CN208481466U - Surgical instrument quick-changing mechanism - Google Patents
Surgical instrument quick-changing mechanism Download PDFInfo
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- CN208481466U CN208481466U CN201721271449.7U CN201721271449U CN208481466U CN 208481466 U CN208481466 U CN 208481466U CN 201721271449 U CN201721271449 U CN 201721271449U CN 208481466 U CN208481466 U CN 208481466U
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Abstract
The utility model provides a kind of surgical instrument quick-changing mechanism, belongs to the field of medical instrument technology.It solves the problems, such as that existing surgical instrument quick-changing mechanism cannot achieve fast quick-detach.It includes mounting base, there is the mounting groove for installing surgical instrument in mounting base, the driving wheel being correspondingly arranged with the instrument wheel in surgical instrument is equipped in mounting groove, has the protrusion there are two asymmetric setting on instrument wheel, the waist type groove being arranged in a one-to-one correspondence respectively with protrusion there are two having on driving wheel, the bottom surface of mounting groove has cavity, the support shaft perpendicular to installation groove bottom setting is fixed in cavity, driving wheel is coaxially set in support shaft and can move up and down, spring one is equipped between driving wheel and cavity bottom, the disconnecting prevention structure for preventing driving wheel from falling off and the driving structure for driving driving wheel to rotate in a circumferential direction are additionally provided in cavity.The direction of insertion of surgical instrument and the elastic force direction of spring one are perpendicular in the utility model, convenient for quickly removing for surgical instrument.
Description
Technical field
The utility model belongs to the field of medical instrument technology, is related to a kind of surgical instrument quick-changing mechanism.
Background technique
With the application and development of robot technology, the especially development of computing technique, medical operation robot is in clinic
In effect be increasingly valued by people.Micro-wound operation robot can mitigate the physical strength labor of doctor in the course of surgery
It is dynamic, while reaching precisely operation purpose, make that patient's Micro trauma, blood loss are few, postoperative infection is few, post-operative recovery is fast.Minimally Invasive Surgery machine
Device people system is usually using master slave control mode: for operator when operating to main hand, hand exercise will drive main hand
It moves therewith, sensor can measure motion information at main swivel of hand, then be mapped the movement of main hand by master & slave control algorithm
Surgical instrument is driven to realize corresponding sports to from hand master arm from each joint passive movement of hand master arm.Micro-wound operation robot
Master arm key components mainly include remote centre of motion mechanism and surgical instrument, and the design superiority and inferiority of mechanical structure is direct
The performance of micro-wound operation robot is affected, the research and development and design of other component in system are also restrict.
In the course of surgery, needing to replace the different surgical instrument of function according to different needs, the time is shorter when replacement,
It is more advantageous to performing the operation.It needs the driving wheel in surgical instrument wheel and mounting base in surgical instrument installation all in accordance with certain orientation
It arranges, energy accurate contraposition, slightly deviation cannot be properly inserted, need to re-registrate, waste time when facilitating insertion.For this purpose,
Chinese patent discloses a kind of Minimally Invasive Surgery instrument with fast replacing device [application publication number CN105997254A], from connection driving
Component rotates under the action of drive system, realizes that, from connection component rotary freedom R2, intermediate transmission wheel can be in driving
Rotation makes the circular protrusions on the transmission shaft bottom surface of the top surface circular hole and instrument transmission component on intermediate transmission wheel under the drive of system
In corresponding position and intermediate transmission wheel can jack up under the action of goring push spring makes the transmission shaft bottom of instrument transmission component
In the top surface circular hole on circular protrusions insertion intermediate transmission wheel on face, realize from connection component pushing tow freedom degree, until intermediate
The top surface of fifth wheel is bonded with the bottom surface of the transmission shaft of instrument transmission component, is driven to realize from connection driving assembly and instrument
The connection of component.
Since the direction of insertion of surgical instrument and the reset direction of goring push spring are identical, it is difficult under the action of goring push spring
Surgical instrument is split out from quick change ontology, is equally wasted time, it is unfavorable to performing the operation.
Utility model content
The purpose of this utility model is the presence of the above problem in view of the prior art, and it is fast to propose a kind of installation and removal
The surgical instrument quick-changing mechanism of speed.
The purpose of this utility model can be realized by the following technical scheme:
This surgical instrument quick-changing mechanism, including mounting base have the peace for installing surgical instrument in the mounting base
Tankage, the mounting groove is interior to be equipped with the driving wheel being correspondingly arranged with the instrument wheel in surgical instrument, has on the instrument wheel
There are two the protrusion of asymmetric setting, the waist type groove being arranged in a one-to-one correspondence respectively with protrusion there are two tools on the driving wheel,
It is characterized in that, the bottom surface of the mounting groove has cavity, it is fixed in the cavity perpendicular to installation groove bottom setting
Support shaft, the driving wheel is coaxially set in support shaft and can move up and down, between the driving wheel and cavity bottom
Equipped with spring one, the disconnecting prevention structure for preventing driving wheel from falling off is additionally provided in the cavity and for driving driving wheel circumferential
The driving structure of rotation.
In above-mentioned surgical instrument quick-changing mechanism, the driving structure includes coaxially being set in having in support shaft
The worm gear of guide part, the motor with the worm screw of worm gear setting and driving worm movement, the driving wheel are set in worm gear
Guide part on and with guide part circumferentially limit, the spring one is set on guide part and one end is resisted against on worm gear, institute
The other end of spring one is stated against on the drive wheel.
The cross section of guide part can limit driving wheel phase after driving wheel is nested on guide part in non-circular (polygon) shape
It rotates in a circumferential direction for guide part, being formed not only slidably but also can transmit the structure of power, and spring one ensure that driving wheel is in always
The trend of ejected position.
In above-mentioned surgical instrument quick-changing mechanism, the opening of the cavity is equipped with fixed lid, and the mounting groove is set
It is covered in fixation, the disconnecting prevention structure includes the lockplate being resisted against on fixed lid lower surface and the gear on driving wheel
Piece, the driving wheel is threaded through in lockplate and baffle sticks on lockplate under the action of spring one, the locking
Spring two is equipped between plate and the bottom of cavity.
In above-mentioned surgical instrument quick-changing mechanism, the upper end of the driving wheel has the limit being located above lockplate
Ring, the waist type groove are set on the stop collar, and the distance of the baffle to stop collar is greater than the thickness of lockplate.
In above-mentioned surgical instrument quick-changing mechanism, the two sides of the mounting base are respectively equipped with limitation surgical instrument along driving
The limit plate of the axial movement of wheel, the limit plate extend partially into mounting groove, and one end of the mounting base is equipped with limitation
Along the limited block of the axial movement of driving wheel, the limited block extends partially into mounting groove surgical instrument.
Surgical instrument can only be inserted into from one end of the not set limited block of mounting base, the elastic force direction of direction of insertion and spring one
Vertically, possibility is provided for fast quick-detach.
In above-mentioned surgical instrument quick-changing mechanism, the driving wheel be four and with the instrument wheel one in surgical instrument
One is correspondingly arranged, and driving wheel described in four is driven by different motors by worm and worm wheel respectively, and described in four
Driving wheel be threaded through on lockplate.
In above-mentioned surgical instrument quick-changing mechanism, the lockplate, which is located at the crosspoint of four driving wheel lines, to be had
There is protrusion protruding upward, there is the plectrum being oppositely arranged with protrusion in the surgical instrument.
Surgical instrument can only be inserted into from one end of the not set limited block of mounting base, oblique in the insertion end setting of surgical instrument
Face, contact of incline plane driving wheel when insertion, presses down driving wheel, and spring one compresses, when instrument wheel is moving to driving wheel just
When at top, since the rotation of driving wheel stretches to protrusion in corresponding waist type groove, while inclined-plane crush lobes, make to lock
Fixed board moves downward, and spring two compresses.After four driving wheels are aligned with instrument wheel, under the action of spring one, spring two,
Cooperate limit plate and limited block, surgical instrument can effectively be connected.
When taking-up, push be set to surgical instrument on plectrum, move downward lockplate, driving baffle make each driving wheel to
Lower movement, driving wheel are all detached from instrument wheel, and the opposite direction by surgical instrument along insertion is extracted at this time.
Compared with prior art, this surgical instrument quick-changing mechanism has the advantage that
Due to needing quick-replaceable, insertion is used in design, automatic to lock, pinning surgical instrument plectrum can directly pull out
Out, can be with one-handed performance, replacing construction is very short；With the waist type groove of two asymmetric settings on driving wheel, it is ensured that driving
The position uniqueness combined with instrument wheel is taken turns, it will not dislocation；Each driving wheel can be bounced independently and be contacted with instrument wheel,
It can guarantee to be in irregular position even if instrument wheel, similarly can guarantee accurate contraposition, in addition the insertion side of surgical instrument
To perpendicular with the elastic force direction of spring one, convenient for quickly removing for surgical instrument.
Detailed description of the invention
Fig. 1 is the partial structure diagram of preferred embodiment provided by the utility model.
Fig. 2 is the cross-sectional view of preferred embodiment provided by the utility model.
Fig. 3 is the another cross-sectional view of preferred embodiment provided by the utility model.
Fig. 4 is the cross-sectional view of mounting base provided by the utility model.
In figure, 1, mounting base；2, mounting groove；3, instrument wheel；4, driving wheel；5, raised；6, waist type groove；7, cavity；8, it props up
Support axis；9, spring one；10, worm gear；11, worm screw；12, motor；13, lockplate；14, baffle；15, spring two；16, stop collar；
17, fixed lid；18, limit plate；19, limited block；20, protrusion.
Specific embodiment
It is specific embodiment of the utility model and in conjunction with attached drawing below, the technical solution of the utility model is made further
Description, but the utility model is not limited to these examples.
Surgical instrument quick-changing mechanism as shown in Figures 2 and 3, including mounting base 1 have for installing hand in mounting base 1
The mounting groove 2 of art instrument, is equipped with the driving wheel 4 being correspondingly arranged with the instrument wheel 3 in surgical instrument in mounting groove 2, on instrument wheel 3
There are two the protrusions 5 of asymmetric setting for tool, as shown in Figure 1, there are two be arranged in a one-to-one correspondence respectively with protrusion 5 for tool on driving wheel 4
Waist type groove 6 be fixed in cavity 7 and be arranged perpendicular to 2 bottom surface of mounting groove as shown in figure 4, the bottom surface of mounting groove 2 has cavity 7
Support shaft 8, driving wheel 4 is coaxially set in support shaft 8 and can move up and down, and bullet is equipped between 7 bottom of driving wheel 4 and cavity
Spring 1 is additionally provided with the disconnecting prevention structure for preventing driving wheel 4 from falling off and the drive for driving driving wheel 4 to rotate in a circumferential direction in cavity 7
Dynamic structure.
As shown in Figure 1, driving structure includes the worm gear 10 and worm gear with guide part being coaxially set in support shaft 8
10 worm screws 11 being equipped with and driving worm screw 11 move motor 12, driving wheel 4 be set on the guide part of worm gear 10 and with
Guide part circumferentially limits, and spring 1 is set on guide part and one end is resisted against on worm gear 10, the other end of spring 1 against
On driving wheel 4.The cross section of guide part is square, and has square hole on driving wheel 4, after driving wheel 4 is nested on guide part,
Driving wheel 4 can be limited to rotate in a circumferential direction relative to guide part, formed not only can slidably transmit the structure of power again, the guarantee of spring 1
Driving wheel 4 is in the trend of ejected position always.
As shown in figure 4, the opening of cavity 7 is equipped with fixed lid 17, mounting groove 2 is set on fixed lid 17, disconnecting prevention structure packet
It includes the lockplate 13 being resisted against on fixed 17 lower surface of lid and the baffle 14 on driving wheel 4, driving wheel 4 is threaded through lockplate
Baffle 14 sticks on lockplate 13 in 13 and under the action of spring 1, and bullet is equipped between lockplate 13 and the bottom of cavity 7
Spring 2 15.
As shown in figure 4, the upper end of driving wheel 4 has the stop collar 16 being located above lockplate 13, waist type groove 6 is set to should
On stop collar 16, the distance of baffle 14 to stop collar 16 is greater than the thickness of lockplate 13.
As shown in Figures 3 and 4, the two sides of mounting base 1 are respectively equipped with limitation surgical instrument along the limit of the axial movement of driving wheel 4
Position plate 18, limit plate 18 extend partially into mounting groove 2, and one end of mounting base 1 is equipped with limitation surgical instrument along the axis of driving wheel 4
To the limited block 19 of movement, limited block 19 is extended partially into mounting groove 2.Surgical instrument can only be from the not set limit of mounting base 1
One end of block 19 is inserted into, and direction of insertion is vertical with the elastic force direction of spring 1, provides possibility for fast quick-detach.
In the present embodiment, as shown in figure 3, driving wheel 4 is four and sets with the one-to-one correspondence of instrument wheel 3 in surgical instrument
It sets, four driving wheels 4 are driven by different motors 12 by worm screw 11 and worm gear 10 respectively, and four driving wheels 4 are worn
It is located on lockplate 13.
As shown in Figure 3 and Figure 4, lockplate 13 is located at the crosspoint of four 4 lines of driving wheel with protruding upward convex
Portion 20 has the plectrum being oppositely arranged with protrusion 20 in surgical instrument.
Surgical instrument can only be inserted into from one end of the not set limited block 19 of mounting base 1, be arranged in the insertion end of surgical instrument
Inclined-plane, the contact of incline plane driving wheel 4 when insertion, presses down driving wheel 4, and spring 1 compresses, when instrument wheel 3 moves to driving
When at the surface of wheel 4, since the rotation of driving wheel 4 stretches to protrusion 5 in corresponding waist type groove 6, while inclined-plane is squeezed
Belling portion 20 moves downward lockplate 13, and spring 2 15 compresses.After four driving wheels 4 are aligned with instrument wheel 3, in bullet
Under the action of spring 1, spring 2 15, cooperates limit plate 18 and limited block 19, surgical instrument can effectively be connected.
When taking-up, the plectrum being set in surgical instrument is pushed, lockplate 13 is moved downward, driving baffle 14 makes each driving
Wheel 4 moves downward, and driving wheel 4 is all detached from instrument wheel 3, and the opposite direction by surgical instrument along insertion is extracted at this time.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Claims (7)
1. a kind of surgical instrument quick-changing mechanism, including mounting base (1), have in the mounting base (1) for installing surgical device
The mounting groove (2) of tool, the mounting groove (2) is interior to be equipped with the driving wheel being correspondingly arranged with the instrument wheel (3) in surgical instrument
(4), has the protrusion (5) there are two asymmetric setting on the instrument wheel (3), there are two divide for tool on the driving wheel (4)
The waist type groove (6) not being arranged in a one-to-one correspondence with protrusion (5), which is characterized in that the bottom surface of the mounting groove (2) has cavity (7),
The support shaft (8) perpendicular to the setting of mounting groove (2) bottom surface, the driving wheel (4) coaxial sleeve are fixed in the cavity (7)
It is located on support shaft (8) and can move up and down, spring one (9), institute are equipped between the driving wheel (4) and cavity (7) bottom
Disconnecting prevention structure for preventing driving wheel (4) from falling off is additionally provided in the cavity (7) stated and for driving driving wheel (4) to rotate in a circumferential direction
Driving structure.
2. surgical instrument quick-changing mechanism according to claim 1, which is characterized in that the driving structure includes coaxial sleeve
The worm gear (10) with guide part being located on support shaft (8), the worm screw (11) and driving worm screw that are equipped with worm gear (10)
(11) motor (12) moved, the driving wheel (4) are set on the guide part of worm gear (10) and circumferentially limit with guide part,
The spring one (9) is set on guide part and one end is resisted against on worm gear (10), the other end of the spring one (9) against
On driving wheel (4).
3. surgical instrument quick-changing mechanism according to claim 2, which is characterized in that the opening of the cavity (7) is equipped with
Fixed lid (17), the mounting groove (2) are set on fixed lid (17), and the disconnecting prevention structure includes being resisted against fixed lid (17)
Lockplate (13) on lower surface and the baffle (14) on driving wheel (4), the driving wheel (4) are threaded through lockplate
(13) baffle (14) sticks on lockplate (13) in and under the action of spring one (9), the lockplate (13) and cavity
(7) spring two (15) is equipped between bottom.
4. surgical instrument quick-changing mechanism according to claim 3, which is characterized in that the upper end of the driving wheel (4) has
Stop collar (16) above lockplate (13), the waist type groove (6) are set on the stop collar (16), the baffle
(14) it is greater than the thickness of lockplate (13) to the distance of stop collar (16).
5. surgical instrument quick-changing mechanism according to claim 1, which is characterized in that distinguish the two sides of the mounting base (1)
Equipped with limitation surgical instrument along the limit plate (18) of the axial movement of driving wheel (4), the limit plate (18) is extended partially into
In mounting groove (2), one end of the mounting base (1) is equipped with the limited block of axial movement of the limitation surgical instrument along driving wheel (4)
(19), the limited block (19) extends partially into mounting groove (2).
6. surgical instrument quick-changing mechanism according to claim 3, which is characterized in that the driving wheel (4) be four and
It is arranged in a one-to-one correspondence with the instrument wheel (3) in surgical instrument, driving wheel (4) described in four is logical by different motors (12) respectively
It crosses worm screw (11) and worm gear (10) is driven, and driving wheel (4) described in four is threaded through on lockplate (13).
7. surgical instrument quick-changing mechanism according to claim 6, which is characterized in that the lockplate (13) is located at four
There is protrusion (20) protruding upward at the crosspoint of driving wheel (4) line, have and protrusion (20) in the surgical instrument
The plectrum being oppositely arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721271449.7U CN208481466U (en) | 2017-09-29 | 2017-09-29 | Surgical instrument quick-changing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721271449.7U CN208481466U (en) | 2017-09-29 | 2017-09-29 | Surgical instrument quick-changing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208481466U true CN208481466U (en) | 2019-02-12 |
Family
ID=65254548
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721271449.7U Active CN208481466U (en) | 2017-09-29 | 2017-09-29 | Surgical instrument quick-changing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208481466U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595394A (en) * | 2017-09-29 | 2018-01-19 | 重庆金山医疗器械有限公司 | Operating theater instruments quick-changing mechanism |
| CN109771036A (en) * | 2019-03-15 | 2019-05-21 | 上海电气集团股份有限公司 | End effector device |
| WO2022117623A1 (en) * | 2020-12-01 | 2022-06-09 | ROB'E GmbH | Improvements in or relating to the guiding of elongate flexible medical instruments |
-
2017
- 2017-09-29 CN CN201721271449.7U patent/CN208481466U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595394A (en) * | 2017-09-29 | 2018-01-19 | 重庆金山医疗器械有限公司 | Operating theater instruments quick-changing mechanism |
| CN107595394B (en) * | 2017-09-29 | 2024-02-23 | 重庆金山医疗机器人有限公司 | Surgical instrument quick-change mechanism |
| CN109771036A (en) * | 2019-03-15 | 2019-05-21 | 上海电气集团股份有限公司 | End effector device |
| CN109771036B (en) * | 2019-03-15 | 2021-10-29 | 上海电气集团股份有限公司 | End effector device |
| WO2022117623A1 (en) * | 2020-12-01 | 2022-06-09 | ROB'E GmbH | Improvements in or relating to the guiding of elongate flexible medical instruments |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210128 Address after: 401120 No.18, Cuiping Lane 2, Huixing street, Yubei District, Chongqing Patentee after: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Address before: 401120 1 office buildings, Jinshan International Industrial City, 18 of Nei sang Road, Hui Xing street, Yubei District, Chongqing. Patentee before: CHONGQING JINSHAN MEDICAL APPLIANCE Co.,Ltd. |
|
| TR01 | Transfer of patent right |