CN209564154U - A kind of Minimally Invasive Surgery instrument installation isolation seat - Google Patents

Abstract

The utility model discloses Minimally Invasive Surgery instrument installation isolation seats, including pedestal and with pedestal fixing seat connected vertically, pedestal is equipped with the convex block extended along the length direction of pedestal, the two sides of convex block are symmetrically arranged with the first locating piece, the top of convex block is equipped with sliding block, gap is formed between sliding block and convex block, the press component that accommodating can be slided along the length direction in the gap in gap, press component can be resisted against on the first locating piece, and press component can slide through the first locating piece and slide along the length direction of the convex block.The Minimally Invasive Surgery instrument of the utility model is solid and reliable with installation isolation seat and surgical instrument, and the Fast Installation and dismounting of surgical instrument may be implemented by press component, is conducive to the procedure efficiency for improving Minimally Invasive Surgery, to mitigate patient body burden.

Description

A kind of Minimally Invasive Surgery instrument installation isolation seat

Technical field

The utility model relates to operating robot technical fields, more particularly, to a kind of installation isolation of Minimally Invasive Surgery instrument Seat.

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.

During robot assisted micro-wound surgical operation, doctor implements surgical procedure by elongated Minimally Invasive Surgery instrument Task.One end of surgical instrument is placed in robot from the rapid replacing interface device of manipulator end, and the other end passes through human body table The miniature incision in face is insinuated into be operated in vivo, and therefore, surgical instrument is uniquely to be in contact with human lesion tissue Part, and directly execute surgical procedure robot part.In operation is implemented, to meet different surgical procedure tasks The movement demand of (clamping, suture, knotting etc.), the instrument that robot should replace at any time and requirement matches, therefore rapidly and efficiently And reliable instrument replacement function is also to embody the key factor of minimally-invasive surgery robot system overall performance level.

For adapt to modernization Minimally Invasive Surgery requirement, surgical instrument should meet delicate structure, flexible operation, it is various informative, Be suitble to medical environment etc. to require, this requires matched instrument fast replacing device should have size it is small, it is high-efficient, be easy to grasp Make, connect the features such as reliable.The more changing device of current domestic and international researched and developed minimally-invasive surgery robot system is also in function mostly Be able to achieve in level, be only capable of executing the replacement between different instruments, operability, intelligent level and in terms of There are also biggish gaps with actual surgery demand.Therefore, realize surgical instrument replacement rapidly and reliably to filling the domestic gaps, Related-art technology progress is promoted to be of great significance.

Utility model content

For the above-mentioned technical problem in the presence of the prior art, the utility model proposes a kind of Minimally Invasive Surgery instrument use Isolation seat is installed, including pedestal and the fixing seat being connect with the pedestal, is had in the fixing seat for accommodating instrument shaft Groove,

The pedestal is equipped with the convex block extended along the length direction of the pedestal, and the two sides of the convex block are symmetrically arranged with the A positioning block,

The top of the convex block is equipped with sliding block, and gap, the gap content are formed between the sliding block and the convex block The press component that can be slided along the length direction in the gap is set,

The press component can be resisted against on first locating piece, and the press component can slide through it is described First locating piece is simultaneously slided along the length direction of the convex block.

Preferably, there is guide groove, the press component can be slided along the guide groove on the sliding block.

Preferably, first locating piece includes the skewed slot of the convex block two sides being arranged in and positioned at skewed slot bevel edge side Lug boss.

Preferably, the press component is symmetricly set on the two sides of the convex block, and the press component includes being sequentially connected Button, guide pad, block and small column, be arranged with spring between the small column of the press component of two sides,

The guide pad includes rake and planar portions, and the rake makes button be always positioned at first locating piece Upper side, the rake and the planar portions engagement position lower surface be equipped with the second locating piece, it is described second positioning The width of block is less than the width of the skewed slot,

When the spring is in relaxed state, second locating piece can be fixed in the lug boss, in the bullet Spring is when in a compressed state, and second locating piece can pass through the skewed slot.

Preferably, the planar portions are accommodated in the guide groove and can slide along the guide groove.

Preferably, the end face that the block is equipped with small column is equipped with the first card slot, and the spring is resisted against described first In card slot.

Preferably, it is integrally formed between the button, the guide pad, the block and the small column.

Preferably, the convex block is equipped with conducting block.

Preferably, the pedestal and the fixing seat are made of plastic cement.

Preferably, the pedestal and the fixing seat vertically connect.

Compared with the prior art, the advantages of the utility model are: the utility model Minimally Invasive Surgery instrument installation every It disseats solid and reliable with surgical instrument, the Fast Installation and dismounting of surgical instrument may be implemented by press component, favorably In the procedure efficiency for improving Minimally Invasive Surgery, to mitigate patient body burden.

Other features and advantages of the utility model will illustrate in the following description, also, partial from specification In become apparent, or understood and implementing the utility model.The purpose of this utility model and other advantages can pass through Specifically noted structure is achieved and obtained in the specification, claims and drawings.

Detailed description of the invention

The preferred embodiment of the utility model is described in detail below in conjunction with attached drawing.In figure:

Fig. 1 is a kind of schematic perspective view of Minimally Invasive Surgery instrument installation isolation seat of the present invention.

Fig. 2 is the schematic perspective view of the press component in Fig. 1.

Fig. 3 is the schematic perspective view of the first locating piece in Fig. 1.

Fig. 4 is the schematic perspective view using a kind of Minimally Invasive Surgery instrument of the installation isolation seat of Fig. 1.

Fig. 5 is the decomposition texture schematic diagram one of the fixation device of Minimally Invasive Surgery instrument in Fig. 4.

Fig. 6 is the decomposition texture schematic diagram two of the fixation device of Minimally Invasive Surgery instrument in Fig. 4.

Fig. 7 is the schematic perspective view of the Quick-dismantle component in Fig. 5.

Fig. 8 is the cross-sectional view in Fig. 7.

Fig. 9 is the structural schematic diagram (press component is also shown in figure) of the isolation seat and drive seat in Fig. 5.

In the accompanying drawings, identical component uses identical appended drawing reference.The attached drawing is not drawn according to the actual ratio.

Specific embodiment

The embodiments of the present invention is described in detail below with reference to accompanying drawings and embodiments, whereby to the utility model How applied technology method solves technical problem, and the realization process for reaching technical effect can fully understand and implement. If it should be noted that do not constitute conflict, each feature in each embodiment and each embodiment in the utility model It can be combined with each other, be formed by technical solution and both be within the protection scope of the present invention.

As shown in Figure 1, the utility model provides a kind of Minimally Invasive Surgery instrument installation isolation seat comprising pedestal 1 and with The fixing seat 2 connected vertically of pedestal 2, pedestal 1 are equipped with the convex block 11 extended along the length direction of pedestal 1, the two sides of convex block 11 It is symmetrically arranged with the first locating piece 12,

The top of convex block 11 is equipped with sliding block 13, gap 17 is formed between sliding block 13 and convex block 11, press component 15 can It is accommodated in gap 17 and is slided along the length direction in gap 17.Preferably, the middle position of sliding block 13 is equipped with guide groove 14, presses Pressure component 15 can be slided along guide groove 14.Press component 15 can be resisted against on the first locating piece 12, and 15 energy of press component It enough slides through the first locating piece 12 and is slided along the length direction of convex block 11.

As shown in figure 3, the first locating piece 12 includes the skewed slot 121 of 11 two sides of convex block being arranged in and positioned at skewed slot The lug boss 122 of 121 bevel edge sides.

As shown in Fig. 2, press component 15 includes sequentially connected button 151, guide pad 152, block 153 and small column 154, spring is arranged between the small column 154 of the press component 15 of two sides, it is preferable that button 151, guide pad 152, block 153 and small column 154 using be integrally formed.The center of block 153 is arranged in small column 154.Guide pad 152 includes inclining again Inclined portion 1521 (inclination upwards) and planar portions 1522, rake 1521 make the button beginning 151 be always positioned at the first locating piece 12 Upper side, to not generate interference with the first locating piece 12.The lower surface for the position that rake 1521 and planar portions 1522 engage Equipped with the second locating piece 155.The width of second locating piece 155 is less than the width of skewed slot 121, when spring is in relaxed state, Second locating piece 155 can be fixed in lug boss 122, when in a compressed state in spring, and the second locating piece 155 can be by oblique Slot 121.

Preferably, the end face that block 153 is equipped with small column 154 is equipped with the first card slot 1531.As shown in Figure 1, two sides It is arranged between the small column 154 of press component 15 spring (spring is not shown), spring is connected to each press component 15 respectively Block 343 on.Preferably, spring is connected in the first card slot 3441 respectively with the unnecessary movement of limited spring.Work as release When button 341, spring can be such that two press components 15 reset rapidly.

As shown in Figure 1, convex block 11 is equipped with conducting block 16.Preferably, isolation seat is made of plastic material.

In one embodiment, there is groove 21, groove 21 is for accommodating instrument shaft in fixing seat 2.

Minimally Invasive Surgery instrument described in the utility model is mainly used for the fixed of Minimally Invasive Surgery instrument with installation isolation seat and fills It sets.Fig. 4 shows a kind of Minimally Invasive Surgery instrument, and the fixation device of the Minimally Invasive Surgery instrument: fixation dress is described in detail below It sets including drive seat 10, the isolation seat being arranged in drive seat 10 20 and the retainer 30 being arranged on isolation seat 20.Wherein, It is provided with instrument bindiny mechanism 40 on retainer 30, driving mechanism 50 is fixed in drive seat 10, in addition, drive seat 10 is to instrument Bindiny mechanism 40 also acts as supporting role.

Attached drawing 5-9 will will be referred to below to carry out the connection type between drive seat 10, isolation seat 20 and retainer 30 It is described in detail.

As it can be seen in figures 5 and 6, being quickly connected between retainer 30 and isolation seat 20 by press component 15.

Press component 15 includes the first positioning region, wherein the first positioning region includes being arranged in the first of 30 bottom of retainer to slide Slot 301 and the convex block 11 being arranged on isolation seat 20.Convex block 11 can be contained in first sliding groove 301 and along first sliding groove 301 are slided.

First sliding groove 301 is configured to two inconsistent parts of width, and wider part is close to instrument bindiny mechanism 40 One end, relatively narrow one end partially away from instrument bindiny mechanism 40, forms step between wider part and relatively narrow part 302.11 two sides of convex block of isolation seat 20 are symmetrically equipped with the first locating piece 12, and the first locating piece 12 includes skewed slot 121 and is located at The lug boss 122 (as shown in Figure 3) of 121 end of skewed slot.During convex block 11 imports first sliding groove 301, first positioning Block 12 can be connected on the step 302 of first sliding groove 301, to limit retainer 30 in the motion range of X-direction.To, By convex block 11 and first sliding groove 301 retainer 30 and isolation seat 20 are positioned completely in Y direction and X-direction.

Further, press component 15 further includes the second positioning region, and the second positioning region includes that setting is remote in first sliding groove 301 The convex block 303 (convex block 303 is located in the plane where 30 lower surface of retainer) of one end from instrument bindiny mechanism 40, in convex block 11 one end far from instrument bindiny mechanism 40 are equipped with groove 203, are near completion assembly when retainer 30 is slided into isolation seat 20 State when, which can be contained in groove 203.To keep isolation seat 20 complete in the Z-axis direction with retainer 30 Full positioning.

Convex block 11 is smoothly imported in first sliding groove 301 for convenience, in convex block 11 far from instrument bindiny mechanism 40 End is equipped with the guiding surface 2011 tilted down, to reduce resistance when convex block 11 enters first sliding groove 301, to improve dress With efficiency.

Retainer 30 and the mounting means of isolation seat 20 are as follows:

The lower surface of retainer 30 and the upper surface of isolation seat 20 is set to be in contact, along length direction (the i.e. X-axis of isolation seat 20 Direction) push retainer 30, the second locating piece 155 (such as Fig. 1 and Fig. 2 in 30 moving process of retainer, on press component 15 It is shown) enter in the skewed slot 121 of the first locating piece 12 limit and guiding role in skewed slot 121 (close to the outside of skewed slot 121) Under, the spring of press component 15 gradually reduces so that the second locating piece 155 is mobile towards the direction close to convex block 11, to make the Two locating pieces 155 can pass through the narrow portion of skewed slot 121.Second locating piece 155 pass through skewed slot 121 after under the action of the spring It resets, and the second locating piece 155 at this time is just stuck in the lug boss 122 (as shown in Figure 9) of the first locating piece 12, thus anti- Only retainer 30 is moved backward to X-axis.And at this point, the groove 203 on convex block 303 and convex block 11 in first sliding groove 301 is rigid Good cooperation.At this point, retainer 30 and isolation seat 20 are completed to install.

When needing to disassemble retainer 30 from isolation seat 20, while the button 151 of two sides is pressed, at this point, the Two locating pieces 155 are no longer limited by the lug boss 122 of the first locating piece 12, are pushed retainer 30 along X-axis negative direction, are made second Locating piece 155 passes through skewed slot 121, at this point it is possible to release button 151, and retainer 3, Ji Keshi is continued to press on along X-axis negative direction The disassembly of existing retainer 30 and isolation seat 20.

Referring to figs. 5 and 6, it is quickly connected between isolation seat 20 and drive seat 10 by quick-disassembly structure.

Quick-disassembly structure includes third positioning region, wherein third positioning region includes being arranged in the second of 20 bottom of isolation seat to slide Slot 204 and the second sliding block 101 being arranged in drive seat 10, the second sliding block 101 can be accommodated in second sliding slot 204, make Obtaining isolation seat 20 can be slided along the length direction of drive seat 10.To drive by the second sliding block 101 and second sliding slot 204 Dynamic seat 10 is positioned completely in the Y-axis direction with isolation seat 20.

Further, quick-disassembly structure further includes the 4th positioning region, and the 4th positioning region includes that setting is remote in 20 bottom of isolation seat The fixture block 205 of one end from instrument bindiny mechanism 40 and isolation seat 20 is set close to the inserted block of 40 one end of instrument bindiny mechanism 206, inserted block 206 extends along the length direction of isolation seat 20.It is provided in drive seat 10 and the mutually matched jack of the inserted block 206 207, after isolation seat 20 is mounted in drive seat 10, inserted block 206 is inserted into jack 207, while drive seat 10 connects far from instrument The end of connection mechanism 40 is fastened in the fixture block 205 of isolation seat 20, to make retainer 10 and isolation seat 20 in X-direction and Z It is positioned completely in axis direction.

As shown in Figure 7 and Figure 8, quick-disassembly structure further includes the Quick-dismantle component 102 that 10 bottom of drive seat is arranged in, Quick-dismantle component 102 include groove seat 103 and can be accommodated in groove seat 103 and can be along the linkage block 104 that groove seat 103 slides up and down.Groove seat 103 Bottom set there are two guide rod 1031 and 1032, be arranged with spring (not shown) on guide rod 1031 and 1032.Linkage block 104 are equipped with pressing bar 1041 (one end for being located proximate to instrument bindiny mechanism 40 of the pressing bar 1041), the pressing bar 1041 It is integrally formed with linkage block 104.The inside of linkage block 104 is equipped with the first cylindrical hole 1042, the position of first cylindrical hole 1042 Corresponding with the position of the first guide rod 1031, the first guide rod 1031 can be accommodated in first cylindrical hole 1042 after being arranged upper spring It is interior.The position of first cylindrical hole 1042 can be corresponding with the position of pressing bar 1041 or not be corresponded to, as long as pressing pressing Stick 1041 is able to drive linkage block 104 and moves down in groove seat 103.Through-hole 1043 is additionally provided in linkage block 104, it should The diameter of 1043 lower part of through-hole is greater than the diameter on top, and linkage button 105 is equipped in the through-hole 1043,105 lower part of button of linking Diameter be greater than the diameter on linkage 1205 top of button, the lower part of linkage button 105 is accommodated in the lower part of through-hole 1043, and linkage is pressed The top of button 105 is accommodated in the top of through-hole 1043.To the step and linkage button that 1043 upper and lower part of through-hole is formed The step that 105 upper and lower parts are formed abuts against.The inside of linkage button 105 is equipped with the second cylindrical hole 1051, second cylinder Hole 1051 is corresponding with the position of the second guide rod 1032, can be accommodated in second cylindrical hole after the second 1032 sets of guide rod upper spring In 1051.

Referring again to Fig. 5, Quick-dismantle component 102 further includes 208 (first card of the first card hole that 20 bottom of isolation seat is arranged in The position in hole 208 is located at close to one end of instrument bindiny mechanism 40), after isolation seat 20 and the installation of drive seat 10, link button 105 are accommodated in inside the first card hole 208.

Preferably, an end of groove seat 103 is equipped with circular hole 1033, and the end of linkage block 104 corresponds to the circular hole 1033 Position is equipped with third sliding slot 1044, and the position of the corresponding third sliding slot 1044 of the button 105 that links is equipped with the 4th sliding slot 1045, institute It states and is equipped with slide bar (showing in figure) in circular hole 1033, third sliding slot 1044 and the 4th sliding slot 1045, so that linkage block 104 When moving down, slide bar can play position-limiting action to linkage fast 104, prevent from being set in the first guide rod 1031 and the second guide rod Spring on 1032 reaches compression limit.

The two sides of groove seat 103 are equipped with ear 1034, and ear 1034 is equipped with threaded hole 1035, and groove seat 103 passes through ear Threaded hole 1035 on 1034 is fixed on the bottom of drive seat 10.

Isolation seat 20 and the mounting means of drive seat 10 are as follows:

The bottom surface of isolation seat 20 and the upper surface of drive seat 10 is set to be in contact, along length direction (the i.e. X-axis side of drive seat 10 To promotion isolation seat 20), in 20 moving process of isolation seat, table in the second sliding slot 204 and drive seat 10 of 20 bottom of isolation seat Second sliding block 101 in face cooperates, and plays limitation and guiding role to the movement of isolation seat 20.

Isolation seat 20 continues to move to, and the inserted block 206 of isolation seat 20 is inserted into the jack 207 of drive seat, also, drive seat 10 The end (one end far from instrument) of bottom plate is fastened in the fixture block 205 of isolation seat 20.Meanwhile the linkage button of Quick-dismantle component 105 are just accommodated in the card hole 208 of isolation seat bottom, to complete the installation of isolation seat 20 Yu drive seat 10.

When needing to disassemble isolation seat 20 from drive seat 10, need to only press to pressing bar 1041, linkage block 104 It moves down, linkage button 105 is driven to move down, so that linkage button 105 is removed from the card hole 208 of isolation seat 20, this When, isolation seat 20 is pushed along the direction opposite with installation direction, so that isolation seat 20 be separated with drive seat 10.Work as pressing bar 1041 no longer stress when, pressing bar 1041 and linkage button 105 reset under the action of the spring.

Above description is merely a prefered embodiment of the utility model, but scope of protection of the utility model is not limited to This, any those skilled in the art can be easy to carry out and be altered or varied in technical scope disclosed by the utility model, and This be altered or varied should be covered within the scope of the utility model.Therefore, the protection scope of the utility model is answered Subject to the scope of protection of the claims.

Claims (10)

1. a kind of Minimally Invasive Surgery instrument installation isolation seat, which is characterized in that including pedestal and the fixation being connect with the pedestal , there is the groove for accommodating instrument shaft in the fixing seat,

The pedestal is equipped with the convex block extended along the length direction of the pedestal, and it is fixed that the two sides of the convex block are symmetrically arranged with first Position block,

The top of the convex block is equipped with sliding block, and gap is formed between the sliding block and the convex block, accommodates energy in the gap The press component that enough length directions along the gap slide,

The press component can be resisted against on first locating piece, and the press component can slide through described first Locating piece is simultaneously slided along the length direction of the convex block.

2. Minimally Invasive Surgery instrument according to claim 1 installation isolation seat, which is characterized in that have on the sliding block and lead To slot, the press component can be slided along the guide groove.

3. Minimally Invasive Surgery instrument according to claim 2 installation isolation seat, which is characterized in that the first locating piece packet Include the skewed slot for being symmetricly set on the convex block two sides and the lug boss positioned at skewed slot bevel edge side.

4. Minimally Invasive Surgery instrument according to claim 3 installation isolation seat, which is characterized in that the press component is symmetrical The two sides of the convex block are set, the press component includes sequentially connected button, guide pad, block and small column, and two It is arranged with spring between the small column of the press component of side,

The guide pad includes rake and planar portions, and the rake makes button be always positioned at the side of first locating piece The lower surface of the position of top, the rake and planar portions engagement is equipped with the second locating piece, second locating piece Width is less than the width of the skewed slot,

When the spring is in relaxed state, second locating piece can be fixed in the lug boss, at the spring When compressive state, second locating piece can pass through the skewed slot.

5. Minimally Invasive Surgery instrument according to claim 4 installation isolation seat, which is characterized in that the planar portions are accommodated in It can slide in the guide groove and along the guide groove.

6. Minimally Invasive Surgery instrument according to claim 4 installation isolation seat, which is characterized in that the block is equipped with small The end face of cylinder is equipped with the first card slot, and the spring is resisted against in first card slot.

7. Minimally Invasive Surgery instrument according to claim 4 installation isolation seat, which is characterized in that the button described is led It is integrally formed between block, the block and the small column.

8. Minimally Invasive Surgery instrument according to claim 1 installation isolation seat, which is characterized in that the convex block is equipped with and leads Electric block.

9. Minimally Invasive Surgery instrument according to claim 1 installation isolation seat, which is characterized in that the pedestal and described solid Reservation is made of plastic material.

10. Minimally Invasive Surgery instrument according to claim 1 installation isolation seat, which is characterized in that the pedestal and described Fixing seat vertically connects.