CN117942176A

CN117942176A - Automatic joint pressing and releasing device

Info

Publication number: CN117942176A
Application number: CN202410349227.0A
Authority: CN
Inventors: 江维; 张芳敏; 刘猛
Original assignee: Beijing Yunli Jingan Technology Co ltd
Current assignee: Beijing Yunli Jingan Technology Co ltd
Priority date: 2024-03-26
Filing date: 2024-03-26
Publication date: 2024-04-30
Anticipated expiration: 2044-03-26
Also published as: CN117942176B

Abstract

The invention discloses an automatic joint pressing and releasing device, which comprises a surgical instrument clamping unit, a sterile adapter clamping unit and an instrument driving clamping unit; the surgical instrument clamping unit comprises a release switch and a clamping pin; the release switch is arranged in a vertical central hole of the surgical instrument and is provided with a switch reset spring; the clamping pin is arranged on a sliding sleeve at the bottom of the surgical instrument and is provided with a clamping pin reset spring, and the lower end of the release switch is connected with the inner end of the clamping pin through a transmission part; the sterile adapter clamping unit comprises a sterile plate and a first buckle, wherein the first buckle can be radially movably arranged on the sterile plate and is provided with a buckle return spring, and the first buckle is provided with a first reverse clamping joint and a second reverse clamping joint; the top of the instrument driving clamping unit is provided with a second buckle. The device can be used by being adapted to various instruments in an endoscopic surgery scene, can meet the transmission and disassembly requirements of an instrument unit, and is convenient and quick to operate.

Description

Automatic joint pressing and releasing device

Technical Field

The invention relates to the technical field of medical appliances, in particular to an automatic joint pressing and releasing device for connecting a soft endoscopic surgical instrument with an instrument driving part.

Background

At present, natural cavity diseases such as digestive system, urinary system, respiratory system and the like are common serious chronic diseases, such as gastric cancer, esophageal cancer, colorectal cancer, bladder cancer, lung cancer and the like, have high morbidity and mortality, and seriously harm human health. The diagnosis and treatment by the soft endoscope matched with the related surgical instruments become mainstream treatment means, and have the characteristics of small wound, small bleeding amount and low complication occurrence rate.

For different surgical scenarios, different surgical instruments are required, such as bioptomes, injection needles, snares, hemostatic clips, etc. The surgical instruments include, for example, an instrument sheath, an inner and outer housing, an instrument driving wire driving member, etc., and require a surgeon to fix the outer housing and rotate the inner housing during surgery, thereby allowing the housed instruments to enter the endoscopic instrument channel to reach the lesion area.

In order to provide improved control of the operating tool, it may be desirable to achieve control of the instrument using a remotely operated drive member. The physician can operate the operating member on the console to effect control of the instrument coupled to the drive member. The instrument is detachably coupled to the operating driver so that the instrument can be sterilized alone or replaced back and forth and is selected for use as the instrument required in an upcoming surgical procedure, the instrument being replaceable or changeable during surgery.

The need for interchangeable instruments presents new challenges for surgery. One challenge is the need to maintain sterile conditions in the vicinity of the patient area. In addition, the motors, sensors, encoders and electrical connection members necessary to control the surgical instrument are typically not sterilized by conventional methods (e.g., steam, heat, and pressure or chemicals) because these components may be damaged or destroyed during the sterilization process. It is therefore desirable to create a sterile adapter coupling component that ensures that the instrument drive components are not contaminated and that is simultaneously capable of transmitting the drive force of the instrument.

Another challenge is that surgeons often use a large number of different surgical instruments during the procedure. Because of space constraints and limited cost, many such surgical instruments will be attached to and detached from the same instrument drive member several times during operation.

It is desirable to provide a simpler and more efficient way of engaging and disengaging surgical instruments, sterile adapters, and instrument drive components while preventing contamination of the teleoperated actuators and allowing for a quick and reliable attachment of a series of surgical instruments that maintain a sterile field around the surgical instruments.

To solve the above problems, the prior art gives solutions from different angles.

For example, to address the overall stowing and driving issues of flexible surgical instruments, CN116058981a proposes a latch to secure the tele-surgical instrument to the actuator; in order to achieve rapid docking and undocking of the surgical instrument receiving unit and the drive unit, CN217927000U discloses a flexible surgical instrument and a connection mechanism thereof.

From the perspective of CN116058981A, the connection and fixation of the proposed clamping latch are realized by plastic deformation of plastics, and the mode is greatly influenced by material aging and repeated use times, and the storage time of a shelf can influence the reliability of clamping.

From the perspective of CN217927000U, the proposed connection mechanism can connect a flexible instrument and an instrument drive. However, manual accurate positioning is required during installation, one hand is required to hold the instrument during installation and disassembly, the other hand presses the trigger button on the lower transmission substrate to install or remove the instrument, and in addition, the lower trigger button can change positions along with the rotation of the instrument driving device, so that the accurate positioning of the trigger button is inconvenient. Therefore, there are many inconveniences in both mounting and dismounting.

Disclosure of Invention

The present invention is directed to an automatic engagement pressing release device, which solves the above-mentioned problems.

In order to achieve the above-mentioned purpose, the present invention provides an automatic engagement pressing release device, including a surgical instrument clamping unit, a sterile adapter clamping unit, and an instrument driving clamping unit;

The surgical instrument clamping unit comprises a release switch and a clamping pin; the release switch is arranged in a vertical central hole of the surgical instrument and can slide up and down along the central hole, a switch reset spring is arranged between the release switch and the upper end of the central hole, and a pressing part of the release switch is positioned at the top of the surgical instrument; the clamping pin is arranged on a sliding sleeve at the bottom of the surgical instrument, the outer end of the clamping pin is provided with a clamping part, the lower end of the release switch is connected with the inner end of the clamping pin through a transmission part so as to drive the clamping pin to move along the radial direction, and a clamping pin reset spring is arranged between the clamping pin and the sliding sleeve;

The sterile adapter clamping unit comprises a sterile plate and a first buckle, wherein the first buckle can be radially movably arranged in a chute of the sterile plate, a buckle reset spring is arranged between the first buckle and the sterile plate, a first clamping connector is arranged at the upper end of the first buckle and is used for being clamped with a clamping part of the clamping pin, and a second clamping connector opposite to the first clamping connector is arranged at the lower end of the first buckle;

The top of the instrument driving clamping unit is provided with a second buckle, and the second buckle is used for being clamped with a second clamping joint of the first buckle.

Optionally, the main part of release switch is split type structure, including vertical body of rod and switch bayonet lock, the lower extreme of vertical body of rod with the upper end of switch bayonet lock contacts or leaves the interval, the inner of bayonet lock is connected with the lower extreme of switch bayonet lock through drive unit.

Optionally, the transmission part between the lower end of the switch bayonet and the bayonet comprises a connecting rod, one end of the connecting rod is hinged with the lower end of the switch bayonet, and the other end of the connecting rod is hinged with the inner end of the bayonet.

Optionally, the switch bayonet lock is equipped with spacing portion to through spacing portion and the bottom surface contact of surgical instrument joint unit, make keep avoiding reaching the contained angle of dead point position between switch bayonet lock and the connecting rod.

Optionally, the limit part is a step boss, and the upper surface of the step boss contacts with the bottom surface of the surgical instrument clamping unit.

Optionally, the lower surface of the connecting rod is an arc surface, a corresponding arc boss is arranged at the inner end of the sliding sleeve, and the connecting rod is in sliding fit with the arc boss through the arc surface when the bayonet lock moves along the radial direction.

Optionally, the sterile plate includes a sterile upper plate and a sterile lower plate, and the first buckle is mounted between the sterile upper plate and the sterile lower plate.

Optionally, the upper surface of aseptic upper plate is equipped with and is located first trapezoidal circular arc guiding portion of first joint both sides, the lower surface of surgical instrument joint unit is equipped with and is located the second trapezoidal circular arc guiding portion of joint portion both sides of bayonet lock, first trapezoidal circular arc guiding portion cooperatees with second trapezoidal circular arc guiding portion and leads through the arc surface.

Optionally, a vertical guide groove is formed in one side of the sterile upper plate, a vertical guide column is arranged on the outer side of the surgical instrument clamping unit, and the guide column is in up-down sliding fit with the guide groove.

Optionally, the instrument drive clamping unit comprises a drive clamping plate, a rotary drive bracket, a rotary drive flange and a rotary bearing; the driving clamping plate is fixed on the rotary driving flange, the rotary driving support is matched with the rotary driving flange through a bearing, and the second buckle is arranged on the upper surface of the driving clamping plate.

Optionally, the surgical instrument clamping unit is provided with two radially symmetrical clamping pins, and the number and the positions of the first buckle and the second buckle are corresponding to the first buckle and the second buckle;

or the surgical instrument clamping unit is provided with a plurality of clamping pins which are uniformly distributed in the circumferential direction, and the number and the positions of the first clamping buckle and the second clamping buckle are corresponding to the first clamping buckle and the second clamping buckle.

Optionally, a slide block which is bilaterally symmetrical is arranged on the inner side of the first buckle, and the slide block is in sliding fit with a chute of the sterile plate; and/or the inner side of the first buckle is provided with a sliding plate, and the sliding plate is in sliding fit with the upper surface of the sterile plate through the lower surface of the sliding plate.

Optionally, the top cover of the surgical instrument clamping unit is provided with an inner taper sleeve positioned below the opening.

Optionally, the pressing part of the release switch is provided with a stepped round platform at the outer edge, the top cover of the surgical instrument clamping unit is provided with a corresponding stepped step at the edge of the opening, and the stepped round platform is attached to the stepped step under the action of the switch reset spring.

The automatic joint pressing and releasing device provided by the invention can realize mutual clamping of the three parts by pressing downwards without additional operation when clamping, and the mechanical clamping structure ensures higher reliability and stability of clamping, and can realize one-key release by pressing the releasing switch in the middle of the top of the surgical instrument when disassembling, thereby realizing one-hand assembly and disassembly of the whole instrument, reducing time cost, improving operation efficiency, being suitable for various instruments in an endoscopic surgery scene, meeting the transmission and disassembly requirements of instrument units, and being convenient and quick to operate.

Drawings

FIG. 1 is an isometric view of an automatic engagement compression release device according to an embodiment of the present invention;

FIG. 2 is a side view of the automatic engagement push release device of FIG. 1;

FIG. 3 is a top view of the automatic engagement push release device of FIG. 2;

FIG. 4 is a top view of the surgical instrument clamp unit;

FIG. 5 is a cross-sectional view A-A of FIG. 4;

FIG. 6 is a schematic view of the bottom structure of the surgical instrument clamp unit of FIG. 4;

FIG. 7 is an enlarged view of a portion of FIG. 6;

FIG. 8 is a schematic view of the structure of the bayonet;

FIG. 9 is a schematic view of the lower end of the release switch;

FIG. 10 is an isometric view of a sterile adapter card unit;

FIG. 11 is a top view of the sterile adapter card unit of FIG. 10;

FIG. 12 is a B-B cross-sectional view of the sterile adapter card unit of FIG. 11;

FIG. 13 is a schematic view of the bottom structure of the sterile adapter card unit of FIG. 11;

FIG. 14 is a schematic view of the structure of the first buckle;

FIG. 15 is a side view of the first clasp shown in FIG. 14;

FIG. 16 is a schematic view of the structure of the instrument drive interface unit;

FIG. 17 is a top view of the instrument drive interface unit of FIG. 16;

fig. 18 is a schematic structural view of the driving card board.

In the figure:

10. Surgical instrument clamping unit 11, drive base 111, base center post 112, second trapezoidal arcuate guide 12, release switch 121, vertical rod 122, switch bayonet 1221, stop 13, inner cone sleeve 14, switch return spring 15, sliding sleeve 151, boss 16, bayonet 161, clamping portion 162, ramp 17, connecting rod 18, bayonet return spring 19, guide post

20. Sterile adapter clamping unit 21, sterile plate 211, sterile upper plate 2111, first trapezoidal arcuate guide 2112, guide 212, sterile lower plate 22, first buckle 221, first snap fitting 222, second snap fitting 223, slider 224, slide 225, thickened portion 23, buckle return spring

30. The instrument drive clamping unit 31, the drive clamping plate 32, the rotary drive bracket 33, the rotary drive flange 34 and the second buckle.

Detailed Description

In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.

In the present specification, the terms "upper, lower, inner, outer" and the like are established based on the positional relationship shown in the drawings, and the corresponding positional relationship may be changed according to the drawings, so that the terms are not to be construed as absolute limitation of the protection scope; moreover, relational terms such as "first" and "second", and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.

Referring to fig. 1,2 and 3, fig. 1 is an axial side view of an automatic engagement pressing release device according to an embodiment of the present invention; FIG. 2 is a side view of the automatic engagement push release device of FIG. 1; fig. 3 is a top view of the automatic engagement push release device shown in fig. 2.

As shown in the drawings, in a specific embodiment, the automatic engagement and press release device provided by the present invention can be used with a doctor, nurse or technician robot to connect a soft endoscopic surgical instrument with an instrument driving part, and is mainly composed of three parts, namely a surgical instrument clamping unit 10, a sterile adapter clamping unit 20 and an instrument driving clamping unit 30.

The surgical instrument clamping unit 10, the sterile adapter clamping unit 20 and the instrument driving clamping unit 30 are sequentially overlapped from top to bottom and can be connected in a clamping manner, the sterile adapter clamping unit 20 is positioned between the surgical instrument clamping unit 10 and the instrument driving clamping unit 30, plays a role in supporting the upper and lower parts, is used for connecting the surgical instrument clamping unit 10 and the instrument driving clamping unit 30, transmits the movement of a driving part to a surgical instrument, realizes that the surgical instrument and the driving part are not contacted, and meets the surgical requirement.

Referring to fig. 4,5, 6 and 7, fig. 4 is a top view of the surgical instrument clamping unit; FIG. 5 is a cross-sectional view A-A of FIG. 4; FIG. 6 is a schematic view of the bottom structure of the surgical instrument clamp unit of FIG. 4; fig. 7 is a partial enlarged view of fig. 6.

As shown in the figure, the surgical instrument clamping unit 10 is provided with a driving base 11, a base center column 111 inside the driving base 11 is provided with a base center hole penetrating up and down, the release switch 12 is generally T-shaped, the upper end of the release switch is a disc-shaped pressing part, the vertical trunk part is a cuboid, and the whole release switch 12 penetrates into the base center hole from top to bottom and can move up and down in the base center hole.

The upper surface of the pressing part of the release switch 12 forms a part of the upper surface of the surgical instrument clamping unit 10 and is positioned at the central position of the upper surface of the surgical instrument clamping unit 10, the top cover of the surgical instrument clamping unit 10 is provided with an inner taper sleeve 13 positioned below the opening, the release switch 12 can be guided to move up and down through the inner taper sleeve 13, and the release switch 12 is prevented from deflecting, so that the release switch 12 can be always positioned at a central position.

A switch reset spring 14 is arranged between the lower surface of the pressing part of the release switch 12 and the upper end of the base center column 111, a stepped round table is arranged at the outer edge of the pressing part of the release switch 12, a corresponding stepped step is arranged on the top cover of the driving base 11, and the stepped round table is attached to the stepped step under the action of the switch reset spring 14 to prevent the release switch 12 from being separated from the driving base 11.

The lower surface of the driving base 11 is provided with two sliding sleeves 15 which are radially symmetrical, two clamping pins 16 are symmetrically arranged in the two sliding sleeves 15, the outer ends of the clamping pins 16 are provided with clamping parts 161, the main body part of the release switch 12 is of a split type structure and is divided into a vertical rod body 121 and a switch clamping pin 122, the lower end of the vertical rod body 121 is contacted with the upper end of the switch clamping pin 122 or a gap is reserved between the lower end of the switch clamping pin 122 and the upper end of the clamping pin 16, the lower end of the switch clamping pin 122 is connected with the inner end of the clamping pin 16 through a connecting rod 17, one end of the connecting rod 17 is hinged with the inner end of the clamping pin 16, and the other end of the connecting rod 17 is hinged with the lower end of the switch clamping pin 122.

The vertical rod body 121 of the release switch 12 can drive the bayonet lock 16 to move along the radial direction through the switch bayonet lock 122 and the connecting rod 17 so as to realize the clamping and release functions, a bayonet lock return spring 18 is arranged between the bayonet lock 16 and the sliding sleeve 15, and under the action of the bayonet lock return spring 18, the bayonet lock 16 can return automatically after release.

Specifically, the lower surface of the connecting rod 17 is an arc surface, the inner end of the sliding sleeve 15 is provided with a corresponding arc boss 151, the arc boss 151 extends inwards along the radial direction, the upper surface of the sliding sleeve is in an arc shape, the longitudinal projection of the sliding sleeve is in a U shape, that is, the arc boss 151 is in a bifurcated shape, when the bayonet 16 moves along the radial direction, the arc surface of the lower surface of the connecting rod 17 can be in sliding fit with the arc boss 151, so that the connecting rod 17 is smoother in rotation, the clamping stagnation phenomenon is avoided, and the operation feel is smoother.

When the release switch 12 is pressed downward, the lower end moves downward, the link 17 is driven to rotate by the switch latch 122, and the latch 16 moves inward in the radial direction under the tension of the link 17, and at this time, the switch return spring 14 and the latch return spring 18 are both in a compressed state. When the pressure of the release switch 12 is eliminated, the release switch 12 moves upwards to reset under the action of the switch reset spring 14, and the bayonet locks 16 on the two sides return to the initial state under the action of the bayonet lock reset spring 18.

Of course, as a possible embodiment, the switch lock pin 122, the link 17, and the lock pin 16 may be one piece, and the lock and the reset are realized by self-deformation when pressed, and if such a structure is adopted, the portion corresponding to the link 17 corresponds to the transmission member, that is, the transmission member may be integral or separate.

With continued reference to fig. 8 and 9, fig. 8 is a schematic structural diagram of the bayonet; fig. 9 is a schematic view of the structure of the lower end of the release switch.

As shown, the bayonet 16 has a trapezoidal front end, a stepped rear end, and a pin hole at the end. The latch return spring 18 is mounted on a cylindrical shaft with a thinner latch 16, when the latch 16 is assembled, the latch 16 is inserted into the sliding sleeve 15 from the outside, the inner hole of the sliding sleeve 15 is a circular hole, a baffle is arranged at the inner side, the inner end of the latch 16 can be allowed to pass through, the clamping part 161 at the outer end of the latch 16 is in a widened trapezoid shape, and an inclined plane 162 is designed to realize sliding clamping with a first buckle 22 through the inclined plane 162.

The switch bayonet 122 is provided with a limiting part 1221, and contacts with the bottom surface of the driving base 11 through the limiting part 1221, so that a proper included angle is kept between the switch bayonet 122 and the connecting rod 17, and the dead point position is avoided.

In this embodiment, the limiting portion 1221 is a stepped boss, and the switch latch 122 contacts the bottom surface of the driving base 11 through the upper surface of the stepped boss.

Referring to fig. 10 to 13, fig. 10 is an axial side view of the aseptic adapter card unit; FIG. 11 is a top view of the sterile adapter card unit of FIG. 10; FIG. 12 is a B-B cross-sectional view of the sterile adapter card unit of FIG. 11; fig. 13 is a schematic view of the bottom structure of the sterile adapter card unit of fig. 11.

As shown in the figure, the aseptic adapter clamping unit 20 mainly comprises an aseptic plate 21 and a first buckle 22, two holes for passing through the butt joint disc are arranged on the aseptic plate 21, the aseptic plate 21 is further formed by combining an aseptic upper plate 211 and an aseptic lower plate 212, and the first buckle 22 is installed between the aseptic upper plate 211 and the aseptic lower plate 212.

The first buckle 22 is installed in a chute formed between the sterile upper plate 211 and the sterile lower plate 212, and can slide radially along the chute, the inner side of the first buckle 22 is provided with a buckle return spring 23, so that the first buckle 22 is always positioned at the outermost end of the chute, the upper end of the first buckle 22 is provided with a first clamping connector 221, the lower end of the first buckle 22 is provided with a second clamping connector 222, the direction of the second clamping connector 222 is opposite to that of the first clamping connector 221, the first clamping connector 221 and the second clamping connector 222 are both provided with inclined planes with an inclination angle of 60 degrees, the first clamping connector 221 is used for being clamped with a clamping part 161 of the clamping pin 16, and the second clamping connector 222 is used for being clamped with a second clamping connector 34 described below.

The upper surface of the sterile upper plate 211 is provided with first trapezoid arc guiding parts 2111 positioned at two sides of the first clamping joint 221, the lower surface of the driving base 11 is provided with second trapezoid arc guiding parts 112 positioned at two sides of the clamping part 161 of the clamping pin 16, and the first trapezoid arc guiding parts 2111 are matched with the second trapezoid arc guiding parts 112 and are guided by arc surfaces.

The projection of the first trapezoid arc guiding portion 2111 is generally trapezoid, the inclined edge of the trapezoid adjacent to the first clamping connector 221 is arc-shaped, the arc of the trapezoid arc guiding portion gradually becomes lower from the side away from the first clamping connector 221 to the side adjacent to the first clamping connector 221, the arc shape of the second trapezoid arc guiding portion 112 can be matched with the arc shape of the first trapezoid arc guiding portion 2111, so that guiding effect is achieved, large-angle offset guiding correction is achieved, the clamping portion 161 of the clamping pin 16 and the first clamping connector 221 of the first clamping buckle 22 can be mutually aligned, and accordingly rapid and smooth mutual clamping of the clamping portion 161 and the first clamping connector 221 under blind operation condition is guaranteed.

In addition, one side of the sterile upper plate 211 is also provided with an integrally formed vertical guide groove 2112, and the outer side of the surgical instrument clamping unit 10 is provided with a vertical guide column 19, and the guide column 19 is matched with the guide groove 2112 in a vertically sliding manner, so that the surgical instrument can be conveniently guided and installed.

Referring to fig. 14 and 15, fig. 14 is a schematic structural view of the first buckle; fig. 15 is a side view of the first clasp shown in fig. 14.

As shown in the drawing, the first bayonet joint 221 and the second bayonet joint 222 of the first buckle 22 are reversely arranged, the hook portion of the first bayonet joint 211 faces to the inner side, the hook portion of the second bayonet joint 222 faces to the outer side, two bilaterally symmetrical sliding blocks 223 are arranged on the inner side of the first buckle 22 and are in sliding fit with the sliding grooves of the sterile plate 21 through the sliding blocks 223, meanwhile, a sliding plate 224 positioned above the sliding blocks 223 is arranged on the inner side of the first buckle 22, local thickened portions 225 are arranged on the two sides of the root portion of the sliding plate 224, and the first buckle 22 is in sliding fit with the upper surface of the sterile plate 21 through the lower surface of the sliding plate 224. By designing the slide 223 and the slide 224, a stable and reliable movement of the first catch 22 in the radial direction relative to the sterile plate 21 can be ensured.

Referring to fig. 16 to 18, fig. 16 is a schematic structural view of an instrument driving clamping unit; FIG. 17 is a top view of the instrument drive interface unit of FIG. 16; fig. 18 is a schematic structural view of the driving card board.

As shown in the drawing, the instrument drive clamping unit 30 mainly comprises a drive clamping plate 31, a rotary drive bracket 32, a rotary drive flange 33, a rotary bearing (not shown in the drawing) and the like; the drive clamping plate 31 is fixed on the rotary drive flange 33, the rotary drive bracket 32 is matched with the rotary drive flange 33 through a bearing, the second buckles 34 are L-shaped buckles, the two second buckles 34 are symmetrically arranged on two sides of the upper surface of the drive clamping plate 31, the clamping hook parts of the second buckles 34 are also provided with 60-degree inclined planes so as to be clamped with the second clamping joints 222 of the first buckles 22, and the drive clamping plate 31 is also provided with two hole sites for penetrating through the butt joint discs.

The clamping process of the automatic joint pressing and releasing device is as follows:

the sterile adapter clamping unit 20 is aligned with the instrument drive clamping unit 30, the sterile adapter clamping unit 20 is installed downwards, the second clamping connector 222 of the first clamp buckle 22 is in contact with the second clamp buckle 34, the first clamp buckle 22 slides along the radial direction under the action of pressure, and the second clamping connector 222 of the first clamp buckle 22 is meshed with the second clamp buckle 34 under the action of the clamp buckle return spring 23, so that the sterile adapter clamping unit 20 is clamped with the instrument drive clamping unit 30.

When the surgical instrument clamping unit 10 is clamped with the sterile adapter clamping unit 20, the guide column 19 of the surgical instrument clamping unit 10 moves downwards along the guide groove 2112 of the sterile adapter clamping unit 20, the clamping pin 16 at the bottom of the surgical instrument clamping unit 10 is in contact with the first clamping joints 221 of the first clamping buckles 22 at the two sides of the top of the sterile adapter clamping unit 20, the inclined plane 162 of the clamping pin 16 slides downwards along the inclined plane of the first clamping joints 221, the clamping pin return spring 18 slides inwards under acting force, and after reaching the clamping position, the clamping pin 16 stretches out under the action of the clamping pin return spring 18, so that the surgical instrument clamping unit 10 is connected with the sterile adapter clamping unit 20.

The disassembly flow of the automatic engagement pressing release device is as follows:

By pressing the upper surface of the release switch 12, the vertical rod 121 of the release switch 12 contacts the switch bayonet 122, the switch bayonet 122 moves downward, the bayonet 16 moves inward under tension, and the surgical instrument clamping unit 10 is separated from the sterile adapter clamping unit 20 after leaving the clamping area of the first clamping head 221 of the lower first clamp 22; then, by pressing the outer surface of the first catch 22 of the sterile adapter-clamping unit 20, the first catch 22 moves inward, separating the second catch 222 of the first catch 22 from the second catch 34 of the instrument-driving-clamping unit 30, thereby removing the sterile adapter-clamping unit 20 from the instrument-driving-clamping unit 30.

Since the bayonet 16 is positioned at a position where the lower end of the surgical instrument clamping unit 10 is retracted inward by a certain distance, the first clamping connector 221 of the first buckle 22 protrudes a certain distance from the upper surface of the aseptic plate 21, and the upper end of the second buckle 34 is slightly higher than the upper surface of the instrument driving clamping unit 30, and the lower end of the second clamping connector 222 of the first buckle 22 is flush with or retracted inward by a certain distance from the lower surface of the aseptic plate 21.

The above embodiments are merely preferred embodiments of the present invention, and are not limited thereto, and on the basis of these, specific adjustments may be made according to actual needs, thereby obtaining different embodiments. For example, the surgical instrument clamping unit 10 is provided with a plurality of clamping pins 16 which are uniformly distributed in the circumferential direction, the number and positions of the first clamping buckles 22 and the second clamping buckles 34 correspond to those of the clamping pins, or a slideway or a sliding rail is adopted to replace the sliding sleeve 15, and the like. This is not illustrated here, as there are many possible implementations.

When the mechanical clamping structure is used for clamping, the three parts can be clamped mutually by pressing downwards without additional operation, the mechanical clamping structure ensures higher reliability and stability of the clamping, when the mechanical clamping structure is used for dismounting, one-key release can be realized by pressing a release switch in the middle of the top of a surgical instrument, a doctor or a nurse can realize one-hand dismounting of the whole instrument, the time cost is reduced, the operation efficiency is improved, the mechanical clamping structure can be used for adapting to various instruments in an endoscopic operation scene, the transmission and dismounting requirements of an instrument unit are met, and the mechanical clamping structure is convenient and quick to operate.

The automatic engagement pressing release device provided by the present invention is described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the core concepts of the invention. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.

Claims

1. An automatic joint pressing and releasing device is characterized by comprising a surgical instrument clamping unit, a sterile adapter clamping unit and an instrument driving clamping unit;

2. The automatic engagement pressing release device according to claim 1, wherein the main body of the release switch is of a split structure, and comprises a vertical rod body and a switch bayonet, wherein the lower end of the vertical rod body is in contact with or spaced from the upper end of the switch bayonet, and the inner end of the bayonet is connected with the lower end of the switch bayonet through a transmission component.

3. The automatic engagement pressing release device according to claim 2, wherein the transmission member between the lower end of the switch click pin and the click pin includes a link, one end of the link is hinged to the lower end of the switch click pin, and the other end of the link is hinged to the inner end of the click pin.

4. The automatic engagement pressing release device according to claim 3, wherein the switch click pin is provided with a stopper portion, and an angle between the switch click pin and the link rod is kept from reaching a dead point position by the stopper portion being in contact with a bottom surface of the surgical instrument click unit.

5. The automatic engagement pressing release device according to claim 4, wherein the stopper is a stepped boss, an upper surface of the stepped boss being in contact with a bottom surface of the surgical instrument clamping unit.

6. The automatic engagement pressing release device according to claim 3, wherein the lower surface of the connecting rod is an arc surface, the inner end of the sliding sleeve is provided with a corresponding arc boss, and the connecting rod is slidably engaged with the arc boss through the arc surface when the bayonet is moved in the radial direction.

7. The automatic engagement press release device of claim 1, wherein the sterile plate comprises a sterile upper plate and a sterile lower plate, the first clasp being mounted between the sterile upper plate and the sterile lower plate.

8. The automatic engagement pressing release device according to claim 7, wherein the upper surface of the aseptic upper plate is provided with first trapezoidal arc guide portions located on both sides of the first bayonet, the lower surface of the surgical instrument bayonet is provided with second trapezoidal arc guide portions located on both sides of the bayonet, and the first trapezoidal arc guide portions are engaged with the second trapezoidal arc guide portions and guided by arc surfaces.

9. The automatic engagement pressing release device according to claim 7, wherein a vertical guide groove is provided on one side of the aseptic upper plate, and a vertical guide post is provided on an outer side of the surgical instrument clamping unit, and the guide post is slidably fitted up and down with the guide groove.

10. The automatic engagement push release device of claim 1, wherein the instrument drive clamping unit comprises a drive clamping plate, a rotary drive bracket, a rotary drive flange, a rotary bearing; the driving clamping plate is fixed on the rotary driving flange, the rotary driving support is matched with the rotary driving flange through a bearing, and the second buckle is arranged on the upper surface of the driving clamping plate.

11. The automatic engagement pressing release device according to any one of claims 1 to 10, wherein the surgical instrument clamping unit is provided with two radially symmetrical clamping pins, the number and positions of the first and second snaps corresponding thereto;

12. The automatic engagement pressing release device according to any one of claims 1 to 10, wherein a slide block which is bilaterally symmetrical is provided on an inner side of the first buckle, and is slidably engaged with a slide groove of the aseptic plate through the slide block; and/or the inner side of the first buckle is provided with a sliding plate, and the sliding plate is in sliding fit with the upper surface of the sterile plate through the lower surface of the sliding plate.

13. The automatic engagement press release device according to any one of claims 1 to 10, wherein a top cover of the surgical instrument clamping unit is provided with an inner taper sleeve located below the opening.

14. The automatic engagement pressing release device according to claim 13, wherein the pressing portion of the release switch is provided with a stepped boss at an outer edge thereof, the top cover of the surgical instrument clamping unit is provided with a corresponding stepped step at an opening edge thereof, and the stepped boss is fitted with the stepped step under the action of the switch return spring.