CN117398198B

CN117398198B - Surgical robot fast-assembling structure

Info

Publication number: CN117398198B
Application number: CN202311709059.3A
Authority: CN
Inventors: 张昊任; 陈向前; 安学亮; 张欢
Original assignee: True Health Guangdong Hengqin Medical Technology Co ltd
Current assignee: True Health Guangdong Hengqin Medical Technology Co ltd
Priority date: 2023-12-13
Filing date: 2023-12-13
Publication date: 2024-02-13
Anticipated expiration: 2043-12-13
Also published as: CN117398198A

Abstract

The application discloses a surgical robot fast-assembling structure, which comprises a robot main body, an operating handle, a fast-assembling bracket and a driven arm assembly; the robot comprises a robot main body, an operating handle, a driven arm assembly, a positioning module, a movable arm assembly and a movable arm assembly, wherein the robot main body is provided with a quick assembly plug-in, the operating handle is fixedly arranged on a quick assembly bracket, and the quick assembly bracket is fixedly arranged on the driven arm assembly, and the operating handle and/or the quick assembly bracket is provided with the positioning module; the quick-mounting bracket comprises a quick-mounting seat, a first locking part is arranged in the quick-mounting seat, a quick-mounting plug-in unit is provided with a second locking part which is in plug-in fit with and locked with the first locking part, an unlocking part is further arranged on the quick-mounting seat, and the unlocking part is arranged to move from a locking position to an unlocking position and drive the first locking part to act so as to release the limitation of the second locking part. The technical effect that the robot main body can be positioned and installed fast is achieved, and then the problems that the surgical robot in the related art is difficult to pre-position and the installation and the disassembly are inconvenient are solved.

Description

Surgical robot fast-assembling structure

Technical Field

The application relates to the technical field of medical equipment, in particular to a surgical robot fast-assembling structure.

Background

Along with the progress of medical technology, miniaturized puncture operation robot is applied to in the clinical operation gradually, miniaturized operation robot has advantages such as low cost, space saving, but the use of miniaturized puncture operation robot need rely on a frock to support the position, consequently take into account that miniaturized puncture operation robot's inner structure is more complicated consequently itself has certain weight, have doctor directly to hold the robot in clinical process and do and put in advance and have had certain difficulty, consequently this frock still need possess the function of realizing putting in advance, need put in advance the back with miniaturized puncture robot quick dress card in place when using the frock realization to put in advance.

Disclosure of Invention

The utility model provides a main aim at provides a surgical robot fast-assembling structure to solve the surgical robot in the correlation technique and put in advance the position difficulty, and install and dismantle comparatively inconvenient problem.

In order to achieve the above object, the present application provides a surgical robot quick-mounting structure, including: the robot comprises a robot main body, an operating handle, a quick-mounting bracket and a driven arm assembly; wherein,

the robot comprises a robot main body, wherein a quick assembly plug-in is arranged on the robot main body, an operating handle is fixedly arranged on a quick assembly bracket, the quick assembly bracket is fixedly arranged on a driven arm assembly, a positioning module is arranged on the operating handle and/or the quick assembly bracket, and the quick assembly bracket is arranged to be placed to a set position through the positioning module;

the quick mounting bracket comprises a quick mounting seat, a first locking part is arranged in the quick mounting seat, the quick mounting plug-in is provided with a second locking part which is in plug-in fit with the first locking part and is locked, the quick mounting seat is also provided with an unlocking part, and the unlocking part is arranged to move from a locking position to an unlocking position and drive the first locking part to act so as to release the limitation of the second locking part; the passive arm assembly comprises a plurality of mutually hinged support arms, the support arms at the starting end are used for being fixed on an installation foundation, and the support arms at the tail end are fixedly connected with the quick-assembly bracket.

Further, the positioning module is a knob type bracket arranged on the operating handle, a positioning ball is arranged on the knob type bracket, and the positioning ball is arranged to be positioned through a visual tracking system.

Further, a first limiting part is further arranged in the quick mounting seat, a first end of the first limiting part extends out of one side of the quick mounting seat, which is provided with the unlocking part, and the first end of the first limiting part is arranged to be capable of obtaining elastic pretightening force when the quick mounting plug-in unit is mounted in the quick mounting seat;

the first limiting part is positioned at the unlocking position of the unlocking part, and the unlocking part is provided with a second limiting part matched with the first limiting part.

Further, the unlocking part is hinged with the quick mounting seat through a limiting shaft, and the unlocking part can move from a locking position to an unlocking position in a rotating mode and drives the first locking part to act so as to release the limitation of the second locking part.

Further, the first locking part comprises a locking head and a first elastic piece, the first end of the first elastic piece is connected with the locking head, the second end of the first elastic piece is connected with the quick-mounting seat, and the locking head is arranged to be at least partially clamped into the second locking part under the action of the first elastic piece;

the locking head is linked with the limiting shaft so that the unlocking part can be separated from the first limiting part from the unlocking position and rotated to the locking position when the locking head is released.

Further, a slot is vertically formed in the quick assembly seat, the quick assembly plug-in is in plug-in fit with the slot, and the second locking part is a jack formed in the quick assembly plug-in;

the locking head is arranged to extend out of the slot partially and to be in plug-in fit with the jack so as to lock the robot body.

Further, a chute is formed in the quick mounting seat, the locking head comprises a bolt and a connecting part, the bolt is fixedly connected with the connecting part sleeve, and the bolt and the connecting part are both in sliding connection with the chute;

the bolt is connected with the first elastic piece and is in plug-in fit with the jack;

the limiting shaft is provided with a spiral part, and a part of the connecting part is clamped into the spiral part, so that the limiting shaft can drive the connecting part to linearly move when rotating.

Further, the unlocking part comprises a rotating handle, the rotating handle is fixedly connected with the limiting shaft, and a second limiting part is formed at one end, close to the quick-mounting seat, of the rotating handle.

Further, a sliding hole is further formed in the quick mounting seat, the first limiting part is arranged in the sliding hole and comprises a first ejector pin, a second elastic piece and a second ejector pin, the first ejector pin and the second ejector pin are both in sliding connection with the sliding hole, and the second elastic piece is connected between the first ejector pin and the second ejector pin;

the first ejector pin and one end that the second ejector pin deviates from each other can both extend under the effect of second elastic component the slide hole, the second ejector pin extends the one end of slide hole be used for with the grafting cooperation of second spacing portion, the first ejector pin extends the one end of slide hole be used for with the terminal surface butt cooperation of quick-assembling plug-in components.

Further, one end of the second ejector pin extending out of the sliding hole is in a sphere-like shape, and the second limiting part is a limiting hole formed in the rotary handle.

In the embodiment of the application, the robot main body, the operating handle, the quick-mounting bracket and the passive arm assembly are arranged; wherein, the robot main body is provided with a quick-mounting plug-in unit, the operating handle is fixedly arranged on a quick-mounting bracket, the quick-mounting bracket is fixedly arranged on the driven arm assembly, the operation handle and/or the quick-mounting bracket are/is provided with a positioning module, and the quick-mounting bracket is arranged to be placed to a set position through the positioning module; the quick-mounting bracket comprises a quick-mounting seat, a first locking part is arranged in the quick-mounting seat, a second locking part which is in plug-in fit with and locked with the first locking part is arranged in the quick-mounting seat, an unlocking part is further arranged on the quick-mounting seat, the unlocking part is arranged to move from a locking position to an unlocking position and drive the first locking part to act so as to relieve the limitation of the second locking part, the quick-mounting bracket is placed to a set position by holding an operation handle in advance according to a positioning module when being mounted, then a passive arm assembly is fixed, finally, the robot main body is mounted on the quick-mounting bracket, the robot main body is locked through the cooperation of the first locking part and the second locking part, and the purpose of dismounting the robot main body is realized by adjusting the position of the unlocking part, so that the pre-positioning of the robot main body is convenient, the technical effect of quick positioning and mounting is realized, and the problems of difficult pre-positioning and inconvenient mounting and dismounting of a surgical robot in the related technology are solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application and to provide a further understanding of the application with regard to the other features, objects and advantages of the application. The drawings of the illustrative embodiments of the present application and their descriptions are for the purpose of illustrating the present application and are not to be construed as unduly limiting the present application. In the drawings:

FIG. 1 is a schematic diagram of a structure according to an embodiment of the present application;

FIG. 2 is a schematic cross-sectional view of a quick-fit insert mated with a quick-fit seat in accordance with an embodiment of the present application;

FIG. 3 is a schematic cross-sectional view of a first stop portion and a second stop portion mated in accordance with an embodiment of the present application;

FIG. 4 is a schematic view of a structure of a lever in a locked position and an unlocked position according to an embodiment of the present application;

the robot comprises a robot body, a 101 quick assembly plug-in unit, a 102 second locking part, a 2 operation handle, a 3 quick assembly support, a 31 quick assembly seat, a 32 first locking part, a 321 locking head, a 3210 bolt, a 3211 connecting part, a 322 first elastic piece, a 33 unlocking part, a 330 rotary handle, a 34 limiting shaft, a 35 bearing, a 36 bearing cover, a 37 second limiting part, a 38 first limiting part, a 380 first ejector pin, a 381 second elastic piece, a 382 second ejector pin, a 39 sliding hole, a 4 passive arm assembly and a 5 positioning module.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein.

In the present application, the terms "upper", "lower", "inner", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "disposed," "configured," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The use of miniaturized puncture operation robot need rely on a frock to support the position, considers simultaneously that miniaturized puncture operation robot's inner structure is more complicated consequently itself has certain weight, has the doctor directly to hold the robot in clinical in-process and does and put in advance and have certain difficulty, therefore this frock still needs to possess the function of realizing putting in advance, when using the frock to realize putting in advance the back need with miniaturized puncture robot quick dress card in place.

In order to solve the above technical problems, as shown in fig. 1 to 4, an embodiment of the present application provides a surgical robot quick-mounting structure, including: a robot body 1, an operating handle 2, a quick-mount bracket 3 and a passive arm assembly 4; wherein,

the robot comprises a robot main body 1, an operating handle 2, a driven arm assembly 4, a positioning module 5, a quick-mounting bracket 3 and a movable arm assembly 4, wherein the robot main body 1 is provided with the quick-mounting plug 101, the operating handle 2 is fixedly arranged on the quick-mounting bracket 3, the quick-mounting bracket 3 is fixedly arranged on the driven arm assembly 4, and the operating handle 2 and/or the quick-mounting bracket 3 are/is provided with the positioning module 5 so that the quick-mounting bracket 3 can be placed to a set position through the positioning module 5;

the quick-mounting bracket 3 comprises a quick-mounting seat 31, a first locking part 32 is arranged in the quick-mounting seat 31, a quick-mounting plug 101 is provided with a second locking part 102 which is in plug-in fit with the first locking part 32 and is locked, an unlocking part 33 is further arranged on the quick-mounting seat 31, and the unlocking part 33 is arranged to move from a locking position to an unlocking position and drive the first locking part 32 to act so as to release the limitation of the second locking part 102.

In the present embodiment, the robot body 1 is a miniaturized puncture robot capable of holding a puncture needle and driving the puncture needle to perform operations including needle insertion, needle withdrawal, and the like. The passive arm-set 4 has a multi-free arm-set structure, specifically, the passive arm-set 4 includes a plurality of mutually hinged arms, the arms at the starting end are used for being fixed to a mounting base, the arms at the tail end are fixedly connected with the quick-mounting bracket, and the mounting base can be a bed board. After the passive arm-set 4 is fixedly connected with the quick-mount bracket 3, the passive arm-set 4 can provide multiple degrees of freedom of motion support for the quick-mount bracket 3. The operation handle 2 is fixed on the quick-mounting bracket 3, and when the robot body 1 is mounted on the quick-mounting bracket 3, a doctor can hold the operation handle 2 and control the robot body 1 to move under the support of the passive arm assembly 4, so that corresponding operation is performed.

In the present embodiment, the position of the robot main body 1 is determined by the position of the quick mount bracket 3, and thus the pre-positioning of the robot main body 1 is substantially the pre-positioning of the quick mount bracket 3. Because the operating handle 2 and the quick-mounting bracket 3 are in a relatively fixed connection relationship, in order to realize pre-positioning of the quick-mounting bracket 3, in this embodiment, the operating handle 2 or the quick-mounting bracket 3 is provided with the positioning module 5, or the operating handle 2 and the quick-mounting bracket 3 are provided with the positioning module 5. In this embodiment, the spatial position of the quick-mounting bracket 3 can be determined by the positioning module 5, and a doctor can hold the operating handle 2 to adjust the position of the quick-mounting bracket 3, and can track the position of the quick-mounting bracket 3 in real time by the positioning module 5 in the adjustment process, so that the quick-mounting bracket 3 can be adjusted to a set position. The set position of the quick mount bracket 3 is the initial position of the robot body 1 determined by a doctor or a computer according to a preoperative surgical plan. Since the robot body 1 is fixed to the quick mount bracket 3 in use, the initial position of the robot body 1 can be converted into the initial position of the quick mount bracket 3. Therefore, the quick-mounting bracket 3 can be quickly positioned to the set position before operation through the setting of the positioning module 5, so that the upper main body of the machine can be positioned at the set position after the robot main body 1 is subsequently installed.

In one embodiment of the positioning module 5, the positioning module 5 is a top ball type bracket provided on the operating handle 2, on which a positioning ball is provided, which is arranged to be positioned by a visual tracking system.

Specifically, the top ball type bracket is fixed on the operating handle 2, and a plurality of positioning balls are fixed on the top ball type bracket, so that the positions of the positioning balls can be determined by means of image recognition, and the positions of the quick mounting brackets 3 can be determined. Or the positioning ball is arranged to reflect infrared rays, and the position of the positioning ball can be identified through an infrared system, so that the position of the quick-mounting bracket 3 is determined.

After the pre-positioning of the quick-mounting bracket 3 is completed, the quick-mounting bracket 3 needs to be positioned, which is achieved by fixing the passive arm-set 4 in the present embodiment. In one embodiment, the passive arm assembly 4 is comprised of a plurality of arms, with adjacent arms being hingedly connected, enabling multiple degrees of freedom of movement of the passive arm assembly 4 depending on the arrangement of the hinge axes. The degree of freedom of the passive arm-set 4 is not limited in this embodiment, and different passive arm-sets 4 may be used according to actual surgical requirements. The passive arm assembly 4 is capable of supporting the robot body 1 while providing the robot body 1 with freedom of movement. The passive arm assembly 4 has a variety of securing means, and in one embodiment, the passive arm assembly 4 can be secured to a bed plate, or a mounting plate additionally disposed on the bed plate. The passive arm assembly 4 and the bed board or the mounting board may be fixed by bolts, or may be fixed by a fixing structure carried by the passive arm assembly 4 itself, which is not limited in this embodiment.

After the pre-positioning of the quick-mounting bracket 3 and the fixing of the passive arm assembly 4 are completed, the position of the quick-mounting bracket 3 is fixed, and at this time, the robot body 1 can be mounted on the quick-mounting bracket 3. In order to realize quick installation and disassembly of the robot main body 1 and stable connection of the robot main body 1, the quick-mounting bracket 3 in the embodiment is of a generally U-shaped structure, an installation space of the robot main body 1 is formed between two side arms of the quick-mounting bracket, the operating handle 2 is fixed on the back surface of the quick-mounting bracket 3, and meanwhile, the back surface of the quick-mounting bracket 3 is fixedly connected with the passive arm assembly 4. The two side arms of the quick mounting bracket 3 are fixedly provided with quick mounting seats 31, the quick mounting seats 31 correspond to the two sides of the robot main body 1, the first locking parts 32 are arranged in the quick mounting seats 31, and the second locking parts 102 are arranged on the two sides of the robot main body 1.

The robot body 1 may be inserted vertically or horizontally when mounted. As shown in fig. 2, the first locking portion 32 and the second locking portion 102 can cooperate with each other to achieve locking of the robot body 1 after insertion, so that the robot body 1 is fixed to the quick mount bracket 3. In one embodiment of the first locking portion 32 and the second locking portion 102, the first locking portion 32 may be a bump with a spring, and the second locking portion 102 may be a groove corresponding to the bump. In another embodiment, the first locking portion 32 and the second locking portion 102 may be fixed by a buckle, which adopts its own elastic deformation to achieve the disengagement of the engagement of the card. The specific structure of the first locking portion 32 and the second locking portion 102 is not limited in this embodiment.

For unlocking, in this embodiment, an unlocking part 33 is disposed on the quick mount 31, and the unlocking part 33 is configured to move from a locking position to an unlocking position and drive the first locking part 32 to act to release the restriction of the second locking part 102, so that the robot main body 1 can be separated from the robot bracket. The unlocking portion 33 that drives the first locking portion 32 to operate is also of different forms according to the first locking portion 32 of different structures. In one embodiment, when the first locking portion 32 is in a bump-fitting spring structure, the unlocking portion 33 may be in a structure capable of pulling the bump to move linearly. When the first locking portion 32 is a buckle having elasticity, the unlocking portion 33 may be configured to be capable of controlling the deformation of the first locking portion 32 in the disengaging direction, which is not limited in this embodiment.

The embodiment achieves the purposes that the operation handle 2 is held by hand firstly to place the quick mounting bracket 3 to a set position according to the positioning module 5 during mounting, then the passive arm assembly 4 is fixed, finally the robot main body 1 is mounted on the quick mounting bracket 3, the robot main body 1 is locked through the matching of the first locking part 32 and the second locking part 102, the disassembly of the robot main body 1 is carried out through the adjustment of the position of the unlocking part 33, and therefore the pre-positioning of the robot main body 1 is facilitated, the technical effect that the robot main body 1 can be rapidly positioned and mounted is achieved, and the problems that the pre-positioning of the operation robot in the related technology is difficult and the mounting and the dismounting are inconvenient are solved.

Since the robot body 1 has a certain weight, it is necessary for a doctor to hold the robot body 1 with both hands at the time of disassembly, and to be held at the unlock position when the unlock portion 33 is moved to the unlock position under the disassembly environment, so that the first lock portion 32 can be held at a position separated from the second lock portion 102.

Therefore, as shown in fig. 3 and 4, a first limiting portion 38 is further disposed in the quick-mounting seat 31 in the present embodiment, a first end of the first limiting portion 38 extends out of a side of the quick-mounting seat 31 where the unlocking portion 33 is disposed, and the first end of the first limiting portion 38 is configured to obtain an elastic pre-tightening force when the quick-mounting insert 101 is mounted in the quick-mounting seat 31;

the first limiting portion 38 is located at an unlocking position of the unlocking portion 33, and the unlocking portion 33 is provided with a second limiting portion 37 which is matched with the first limiting portion 38.

Specifically, it should be noted that, when the robot body 1 is installed, the quick-mounting inserts 101 located at two sides of the robot body 1 are gradually inserted into the quick-mounting seats 31, and in this process, the quick-mounting inserts 101 synchronously act on the first limiting portions 38 and make the first limiting portions 38 obtain elastic pre-tightening force. The elastic pre-tightening force can be provided by an elastic member connected with the first limiting portion 38, and the first limiting portion 38 is kept in a compressed state under the action of the elastic pre-tightening force. When the unlocking portion 33 moves from the locking position to the unlocking position, the first locking portion 32 releases the locking of the second locking portion 102, and at the same time, the second limiting portion 37 on the unlocking portion 33 corresponds to the first end of the first limiting portion 38, and the second limiting portion 37 and the first limiting portion 38 can cooperate in a clamping manner to limit the unlocking portion 33, so that the unlocking portion 33 can be kept at the unlocking position.

The arrangement of the first limiting part 38 and the second limiting part 37 in this embodiment enables the unlocking part 33 to be fixed at the unlocking position when the robot body 1 is disassembled, and does not need to additionally and manually control the unlocking part 33, thereby facilitating the safe and stable disassembly of the robot body 1.

In order to enable the unlocking part 33 to be better secured by the first limiting part 38 when moving from the locking position to the unlocking position, the unlocking part 33 in this embodiment is rotatably moved between the locking part and the unlocking part 33. Specifically, as shown in fig. 2, in this embodiment, the unlocking portion 33 is hinged to the quick-mounting seat 31 through a limiting shaft 34, and the unlocking portion 33 is configured to be capable of moving from the locking position to the unlocking position in a rotating manner, and drives the first locking portion 32 to act to release the limitation of the second locking portion 102.

In this embodiment, one end of the limiting shaft 34 is inserted into the quick-mounting seat 31 and hinged to the quick-mounting seat 31 through a bearing 35, and meanwhile, a bearing cover 36 is sleeved on the limiting shaft 34, and the bearing cover 36 is fixed on the bearing 35. The other end of the limiting shaft 34 extends out of the quick mounting seat 31 and is fixedly connected with the unlocking part 33, so that the unlocking part 33 can rotate through the limiting shaft 34. The unlocking part 33 is close to the side wall of the quick-mounting seat 31, so that the first limiting part 38 and the second limiting part 37 are convenient to match. In this embodiment, the first limiting portion 38 has an elastic pre-tightening force, when the unlocking portion 33 rotates to the unlocking position, the first end of the first limiting portion 38 is first propped against the side surface of the unlocking portion 33, and the first limiting portion 38 is pushed to retract into the quick-mounting seat 31 along with further rotation of the unlocking portion 33, when the unlocking portion 33 completely rotates to the unlocking position, the first limiting portion 38 is opposite to the second limiting portion 37 on the unlocking portion 33, and the first limiting portion 38 is clamped into the second limiting portion 37 under the action of the elastic pre-tightening force, so that the limitation of the unlocking portion 33 is achieved.

In one embodiment of the first locking portion 32, as shown in fig. 2, the first locking portion 32 includes a locking head 321 and a first elastic member 322, a first end of the first elastic member 322 is connected to the locking head 321, a second end is connected to the quick-mounting seat 31, and the locking head 321 is configured to be at least partially locked into the second locking portion 102 under the action of the first elastic member 322;

the locking head 321 is interlocked with the stopper shaft 34 so that the unlocking portion 33 can be disengaged from the first stopper portion 38 from the unlocking position and rotated to the locking position when the locking head 321 is released.

In the present embodiment, a hole for mounting the locking head 321 and the first elastic member 322 is formed in the quick-mounting seat 31, and the locking head 321 can linearly move in the hole, thereby performing locking and releasing actions. The first elastic member 322 is installed in the hole and abuts against the locking head 321, thereby providing a locking force to the locking head 321. When the quick assembly 101 on the robot main body 1 is inserted into the quick assembly seat 31, the lower end of the quick assembly 101 is propped against the locking head 321, and then the locking head 321 can be pushed to retract into the quick assembly seat 31 and compress the first elastic piece 322 along with continuous clamping, so that the locking head 321 obtains elastic potential energy. When the quick connector 101 is locked in place, the second locking portion 102 is opposite to the locking head 321 (in this embodiment, the second locking portion 102 is a slot formed on the quick connector 101), and at this time, the locking head 321 is partially locked into the second locking portion 102 under the action of the first elastic member 322 to complete locking of the robot body 1.

Since the unlocking portion 33 is fixed by the first stopper portion 38 after moving from the locking position to the unlocking position in this application. Therefore, in order to facilitate the installation of the subsequent robot body 1, it is necessary that the unlocking portion 33 is automatically reset, i.e., moved to the locking position, after the robot body 1 is detached. In this embodiment, the locking head 321 is linked with the limiting shaft 34, that is, the action of the locking head 321 drives the limiting shaft 34 to act, so as to drive the unlocking portion 33 to act. The action of the locking head 321 in this embodiment generally involves three aspects, wherein, on one hand, the unlocking part 33 acts to drive the locking head 321 to separate from the second locking part 102 when unlocking, and on the other hand, when the robot body 1 is installed, the locking head 321 is pushed to act and compress the first elastic member 322, and at the same time, after the robot body 1 is installed in place, the locking head 321 is clamped into the second locking part under the action of the first elastic member 322, and on the other hand, after the robot body 1 is disassembled, the locking head 321 extends out of the quick-mounting seat 31 under the action of the first elastic member 322.

Since the locking head 321 is linked with the limiting shaft 34, the limiting shaft 34 will generate corresponding actions during the active action of the locking head 321. In one embodiment, when the robot body 1 is mounted on the quick mount 3, the locking head 321 first retracts into the quick mount seat 31 under the action of the quick connector 101 and compresses the first elastic member 322, and at this time, the limiting shaft 34 is driven to rotate, so that the unlocking portion 33 is driven to rotate a first angle in a first direction from the locking position to the unlocking position. After the robot body 1 is installed in place, the locking head 321 is clamped into the second locking portion 102 under the action of the first elastic piece 322, and at this time, the limiting shaft 34 rotates synchronously, so as to drive the unlocking portion 33 to rotate reversely by a first angle to return to the locking position. At the time of unlocking, the unlocking portion 33 needs to be rotated in the first direction by the second angle to the unlocking position and fixed. After the robot body 1 is disassembled, the locking head 321 extends out of the quick-mounting seat 31 under the action of the first elastic piece 322, and at the moment, the limiting shaft 34 rotates again to drive the unlocking part 33 to separate from the first limiting part 38 at the unlocking position and rotate from the unlocking position to the locking position, and in the process, the unlocking part 33 is driven by the first elastic piece 322.

Since it is involved in the installation of the robot body 1 that the unlocking part 33 is rotated by a first angle from the locking position toward the unlocking position, the unlocking part 33 is rotated by a second angle from the locking position toward the unlocking position at the time of unlocking. Therefore, in order to avoid the unlocking portion 33 rotating to the unlocking position and being fixed by the first limiting portion 38, the locking head 321 cannot be automatically locked into the second locking portion 102. In this embodiment, the first angle is smaller than the second angle, in other words, when the robot body 1 is assembled, the length of the locking head 321 retracted into the quick mount 31 by the action of the quick connector 101 is smaller than the length of the locking head 321 retracted into the quick mount 31 by the unlocking portion 33.

In one installation mode of the robot body 1, the robot body 1 is vertically installed in the quick-mounting bracket 3, so that a slot is vertically formed in the corresponding quick-mounting seat 31, and the upper end of the slot is opened so as to facilitate the insertion of the quick-mounting plug-in 101, and the lower end of the slot is closed so as to facilitate the limitation of the quick-mounting plug-in 101. The quick-mounting plug-in 101 is in plug-in fit with the slot, and the second locking part 102 is a clamping groove formed in the quick-mounting plug-in 101; the locking head 321 is configured to partially extend out of the slot and to be in plug-in fit with the clamping slot to lock the robot body 1.

As shown in fig. 2, to facilitate the movement of the latch 3210 during the insertion of the quick connector 101, the upper end of the latch 3210 is provided with a slope through which the vertical pressure of the quick connector 101 can be decomposed, so that the latch 3210 can move. In order to facilitate unlocking and locking actions of the locking head 321, in this embodiment, a sliding groove is formed in the quick-mounting seat 31, the locking head 321 includes a latch 3210 and a connecting portion 3211, the latch 3210 is fixedly connected with the connecting portion 3211 in a sleeve manner, and the latch 3210 and the connecting portion 3211 are both slidably connected with the sliding groove; the bolt 3210 is connected with the first elastic piece 322 and is in plug-in fit with the clamping groove; the limiting shaft 34 is provided with a spiral part, and a part of the connecting part 3211 is clamped into the spiral part, so that the limiting shaft 34 can drive the connecting part 3211 to linearly move when rotating.

In this embodiment, when the limiting shaft 34 rotates, the connecting portion 3211 engaged with the spiral portion on the limiting shaft 34 can move along the spiral, so as to drive the latch 3210 to move in the chute. Similarly, when the latch 3210 moves under the action of the first elastic member 322 or the quick-mounting insert 101, the connection portion 3211 drives the limiting shaft 34 to rotate, thereby driving the unlocking portion 33 to rotate. The first elastic member 322 may be provided as a spring or a leaf spring in this embodiment.

As shown in fig. 2 and 3, since the unlocking portion 33 mainly performs a rotation operation, the unlocking portion 33 in this embodiment includes a rotating handle 330, the rotating handle 330 is fixedly connected with a limiting shaft 34, and a second limiting portion 37 is formed at one end of the rotating handle 330 adjacent to the quick-mounting seat 31.

In order to facilitate the action of the first limiting portion 38, in this embodiment, a sliding hole 39 is further formed in the quick-mounting seat 31, the sliding hole 39 is a through hole, and the first limiting portion 38 is disposed in the sliding hole 39. In this embodiment, the first limiting portion 38 includes a first ejector pin 380, a second elastic member 381, and a second ejector pin 382, where the first ejector pin 380 and the second ejector pin 382 are slidably connected to the sliding hole 39, and the second elastic member 381 is connected between the first ejector pin 380 and the second ejector pin 382;

the first top pin 380 and the second top pin 382 can both extend out of the sliding hole 39 under the action of the second elastic piece 381, one end of the second top pin 382 extending out of the sliding hole 39 is used for being in plug-in fit with the second limiting portion 37, and one end of the first top pin 380 extending out of the sliding hole 39 is used for being in butt fit with the end face of the quick assembly 101.

In this embodiment, in order to prevent the first knock pin 380 and the second knock pin 382 from being separated from the slide hole 39 during the movement process, two ends of the slide hole 39 are provided with annular limiting edges, and corresponding annular protrusions matched with the limiting edges are provided on the first knock pin 380 and the second knock pin 382, so that the first knock pin 380 and the second knock pin 382 can be effectively limited to be separated from the slide hole 39 through the matching of the annular protrusions and the limiting edges. In this embodiment, the ends of the first knock pin 380 and the second knock pin 382 facing away from each other can each partially extend out of the slide hole 39. Wherein the portion of the first top pin 380 extending out of the slide hole 39 faces the quick connector 101, and the portion of the second top pin 382 extending out of the slide hole 39 faces the knob 330.

Before the robot body 1 is assembled, the first knock pin 380 partially extends out of the slide hole 39 under the action of the second elastic member, and the second knock pin 382 also partially extends out of the slide hole 39 under the action of the second elastic member 381. When the robot body 1 is installed, the quick assembly 101 pushes the first ejector pin 380 to retract into the sliding hole 39 and compress the second elastic member 381, the second elastic member 381 pushes the second ejector pin 382 to push tightly, and the second elastic member 381 provides elastic pre-tightening force for the second ejector pin 382. When the knob 330 rotates to the unlocking position, the knob 330 will push the second knock pin 382 to retract into the sliding hole 39 and compress the second elastic member 381 again, and when the knob 330 rotates to the unlocking position, the second knock pin 382 corresponds to the second limiting portion 37, and at this time, the second knock pin 382 will be locked into the second limiting portion 37 under the action of the second elastic member 381 to fix the knob 330.

In order to facilitate the second knock pin 382 to be snapped into the limiting hole and disengage the second knock pin 382 from the limiting hole, in this embodiment, the end of the second knock pin 382 extending out of the sliding hole 39 is configured to be ball-like, and the second limiting portion 37 is a limiting hole formed on the knob 330.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present application, are intended to be included within the scope of the present application.

Claims

1. A surgical robot quick-mounting structure, comprising: the robot comprises a robot main body, an operating handle, a quick-mounting bracket and a driven arm assembly; wherein,

the quick mounting bracket comprises a quick mounting seat, a first locking part is arranged in the quick mounting seat, the quick mounting plug-in is provided with a second locking part which is in plug-in fit with the first locking part and is locked, the quick mounting seat is also provided with an unlocking part, and the unlocking part is arranged to move from a locking position to an unlocking position and drive the first locking part to act so as to release the limitation of the second locking part;

the passive arm assembly comprises a plurality of mutually hinged support arms, the support arm at the starting end is used for being fixed on an installation foundation, and the support arm at the tail end is fixedly connected with the quick-assembly bracket;

the quick mounting seat is internally provided with a first limiting part, the first end of the first limiting part extends out of one side of the quick mounting seat, which is provided with an unlocking part, and the first end of the first limiting part is arranged to be capable of obtaining elastic pre-tightening force when the quick mounting plug-in unit is mounted in the quick mounting seat;

2. The surgical robot cartridge of claim 1, wherein the positioning module is a knob type bracket provided on the operating handle, and a positioning ball is provided on the knob type bracket, and the positioning ball is configured to be positioned by a vision tracking system.

3. The surgical robot cartridge according to claim 1, wherein the unlocking portion is hinged to the cartridge holder via a limiting shaft, and the unlocking portion is configured to be movable from a locking position to an unlocking position in a rotatable manner and to drive the first locking portion to act to release the restriction of the second locking portion.

4. A surgical robot cartridge according to claim 3, wherein the first locking portion comprises a locking head and a first elastic member, a first end of the first elastic member being connected to the locking head and a second end being connected to the cartridge holder, the locking head being arranged to be able to be at least partially clamped into the second locking portion under the action of the first elastic member;

5. The surgical robot rapid-assembling structure according to claim 4, wherein the rapid-assembling seat is vertically provided with a slot, the rapid-assembling plug-in is in plug-in fit with the slot, and the second locking part is a jack formed on the rapid-assembling plug-in;

6. The surgical robot rapid-assembling structure according to claim 5, wherein a chute is formed in the rapid-assembling seat, the locking head comprises a bolt and a connecting part, the bolt is fixedly connected with the connecting part sleeve, and the bolt and the connecting part are both in sliding connection with the chute;

7. The surgical robot cartridge according to claim 6, wherein the unlocking portion includes a rotation handle fixedly connected to the limiting shaft, and the second limiting portion is formed at an end of the rotation handle adjacent to the cartridge.

8. The surgical robot quick-mounting structure according to claim 7, wherein the quick-mounting seat is further provided with a sliding hole, the first limiting part is arranged in the sliding hole and comprises a first ejector pin, a second elastic member and a second ejector pin, the first ejector pin and the second ejector pin are both in sliding connection with the sliding hole, and the second elastic member is connected between the first ejector pin and the second ejector pin;

9. The surgical robot rapid-assembling structure according to claim 8, wherein one end of the second ejector pin extending out of the sliding hole is shaped like a sphere, and the second limiting portion is a limiting hole formed in the rotating handle.