132, the first guide surface 113, and the second guide surface 114 are each configured as a slope extending in the extending direction of the guide channel. The first guide portion 131 can be guided in cooperation with the first guide surface 113 and the second guide portion 132 can be guided in cooperation with the second guide surface 114, so that the clamp arm 110 can be moved obliquely back and forth by the guide passage, the oblique movement having a component in the second direction D2 and a component in the third direction D3.

Further, when the operating mechanism 120 is moved from the first position to the second position, the clamp arm 110 can be switched from the clamped state to the open state, and when the operating mechanism 120 is moved from the second position to the first position, the clamp arm 110 can be switched from the open state to the clamped state.

As one implementation, the distance between the first guide portion 131 and the second guide portion 132 is adapted to the thickness of the second passive portion 112. In other words, the distance between the first bump 133 and the second bump 134 may be equal to the thickness of the second passive portion 112 of the clamping arm 110.

Optionally, the clamping arm 110 further has a third passive portion 115, and the third passive portion 115 is connected to the first passive portion 111. In other words, the third passive portion 115 is located at the other end of the clamping arm 110 with respect to the clamping portion 116. The third passive part 115 partially surrounds the operating mechanism 120. The operating mechanism 120 further has a third actuating portion 124, the third actuating portion 124 being located inside the adapter body 100, and the third actuating portion 124 being capable of acting on the third passive portion 115 when the operating mechanism 120 is moved. Wherein the third actuating portion 124 and the third passive portion 115 may be configured to have inclined surfaces facing each other, and the inclined surfaces are preferably parallel to the inclined surfaces of the first actuating portion 123 and the first passive portion 111.

Thus, when the reset member 150 is disposed between the clamping arm 110 and the chassis 140, the semi-enclosed design is advantageous for maintaining structural stability, so that the movement of the clamping arm 110 and the operating mechanism 120 is stable and does not shake. When the reset member 150 is not provided between the clamp arm 110 and the chassis 140 but provided on the operating mechanism 120, the third actuating portion 124 and the third passive portion 115 can achieve similar effects as the first actuating portion 123 and the first passive portion 111. The semi-enclosure thus involves additional space for installation of the reset member 150 that is also reserved, facilitating subsequent upgrade and retrofit.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the application. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.

The present application has been described by way of the above embodiments, but it should be understood that the above embodiments are for illustrative and explanatory purposes only and that the application is not limited to the above embodiments, but is capable of numerous variations and modifications in accordance with the teachings of the application, all of which fall within the scope of the application as claimed.

Claims

1. A cannula adapter for a surgical robot, comprising:

an adapter body;

a clamping arm having a first passive portion and a second passive portion;

the first actuating part has components in a first direction and a second direction on the action direction of the first actuating part on the first passive part, the second actuating part has components in the second direction and a third direction on the action direction of the second passive part, and the plane where the second direction and the third direction are located is perpendicular to the first direction; the clamping arms are in a clamping state when the operating part is positioned at a first position, and the distance between the first position and the adapter main body is smaller than that between the second position and the adapter main body when the operating part is positioned at a second position;

2. The cannula adapter of claim 1, further comprising a reset member acting on the clamping arm providing a force tending to the clamping arm to a clamped state; or (b)

3. A cannula adapter according to claim 2, wherein a guide part is fixedly arranged in the adapter body, and the operating mechanism is connected with the guide part and is configured to be movable in the first direction under the action of the guide part.

4. A cannula adapter according to claim 3, wherein the guide is configured as a guide bar extending in the first direction, the operating mechanism being nested on the guide bar such that the operating mechanism is movable in the first direction.

5. The cannula adapter of claim 4, wherein the operating mechanism includes an operating portion and a bracket portion, the bracket portion is sleeved on the guide rod, the operating portion is disposed at one end of the bracket portion, and the first actuating portion is disposed at the bracket portion and is adjacent to the other end of the bracket portion.

6. The cannula adapter of claim 1, wherein the adapter body has a chassis fixedly disposed therein, the clamping arm being disposed on the chassis and configured to slide on the chassis.

7. The cannula adapter of claim 6, wherein the reset member is coupled between the chassis and the clamp arm.

8. The cannula adapter of any of claims 1-7, wherein,

the clamping arm having a first side and a second side opposite the first side, wherein the first side is closer to the sleeve than the second side, the second passive portion of the clamping arm comprising a first guide surface and a second guide surface, wherein the first guide surface is disposed on the first side and the second guide surface is disposed on the second side;

9. The cannula adapter of claim 8, wherein the first guide is configured as a face that mates with the first guide face.

10. The cannula adapter of claim 8, wherein the second guide is configured as a face that mates with the second guide face.

11. The cannula adapter of claim 8, wherein the clamp arm further comprises a clamp portion at an end of the clamp arm, the second passive portion being connected to the clamp portion, the first passive portion being connected to the second passive portion.

12. The cannula adapter of claim 11, wherein a distance between the first guide portion and the second guide portion is adapted to a thickness of the second passive portion.

13. The cannula adapter of claim 11, wherein the clamping arm further has a third passive portion connected to the first passive portion and the third passive portion partially encloses the operating mechanism, the operating mechanism further having a third actuating portion located inside the adapter body, the operating mechanism being operable upon movement of the third passive portion.

14. A surgical robot comprising the cannula adapter of any one of claims 1-13.