CN209153772U - A kind of guide sleeve - Google Patents
A kind of guide sleeve Download PDFInfo
- Publication number
- CN209153772U CN209153772U CN201820416868.3U CN201820416868U CN209153772U CN 209153772 U CN209153772 U CN 209153772U CN 201820416868 U CN201820416868 U CN 201820416868U CN 209153772 U CN209153772 U CN 209153772U
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- inner core
- mechanical arm
- tube body
- column tube
- cannulated sleeve
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Abstract
The utility model discloses a kind of guide sleeves, it is connected to the mechanical arm front end of medical robot, for installing surgical probe, including working column and the probe base for being fixed on working column front end, working column includes column tube body and the mounting seat for being set to column tube body rear end, and mounting seat includes the discoid body for connecting mechanical arm；Probe base includes cannulated sleeve and the inner core that is placed in inside cannulated sleeve, and cannulated sleeve and column tube body are axially vertical, and plug type connects between inner core and cannulated sleeve, and inner core is equipped with the through-hole for interting surgical probe.The utility model relates to can quickly and easily be fixed to surgery mechanical arm, surgical probe is convenient in insertion inner core and axially vertical between mechanical arm, mechanical arm easy to remove carries out the movement such as puncturing, it can identify that location tracking is marked using follow-up mechanism simultaneously, mechanical arm is registrated or is moved to CT images designated position, operation is succinct convenient, has very high practical value.
Description
Technical field
The utility model relates to medical instruments fields, more particularly to a kind of guide sleeve.
Background technique
Biopsy needle is a kind of medical instrument, suitable for kidney, liver, lung, mammary gland, thyroid gland, prostate, pancreas, start ball,
A variety of organs such as uterus, ovary, body surface can be used for the living tissue sampling of cone tumour and unknown kind of tumour etc., draw cell.Face
On bed, when checking for tumour patient, in order to determine the property of tumour, need to take some living groups from disease sites with biopsy needle
It knits.Currently, in neurosurgery usually biopsy or puncture procedure, medical robot can be carried out using medical robot
It can preset Operation Fee scheme, device location relationship and CT images are subjected to registered placement in surgical procedure, and showing
Real-time display surgical procedure on screen realizes the visualization of operation.The behaviour of pinpoint accuracy is required especially for biopsy or puncture etc.
Make, good effect can be obtained using medical robot.
However, how biopsy needle or puncture needle are fixed to medical robot is used for mobile mechanical arm, and square
Just the position for utilizing follow-up mechanism real-time tracing mechanical arm and probe is a problem for needing to solve in practice.
The Chinese utility model patent of Patent No. CN102661860B is related to a kind of puncture outfit rubber seal cover fatigue examination
Test platform, comprising: pedestal side is equipped with cylinder and advance and retreat signal picker；The middle of the base is equipped with linear bearing and connection activity branch
Frame, movable support one end is connect with cylinder, the other end connects grip slipper；Grip slipper center is equipped with the spherical shape of fixed rubber seal cover
Inner cavity, outside cylinder are equipped with external screw thread and locking nut is cooperatively connected, to fix rubber seal cover；The pedestal other side is equipped with puncture needle
Fixation device and puncture needle gag lever post.By the reciprocating movement of piston rod, rubber seal cover is driven to pass through puncture needle repeatedly
Thus the movement of fatigue test is completed on head.By adopting the above-described technical solution, enabling the utility model to puncture outfit rubber
Glue seal closure fatigue behaviour carries out automation test, and has that easy to use, test efficiency is high, and structure is simple, easy to operate
The advantages that.Its fixing apparatus for puncture needle includes the hold-down support being set on the base, and hold-down support is equipped with opening, upper opening portion
Equipped with screw hole, the handwheel with screw rod is equipped in screw hole, opening bottom surface is equipped with puncture needle locating slot, and handwheel lower end is connected with and puncture needle
The clamping head of compression fit.However, the fixation device can not utilize the mechanical arm of follow-up mechanism real-time tracing and the position of probe,
And can not solve the technical problem how probe being fixed on moveable mechanical arm.
Therefore, it is necessary to design a kind of biopsy needle or puncture needle are efficiently and easily fixed to medical robot to be used to move
Mechanical arm on, and can utilize follow-up mechanism real-time tracing mechanical arm and probe location device.
Utility model content
The utility model discloses a kind of guide sleeves, the mechanical arm front end of medical robot are connected to, for installing hand
Art probe, including working column and the probe base for being fixed on working column front end, working column includes column tube body and sets
It is placed in the mounting seat of column tube body rear end, mounting seat includes the discoid body for connecting mechanical arm, and discoid body is equipped with cooperation machine
The first positioning hole of tool arm and the first screw hole；Probe base includes cannulated sleeve and the inner core that is placed in inside cannulated sleeve, empty
Heart sleeve and column tube body are axially vertical, and plug type connects between inner core and cannulated sleeve, and inner core is equipped with interspersed surgical probe
Through-hole.
Preferably, the one side or the multi-lateral of the peripheral surface of column tube body is equipped with the location tracking label for registration of performing the operation,
Or the external side of stylostome is arranged the location tracking flag member for registration of performing the operation.
Further, link block is arranged on the outside of column tube body, location tracking flag member is via annular attachment base and column
Shape tube body is fixed；Location tracking flag member is U-shaped body made of three sides connect, at least one side of U-shaped body
It is marked equipped with location tracking.
Preferably, the middle part of column tube body is equipped with the interconnecting piece for installing link block, and interconnecting piece is column tube surfaces
Stepped design, and its peripheral surface includes multiple sides.
Further, at least one side of U-shaped portion part is equipped with the second screw hole, and link block is equipped with third screw hole, connection
Portion is equipped with the 4th screw hole, and the second screw hole, third screw hole and the 4th screw hole, which match, carrys out installation locking bolt, and clamping screw will be determined
Position tracking flag member, link block and column tube body are integrally fixed.
Preferably, mounting seat and stylostome body by integral forming are working column.
Further, the internal diameter of the outer diameter of inner core and cannulated sleeve is adapted, and the upper end of inner core is equipped with upper cover, upper cover it is straight
Diameter is greater than the internal diameter of cannulated sleeve.
Preferably, the cylinder upper end of cannulated sleeve the second positioning pin protruding upward, upper cover are additionally provided with the second positioning pin of cooperation
Positioning port.
Further, the lower end of inner core is equipped with probe seeker, and probe seeker is what outer diameter was gradually reduced from top to bottom
Cone or stepped design.
Preferably, non-metallic insulation pad is additionally provided between mounting seat and mechanical arm.
As above, the utility model relates to guide sleeve, can quickly and easily be fixed to surgery mechanical arm, surgical probe
It is convenient in insertion inner core and axially vertical between mechanical arm, mechanical arm easy to remove carries out the movement such as puncturing, simultaneously
It can identify that location tracking is marked using follow-up mechanism, mechanical arm is registrated or is moved to CT images designated position, grasp
It is succinct convenient to make, and has very high practical value.
For the above content of the utility model can be clearer and more comprehensible, preferred embodiment is cited below particularly, and in conjunction with attached drawing, make
Detailed description are as follows.
Detailed description of the invention
The utility model is introduced below in conjunction with attached drawing.
Fig. 1 is the overall structure diagram of guide sleeve disclosed in the utility model；
Fig. 2 is another overall structure diagram of guide sleeve disclosed in the utility model；
Fig. 3 is the guide sleeve structural schematic diagram of connection drill point fixing seat disclosed in the utility model；
Fig. 4 is the structural schematic diagram of replaceable inner core disclosed in the utility model；
Fig. 5 is the guide sleeve structural schematic diagram of connection drill point fixing seat disclosed in the utility model；
Fig. 6 is the assembling schematic diagram of the guide sleeve disclosed in the utility model with location tracking component.
Specific embodiment
The embodiments of the present invention is illustrated by particular specific embodiment below, those skilled in the art can be by this theory
The bright revealed content of book understands other advantages and effect of the utility model easily.
It should be noted that in the present invention, the upper and lower, left and right in figure are the oral cavity dentistry being considered as in this specification
Plant the upper and lower, left and right of punch device.
The illustrative embodiments of the utility model are introduced referring now to the drawings, however, the utility model can use many
Different forms is implemented, and is not limited to the embodiment described herein, and to provide these embodiments be in order at large and complete
Open the utility model entirely, and the scope of the utility model is sufficiently conveyed to person of ordinary skill in the field.For
The term in illustrative embodiments being illustrated in the accompanying drawings not is the restriction to the utility model.In the accompanying drawings, identical
Cells/elements use identical appended drawing reference.
Unless otherwise indicated, term (including scientific and technical terminology) used herein has person of ordinary skill in the field
It is common to understand meaning.Further it will be understood that with the term that usually used dictionary limits, should be understood as and its
The context of related fields has consistent meaning, and is not construed as Utopian or too formal meaning.
First embodiment
As depicted in figs. 1 and 2, the utility model first embodiment discloses a kind of guide sleeve 100, is connected to therapeutic machine
The mechanical arm front end of device people, for installing surgical probe comprising working column 1 and the probe for being fixed on 1 front end of working column
Fixing seat 2, working column 1 include column tube body 11 and the mounting seat 12 for being set to column tube body rear end, and mounting seat 12 is wrapped
The discoid body 12a of connection mechanical arm is included, discoid body 12a is equipped with the first positioning hole 12b and the first screw hole of cooperative mechanical arm
12c；Probe base 2 includes cannulated sleeve 21 and the inner core 22 being placed in inside cannulated sleeve, cannulated sleeve 21 and column tube body
11 is axially vertical, and plug type connects between inner core 22 and cannulated sleeve 21, and inner core 22 is equipped with the through-hole of interspersed surgical probe
22a。
Specifically, as shown in Fig. 2, column tube body 11 provided by the present embodiment is solid or hollow cylindrical body, wherein
Material cost and alleviator overall weight can be saved by being set as hollow cylinder.The rear end of column tube body 11 can protrude outward
Extend mounting seat 12, mounting seat 12 includes discoid body 12a, and discoid body 12a can be equivalent to a ring flange, set thereon
There are first positioning hole 12b and the first screw hole 12c, discoid body 12a is convenient for by the fixed device such as bolt that column tube body 11 is direct
Or tighten together indirectly with the ring flange of mechanical arm, so that working column 1 and duct-like mechanical arm are attached.This reality
It applies in example, mounting seat 12 and column tube body 11 are integrally formed and constitute working column 1, it may occur to persons skilled in the art that, peace
Dress pedestal 12 can also be installed with 11 Split assembled of column tube body, can be combined into one by modes such as screw or bondings.
In the present embodiment, as shown in Figure 3 and Figure 4, working column 1 is fixedly arranged at the front end with probe base 2, the probe base
2 include cannulated sleeve 21 and the inner core 22 being placed in inside cannulated sleeve 21, can pass through between cannulated sleeve 21 and column tube body 11
Welding is fixed, and axially vertical between the two, to guarantee to be installed on the surgical probe and mechanical arm among probe base 2
Between it is axially vertical, mechanical arm easy to remove carries out the movement such as puncturing, and meets the operation demand of specific occasion.Cannulated sleeve 21
Central axis direction can also form an angle between column tube body 11, can according to actual use scene be designed.Into one
Step ground, as shown in figure 4, installing inner core 22 in the cylinder of cannulated sleeve 21, inner core 22 is equipped with the through-hole of interspersed surgical probe
The internal diameter of 22a, through-hole 22a possessed by the inner core 22 of different size are different, are suitable for interting various sizes of surgical probe.It is interior
Plug type connects between core 22 and cannulated sleeve 21, convenient for the inner core of quick-replaceable different size to be adapted to various sizes of hand
Art probe.
In the present embodiment, the outer diameter of the inner core 22 of the guide sleeve 100 of the present embodiment is mutually fitted with the internal diameter of cannulated sleeve 21
It answers, and inner core 22 is equipped with upper cover 22b, the diameter of upper cover 22b is greater than the internal diameter of cannulated sleeve 21, when inner core 22 is inserted into cannulated sleeve
After in 21, upper cover 22 plays the role of limit, and inner core 22 is avoided to slide from cannulated sleeve 21.Preferably, upper cover 22b's is straight
Diameter can be equal with the outer diameter of cannulated sleeve 21, so that shape is more aesthetically pleasing.
Further, circumference the second positioning pin 21a protruding upward in the cylinder upper end of cannulated sleeve 21, while upper cover
22b is additionally provided with the positioning port 22c of the second positioning pin 21a of cooperation, when inner core 22 is inserted into cannulated sleeve 21, the second positioning pin
21a and positioning port 22c alignment positioning, prevents from rotating between inner core 22 and cannulated sleeve 21, improves the stability of equipment.
Further, the lower end of inner core 22 is additionally provided with probe seeker 22d, as shown in figure 4, probe seeker 22d can
Think the stepped design that outer diameter is gradually reduced from top to bottom, through-hole 22a runs through entire inner core 22, inner core seeker from top to bottom
22d can guide surgical probe to be inserted into inner core 22, can reduce stress influence, prevent instrument from damaging.
In this implementation, as shown in Figure 2 and Figure 5, nonmetallic felt pad 3 is additionally provided between mounting seat 12 and mechanical arm,
Nonmetallic felt pad 3 is set between discoid body 12a and mechanical arm, by the guide sleeve 100 of the present embodiment and mechanical arm it
Between be electrically insulated, to improve the safety of equipment.Further, it is arranged on the discoid body 12a of mounting seat 12
First positioning hole 12b is matched with the first positioning pin 31 on felt pad 3, so that the guide sleeve 100 of the present embodiment is quick
Accurately it is attached with mechanical arm；First screw hole 12c is distributed on the circumference of discoid body 12a, with felt pad 3 and mechanical arm
Ring flange match, more firmly the guide sleeve of the present embodiment 100 can be fixed with mechanical arm, should be noted
It is that the fixing bolt of the first screw hole 12c of insertion is preferably that non-metallic material is made, it will be electric between working column 1 and mechanical arm
Insulation, further ensures the safety of equipment.
Guide sleeve 100 provided by the present embodiment efficiently and easily can be directed at company with the mechanical arm of Shou Su robot
It connects, is easily installed and replaces surgical probe, improve instrument installation effectiveness, shorten the time spent required for operation, improve
The convenience of equipment operation.
Second embodiment
As depicted in figs. 1 and 2, the utility model second embodiment discloses a kind of guide sleeve 100, is connected to therapeutic machine
The mechanical arm front end of device people, for installing surgical probe comprising working column 1 and the probe for being fixed on 1 front end of working column
Fixing seat 2, working column 10 include column tube body 11 and the mounting seat 12 for being set to column tube body rear end, and mounting seat 12 is wrapped
The discoid body 12a of connection mechanical arm is included, discoid body 12a is equipped with the first positioning hole 12b and the first screw hole of cooperative mechanical arm
12c；Probe base 2 includes cannulated sleeve 21 and the inner core 22 being placed in inside cannulated sleeve, cannulated sleeve 21 and column tube body
11 is axially vertical, and plug type connects between inner core 22 and cannulated sleeve 21, and inner core 22 is equipped with the through-hole of interspersed surgical probe
22a。
The present embodiment and first embodiment the difference is that, the one of the peripheral surface of the column tube body 11 of the present embodiment
Side or more sides are equipped with the location tracking label 10 for equipment registration.The location tracking label 10 is directly arranged at column tube body 11
Peripheral surface on, it is preferable that the location tracking label 10 may be provided on multiple lateral surfaces of cylindrical cavities 11, prevent from operating
In the process, since location tracking label 10 is blocked or is detached from image pickup scope, positioning tracing equipment can't see the location tracking mark
Remember and causes operation error.
Specifically, as shown in Fig. 2, column tube body 11 provided by the present embodiment is solid or hollow cylindrical body, wherein
Material cost and alleviator overall weight can be saved by being set as hollow cylinder.The rear end of column tube body 11 can protrude outward
Extend mounting seat 12, mounting seat 12 includes discoid body 12a, and discoid body 12a can be equivalent to a ring flange, set thereon
There are first positioning hole 12b and the first screw hole 12c, discoid body 12a is convenient for by the fixed device such as bolt that column tube body 11 is direct
Or tighten together indirectly with the ring flange of mechanical arm, so that working column 1 and duct-like mechanical arm are attached.This reality
It applies in example, mounting seat 12 and column tube body 11 are integrally formed and constitute working column 1, it may occur to persons skilled in the art that, peace
Dress pedestal 12 can also be installed with 11 Split assembled of column tube body, can be combined into one by modes such as screw or bondings.
In the present embodiment, as shown in Figure 3 and Figure 4, working column 1 is fixedly arranged at the front end with probe base 2, the probe base
2 include cannulated sleeve 21 and the inner core 22 being placed in inside cannulated sleeve 21, can pass through between cannulated sleeve 21 and column tube body 11
Welding is fixed, and axially vertical between the two, to guarantee to be installed on the surgical probe and mechanical arm among probe base 2
Between it is axially vertical, mechanical arm easy to remove carries out the movement such as puncturing, and meets the operation demand of specific occasion.Cannulated sleeve 21
Central axis direction can also form an angle between column tube body 11, can according to actual use scene be designed.Into one
Step ground, the cylinder of cannulated sleeve 21 is interior to install inner core 22, and inner core 22 is equipped with the through-hole 22a of interspersed surgical probe, different size
Inner core 22 possessed by through-hole 22a internal diameter it is different, be suitable for interting various sizes of surgical probe.Inner core 22 and hollow sleeve
Plug type connection between cylinder 21, convenient for the inner core of quick-replaceable different size to be adapted to various sizes of surgical probe.
In the present embodiment, the outer diameter of the inner core 22 of the guide sleeve 100 of the present embodiment is mutually fitted with the internal diameter of cannulated sleeve 21
It answers, and inner core 22 is equipped with upper cover 22b, the diameter of upper cover 22b is greater than the internal diameter of cannulated sleeve 21, when inner core 22 is inserted into cannulated sleeve
After in 21, upper cover 22 plays the role of limit, and inner core 22 is avoided to slide from cannulated sleeve 21.Preferably, upper cover 22b's is straight
Diameter can be equal with the outer diameter of cannulated sleeve 21, so that shape is more aesthetically pleasing.
Further, circumference the second positioning pin 21a protruding upward in the cylinder upper end of cannulated sleeve 21, while upper cover
22b is additionally provided with the positioning port 22c of the second positioning pin 21a of cooperation, when inner core 22 is inserted into cannulated sleeve 21, the second positioning pin
21a and positioning port 22c alignment positioning, prevents from rotating between inner core 22 and cannulated sleeve 21, improves the stability of equipment.
Further, the lower end of inner core 22 is additionally provided with probe seeker 22d, as shown in figure 4, probe seeker 22d can
Think the stepped design that outer diameter is gradually reduced from top to bottom, through-hole 22a runs through entire inner core 22, inner core seeker from top to bottom
22d can guide surgical probe to be inserted into inner core 22, can reduce stress influence, prevent instrument from damaging.
In this implementation, as shown in figure 5, nonmetallic felt pad 3 is additionally provided between mounting seat 12 and mechanical arm, it is nonmetallic
Felt pad 3 be set between discoid body 12a and mechanical arm, will be carried out between the guide sleeve 100 and mechanical arm of the present embodiment
Electrical isolation, to improve the safety of equipment.Further, first be arranged on the discoid body 12a of mounting seat 12 is fixed
Position hole 12b is matched with the first positioning pin 31 on felt pad 3, thus rapidly and accurately by the guide sleeve 100 of the present embodiment
It is attached with mechanical arm；First screw hole 12c is distributed on the circumference of discoid body 12a, the flange with felt pad 3 and mechanical arm
Disk matches, and more firmly the guide sleeve of the present embodiment 100 can be fixed with mechanical arm, it should be noted that, it inserts
The fixing bolt for entering the first screw hole 12c is preferably that non-metallic material is made, and will be electrically insulated between working column 1 and mechanical arm,
Further ensure the safety of equipment.
Guide sleeve 100 provided by the present embodiment, using follow-up mechanism to being set to 11 peripheral surface of column tube body
Location tracking label 10 identified, so that mechanical arm and CT images are carried out registered placement, extremely refer to convenient for operating robotic arm
Positioning is set, and can be realized the visualization of equipment.
3rd embodiment
As depicted in figs. 1 and 2, the utility model 3rd embodiment discloses a kind of guide sleeve 100, is connected to therapeutic machine
The mechanical arm front end of device people, for installing surgical probe comprising working column 1 and the probe for being fixed on 1 front end of working column
Fixing seat 2, working column 10 include column tube body 11 and the mounting seat 12 for being set to column tube body rear end, and mounting seat 12 is wrapped
The discoid body 12a of connection mechanical arm is included, discoid body 12a is equipped with the first positioning hole 12b and the first screw hole of cooperative mechanical arm
12c；Probe base 2 includes cannulated sleeve 21 and the inner core 22 being placed in inside cannulated sleeve, cannulated sleeve 21 and column tube body
11 is axially vertical, and plug type connects between inner core 22 and cannulated sleeve 21, and inner core 22 is equipped with the through-hole of interspersed surgical probe
22a。
The present embodiment and second embodiment the difference is that, the outer sheath of the column tube body 11 of the present embodiment, which is equipped with, to be used
In the location tracking flag member 4 of operation registration.As shown in fig. 6, the location tracking flag member 4 of the present embodiment can be for by three
At least one side of U-shaped body made of a side connects, the U-shaped body is equipped with location tracking label 10, it is preferable that U-shaped body
Three sides are equipped with location tracking label 10, prevent in operating process, take the photograph since location tracking label 10 is blocked or is detached from
As range, positioning tracing equipment can't see location tracking label and cause operation error.Location tracking label 10 can be black
White alternating graph or other figures with identifiable characteristic point.
Further, the outside of column tube body 11 is arranged link block 5, as shown in fig. 6, the link block 5 is set in the present embodiment
It is calculated as the U-shaped structure body of inner circular, outboard square-like, inside is can satisfy and is arranged cylindrical tubes body, external connection U-shaped body is determined
The demand of position tracking flag member.Preferably, it is equipped with the interconnecting piece 11a for installing link block 5 at the middle part of column tube body 11,
As shown in fig. 6, interconnecting piece is the stepped design of column tube surfaces, and its peripheral surface includes multiple sides, convenient for engaging
Link block 5.At least one side of U-shaped portion part is equipped with the second screw hole 4a, and link block is equipped with third screw hole 5a, sets on interconnecting piece
There is the 4th screw hole 11b, the second screw hole 4a, third screw hole 5a and the 4th screw hole 11b, which are matched, carrys out installation locking bolt, clamping screw
Location tracking flag member, link block and column tube body are integrally fixed.
Specifically, as shown in Fig. 2, column tube body 11 provided by the present embodiment is solid or hollow cylindrical body, wherein
Material cost and alleviator overall weight can be saved by being set as hollow cylinder.The rear end of column tube body 11 can protrude outward
Extend mounting seat 12, mounting seat 12 includes discoid body 12a, and discoid body 12a can be equivalent to a ring flange, set thereon
There are first positioning hole 12b and the first screw hole 12c, discoid body 12a is convenient for by the fixed device such as bolt that column tube body 11 is direct
Or tighten together indirectly with the ring flange of mechanical arm, so that working column 1 and duct-like mechanical arm are attached.This reality
It applies in example, mounting seat 12 and column tube body 11 are integrally formed and constitute working column 1, it may occur to persons skilled in the art that, peace
Dress pedestal 12 can also be installed with 11 Split assembled of column tube body, can be combined into one by modes such as screw or bondings.
In the present embodiment, working column 1 is fixedly arranged at the front end with probe base 2, which includes cannulated sleeve 21
With the inner core 22 being placed in inside cannulated sleeve 21, can be fixed by welding between cannulated sleeve 21 and column tube body 11, and
It is axially vertical between the two, it is axially vertical between the surgical probe and mechanical arm that are installed among probe base 2 to guarantee, just
It carries out the movement such as puncturing in mobile mechanical arm, meets the operation demand of specific occasion.The central axis direction of cannulated sleeve 21
It can form an angle, can be designed according to actual use scene between column tube body 11.Further, cannulated sleeve 21
Cylinder in inner core 22 is installed, inner core 22 is equipped with the through-hole 22a of interspersed surgical probe, possessed by the inner core 22 of different size
The internal diameter of through-hole 22a is different, is suitable for interting various sizes of surgical probe.Plug type between inner core 22 and cannulated sleeve 21
Connection, convenient for the inner core of quick-replaceable different size to be adapted to various sizes of surgical probe.
In the present embodiment, the outer diameter of the inner core 22 of the guide sleeve 100 of the present embodiment is mutually fitted with the internal diameter of cannulated sleeve 21
It answers, and inner core 22 is equipped with upper cover 22b, the diameter of upper cover 22b is greater than the internal diameter of cannulated sleeve 21, when inner core 22 is inserted into cannulated sleeve
After in 21, upper cover 22 plays the role of limit, and inner core 22 is avoided to slide from cannulated sleeve 21.Preferably, upper cover 22b's is straight
Diameter can be equal with the outer diameter of cannulated sleeve 21, so that shape is more aesthetically pleasing.
Further, circumference the second positioning pin 21a protruding upward in the cylinder upper end of cannulated sleeve 21, while upper cover
22b is additionally provided with the positioning port 22c of the second positioning pin 21a of cooperation, when inner core 22 is inserted into cannulated sleeve 21, the second positioning pin
21a and positioning port 22c alignment positioning, prevents from rotating between inner core 22 and cannulated sleeve 21, improves the stability of equipment.
Further, the lower end of inner core 22 is additionally provided with probe seeker 22d, as shown in figure 4, probe seeker 22d can
Think the stepped design that outer diameter is gradually reduced from top to bottom, through-hole 22a runs through entire inner core 22, inner core seeker from top to bottom
22d can guide surgical probe to be inserted into inner core 22, can reduce stress influence, prevent instrument from damaging.
In this implementation, as shown in figure 5, nonmetallic felt pad 3 is additionally provided between mounting seat 12 and mechanical arm, it is nonmetallic
Felt pad 3 be set between discoid body 12a and mechanical arm, will be carried out between the guide sleeve 100 and mechanical arm of the present embodiment
Electrical isolation, to improve the safety of equipment.Further, first be arranged on the discoid body 12a of mounting seat 12 is fixed
Position hole 12b is matched with the first positioning pin 31 on felt pad 3, thus rapidly and accurately by the guide sleeve 100 of the present embodiment
It is attached with mechanical arm；First screw hole 12c is distributed on the circumference of discoid body 12a, the flange with felt pad 3 and mechanical arm
Disk matches, and more firmly the guide sleeve of the present embodiment 100 can be fixed with mechanical arm, it should be noted that, it inserts
The fixing bolt for entering the first screw hole 12c is preferably that non-metallic material is made, and will be electrically insulated between working column 1 and mechanical arm,
Further ensure the safety of equipment.
Guide sleeve 100 provided by the present embodiment, using follow-up mechanism to the location tracking on location tracking component 4
Label 10 is identified, so that mechanical arm and CT images are subjected to registered placement, it, can convenient for operating robotic arm to designated position
Realize the visualization of equipment.
To sum up, the utility model relates to guide sleeve, can quickly and easily be fixed to surgery mechanical arm, surgical probe
It is convenient in insertion inner core and axially vertical between mechanical arm, mechanical arm easy to remove carries out the movement such as puncturing, simultaneously
It can identify that location tracking is marked using follow-up mechanism, mechanical arm is registrated or is moved to CT images designated position, grasp
It is succinct convenient to make, and has very high practical value.In addition, the utility model is only illustrated in the utility model above-described embodiment
Principles and effects, rather than limit the present invention.Anyone skilled in the art all can be practical new without prejudice to this
Under the spirit and scope of type, carry out modifications and changes to above-described embodiment.Therefore, those skilled in the art are practical without departing from this
All equivalent modifications or change completed under novel revealed spirit and technical idea, should be by the right of the utility model
It is required that being covered.
Claims (10)
1. a kind of guide sleeve is connected to the mechanical arm front end of medical robot, for installing surgical probe, which is characterized in that
Including working column and the probe base for being fixed on the working column front end,
The working column includes column tube body and the mounting seat for being set to column tube body rear end, the mounting seat packet
The discoid body for connecting the mechanical arm is included, the discoid body is equipped with the first positioning hole and the first spiral shell for cooperating the mechanical arm
Hole；
The probe base includes cannulated sleeve and the inner core that is placed in inside the cannulated sleeve, the cannulated sleeve with it is described
Column tube body is axially vertical, and plug type connects between the inner core and the cannulated sleeve, and the inner core is equipped with interspersed described
The through-hole of surgical probe.
2. guide sleeve as described in claim 1, which is characterized in that the one side or the multi-lateral of the peripheral surface of the column tube body
Equipped with the location tracking being arranged for the location tracking label for registration of performing the operation or the external side of the stylostome for registration of performing the operation
Flag member.
3. guide sleeve as claimed in claim 2, which is characterized in that it is arranged link block on the outside of the column tube body, it is described
Location tracking flag member is fixed via annular attachment base and the column tube body；The location tracking flag member is three
At least one side of a side U-shaped body made of connecting, the U-shaped body is marked equipped with the location tracking.
4. guide sleeve as claimed in claim 3, which is characterized in that the middle part of the column tube body is equipped with described for installing
The interconnecting piece of link block, the interconnecting piece is the stepped design of the column tube surfaces, and its peripheral surface includes multiple
Side.
5. guide sleeve as claimed in claim 3, which is characterized in that at least one side of the U-shaped portion part is equipped with second
Screw hole, the link block are equipped with third screw hole, and interconnecting piece is equipped with the 4th screw hole, second screw hole, the third screw hole
It is matched with the 4th screw hole and carrys out installation locking bolt, the clamping screw is by the location tracking flag member, the company
Block is connect integrally to be fixed with the column tube body.
6. guide sleeve as described in claim 1, which is characterized in that the mounting seat and the stylostome body by integral forming
For the working column.
7. guide sleeve as described in claim 1, which is characterized in that the internal diameter of the outer diameter of the inner core and the cannulated sleeve
It is adapted, the upper end of the inner core is equipped with upper cover, and the diameter of the upper cover is greater than the internal diameter of the cannulated sleeve.
8. guide sleeve as claimed in claim 7, which is characterized in that the cylinder upper end protruding upward second of the cannulated sleeve
Positioning pin, the upper cover are additionally provided with the positioning port for cooperating second positioning pin.
9. guide sleeve as claimed in claim 7, which is characterized in that the lower end of the inner core is equipped with probe seeker, described
Probe seeker is the cone or stepped design that outer diameter is gradually reduced from top to bottom.
10. guide sleeve as described in claim 1, which is characterized in that also set between the mounting seat and the mechanical arm
There is non-metallic insulation pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820416868.3U CN209153772U (en) | 2018-03-27 | 2018-03-27 | A kind of guide sleeve |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820416868.3U CN209153772U (en) | 2018-03-27 | 2018-03-27 | A kind of guide sleeve |
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| CN209153772U true CN209153772U (en) | 2019-07-26 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192920A (en) * | 2019-06-19 | 2019-09-03 | 雅客智慧（北京）科技有限公司 | A kind of operating robot |
| CN113331949A (en) * | 2021-06-01 | 2021-09-03 | 武汉联影智融医疗科技有限公司 | Surgical robot system with registration probe and registration method thereof |
| CN113712667A (en) * | 2021-08-30 | 2021-11-30 | 南京佗道医疗科技有限公司 | Execution sleeve selection system and method |
-
2018
- 2018-03-27 CN CN201820416868.3U patent/CN209153772U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192920A (en) * | 2019-06-19 | 2019-09-03 | 雅客智慧（北京）科技有限公司 | A kind of operating robot |
| CN113331949A (en) * | 2021-06-01 | 2021-09-03 | 武汉联影智融医疗科技有限公司 | Surgical robot system with registration probe and registration method thereof |
| CN113712667A (en) * | 2021-08-30 | 2021-11-30 | 南京佗道医疗科技有限公司 | Execution sleeve selection system and method |
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