CN209966450U

CN209966450U - Quick-release structure of instrument fixing device

Info

Publication number: CN209966450U
Application number: CN201821628421.9U
Authority: CN
Inventors: 李耀; 凌正刚; 黄松; 罗腾蛟
Original assignee: Chengdu Boen Si Medical Robot Co Ltd
Current assignee: Chengdu Boen Si Medical Robot Co Ltd; Chengdu Borns Medical Robotics Co Ltd
Priority date: 2018-10-09
Filing date: 2018-10-09
Publication date: 2020-01-21
Anticipated expiration: 2028-10-09

Abstract

The utility model discloses an instrument fixing device's rapid disassembly structure, include: a driving seat; the isolation seat is arranged on the driving seat; the quick-release structure comprises a quick-release part and a positioning part for fixedly connecting the isolation seat with the driving seat; the quick-release part comprises a linkage component arranged on the driving seat and a clamping hole arranged at the bottom of the isolation seat, the linkage component can be clamped in the clamping hole when the driving seat is installed and connected with the isolation seat, and the linkage component slips from the clamping hole when the driving seat and the isolation seat are detached. The utility model discloses a rapid disassembly structure can be used to among the apparatus fixing device of minimal access surgery apparatus for the installation between drive seat, separation seat and the transmission gear is firm reliable, still can make things convenient for nimble quick realization simultaneously and dismantle the function, is favorable to improving minimal access surgery's operation efficiency, thereby alleviates patient's health burden.

Description

Quick-release structure of instrument fixing device

Technical Field

The utility model belongs to the technical field of surgical robot technique and specifically relates to a quick detach structure of instrument fixing device is related to.

Background

During robotically-assisted minimally invasive surgery, a surgeon performs surgical tasks with the aid of elongated minimally invasive surgical instruments. One end of the surgical instrument is arranged on the quick-change interface device at the tail end of the manipulator of the robot, and the other end of the surgical instrument is inserted into the body through a tiny incision on the surface of the human body to perform surgical operation, so that the surgical instrument is the only part which is in contact with the pathological tissue of the human body and is also the robot part which directly performs the surgical operation. In the operation implementation, in order to meet the action requirements of different operation tasks (clamping, suturing, knotting and the like), the robot needs to replace instruments matched with the requirements at any time, so that the rapid, efficient and reliable instrument replacement function is also a key factor for reflecting the overall performance level of the minimally invasive operation robot system.

In order to meet the requirements of modern minimally invasive surgery, surgical instruments meet the requirements of exquisite structure, flexible operation, various forms, suitability for medical environment and the like, and the instrument quick-change device matched with the surgical instruments is required to have the characteristics of small size, high efficiency, easiness in operation, reliability in connection and the like. Most of the instrument fixing devices of minimally invasive surgical robots researched and developed at home and abroad are still on a function implementation level, and the requirements of quick installation and disassembly of the instrument fixing devices and actual surgery are different greatly.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned technical problem that exists among the prior art, the utility model provides an instrument fixing device's rapid disassembly structure, include:

a driving seat;

the isolation seat is arranged on the driving seat and is provided with a groove for accommodating an instrument rod;

the quick-release structure comprises a quick-release part and a positioning part for fixedly connecting the isolation seat with the driving seat;

the quick-release part comprises a linkage component arranged on the driving seat and a clamping hole arranged at the bottom of the isolation seat, when the driving seat is installed and connected with the isolation seat, the linkage component can be clamped in the clamping hole, and when the driving seat is detached from the isolation seat, the linkage component slips from the clamping hole.

Preferably, the positioning part includes:

the first sliding block can be contained in the first sliding groove and can slide along the first sliding groove.

Preferably, the positioning portion further comprises a fixture block arranged at the bottom of the first end of the isolation seat, and one end of the driving seat can be clamped in the fixture block.

Preferably, the positioning portion further includes an insert block disposed at the second end of the isolation seat, one end of the driving seat corresponding to the insert block is provided with an insertion hole, and the insert block can be accommodated in the insertion hole.

Preferably, the linkage assembly comprises a slot seat and a linkage block capable of sliding up and down along the slot seat, the linkage block is provided with a pressing rod and a linkage button,

when the pressing rod is pressed, the linkage button moves downwards along with the pressing rod, and when the pressing rod is released, the linkage button moves upwards along with the pressing rod and can be clamped in the clamping hole.

Preferably, the bottom of the groove seat is provided with a first guide rod, the first guide rod is sleeved with a first spring,

a first cylindrical hole is arranged in the linkage block, the position of the first cylindrical hole corresponds to the position of the first guide rod, the first spring is accommodated in the first cylindrical hole,

the linkage block is also provided with a through hole, the diameter of the lower part of the through hole is larger than that of the upper part of the through hole, a first step is formed between the lower part of the through hole and the upper part of the through hole,

the diameter of the lower part of the linkage button is larger than that of the upper part of the linkage button, a second step is formed between the lower part of the linkage button and the upper part of the linkage button,

the linkage button is arranged in the through hole, the second step is abutted against the first step, and the top of the linkage button extends out of the through hole.

Preferably, the bottom of the groove seat is further provided with a second guide rod, a second spring is sleeved on the second guide rod,

and a second cylindrical hole is formed in the linkage button, the position of the second cylindrical hole corresponds to that of the second guide rod, and the second spring can be accommodated in the second cylindrical hole.

Preferably, the end of the slot seat is provided with a round hole, the end of the linkage block is provided with a second sliding groove corresponding to the round hole, the linkage button is provided with a third sliding groove corresponding to the second sliding groove, and a sliding rod penetrates through the round hole, the second sliding groove and the third sliding groove, so that when the linkage block moves downwards, the sliding rod can limit the linkage block.

Preferably, the top of the link button is configured as a slope to reduce resistance when the link button enters the card hole.

Preferably, the both sides of slot seat are equipped with the ear, threaded hole has on the ear, the slot seat passes through the threaded hole is fixed the bottom of drive seat.

Compared with the prior art, the utility model has the advantages of: the utility model discloses a rapid disassembly structure can be used to among the apparatus fixing device of minimal access surgery apparatus for the installation between drive seat, separation seat and the transmission gear is firm reliable, still can make things convenient for nimble quick realization simultaneously and dismantle the function, is favorable to improving minimal access surgery's operation efficiency, thereby alleviates patient's health burden.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the figure:

fig. 1 is a schematic perspective view of a minimally invasive surgery instrument with a quick release structure of the instrument fixing device of the present invention.

FIG. 2 is a first exploded view of the quick release mechanism of the instrument holder of the minimally invasive surgical instrument of FIG. 1 (the instrument connection mechanism is not shown).

FIG. 3 is a second exploded view of the quick release mechanism of the instrument fixing device of the minimally invasive surgical instrument of FIG. 1 (not shown).

Fig. 4 is an enlarged schematic structure diagram of the first positioning block (i.e., a region a) shown in fig. 3.

FIG. 5 is a first schematic view of the first quick release assembly shown in FIG. 3.

FIG. 6 is a second schematic structural view of the first quick release assembly shown in FIG. 3.

Fig. 7 is a schematic view of the actuator mount of fig. 3 (only the frame of the actuator mount is shown).

FIG. 8 is a top view of the actuator mount of FIG. 3 (only the frame of the actuator mount and the first quick release assembly shown).

FIG. 9 is a schematic structural view of the isolation seat and the drive seat of FIG. 3 (also showing a first quick release assembly).

Fig. 10 is a perspective view of the second quick release assembly of fig. 3.

FIG. 11 is a cross-sectional view of a second quick release assembly.

In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.

Detailed Description

The following detailed description will be made with reference to the accompanying drawings and examples, so as to solve the technical problems by applying technical means to the present invention, and to fully understand and implement the technical effects of the present invention. It should be noted that, as long as no conflict is formed, the embodiments and the features in the embodiments of the present invention may be combined with each other, and the technical solutions formed are all within the scope of the present invention.

As shown in fig. 1, the utility model provides a quick release structure of an instrument fixing device, which comprises a driving seat 1, a separation seat 2 arranged on the driving seat 1 and a transmission seat 3 arranged on the separation seat 2. Wherein, be provided with apparatus coupling mechanism 4 on the transmission seat 3, be fixed with actuating mechanism 5 on the drive seat 1, in addition, drive seat 1 still plays the supporting role to apparatus coupling mechanism 4.

The connection between the driving mount 1, the spacer mount 2 and the driving mount 3 will be described in detail with reference to fig. 2 to 11.

Referring to fig. 2 and 3, the isolation seat 2 is quickly connected with the driving seat 1 through a first quick release structure.

The first quick release structure comprises a first positioning portion, wherein the first positioning portion comprises a first sliding groove 21 formed in the bottom of the isolation seat 2 and a first sliding block 11 arranged on the driving seat 1, and the first sliding block 11 can be accommodated in the first sliding groove 21, so that the isolation seat 2 can slide along the length direction of the driving seat 1. The driving seat 1 and the isolation seat 2 are completely positioned in the Y-axis direction by the first slide block 11 and the first slide groove 21.

Further, the first quick release structure further comprises a second positioning portion, the second positioning portion comprises a clamping block 22 arranged at one end, far away from the instrument connecting mechanism 4, of the bottom of the isolation seat 2 and an insertion block 23 arranged at one end, close to the instrument connecting mechanism 4, of the isolation seat 2, and the insertion block 23 extends along the length direction of the isolation seat 2. The driving seat 1 is provided with an insertion hole 13 which is matched with the insertion block 23, when the isolation seat 2 is installed on the driving seat 1, the insertion block 23 is inserted into the insertion hole 13, and meanwhile, the end part, far away from the instrument connecting mechanism 4, of the driving seat 1 is clamped in the clamping block 22 of the isolation seat 2, so that the transmission seat 1 and the isolation seat 2 are completely positioned in the X-axis direction and the Z-axis direction.

As shown in fig. 4 and 5, the first quick release structure further includes a first quick release assembly 12, and the first quick release assembly 12 includes a slot seat 121 and a linkage block 122 capable of being accommodated in the slot seat 121 and sliding up and down along the slot seat 121. The bottom of the slot seat 121 is provided with two

guide rods

1211 and 1212, and the

guide rods

1211 and 1212 are sleeved with springs (not shown). The link block 122 is provided with a pressing rod 1221 (the pressing rod 1221 is located at an end close to the instrument connection mechanism 4), and the pressing rod 1221 and the link block 122 are integrally formed. The linkage block 122 is provided with a first cylindrical hole 1222 inside, the position of the first cylindrical hole 1222 corresponds to the position of the first guide rod 1211, and the first guide rod 1211 can be accommodated in the first cylindrical hole 1222 after being sleeved with a spring. The position of the first cylindrical hole 1222 may or may not correspond to the position of the pressing rod 1222, so long as the pressing rod 1222 is pressed to drive the link block 122 to move downward in the slot 121. The linkage block 122 is further provided with a through hole 1223, the diameter of the lower portion of the through hole 1223 is larger than that of the upper portion of the through hole 1223, the linkage button 123 is arranged in the through hole 1223, the diameter of the lower portion of the linkage button 123 is larger than that of the upper portion of the linkage button 123, the lower portion of the linkage button 123 is accommodated in the lower portion of the through hole 1223, and the upper portion of the linkage button 123 is accommodated in the upper portion of the through hole. Thus, the steps formed at the upper and lower portions of the through hole 1223 are abutted against the steps formed at the upper and lower portions of the interlocking button 123. The linkage button 123 is provided inside with a second cylindrical hole 1231, the position of the second cylindrical hole 1231 corresponds to the position of the second guide rod 1212, and the second guide rod 1212 can be accommodated in the second cylindrical hole 1231 after being sleeved with a spring.

Referring to fig. 2 and 3 again, the first quick release assembly 12 further includes a first locking hole 24 disposed at the bottom of the isolation seat 2 (the first locking hole 24 is located at an end close to the instrument connection mechanism 4), and when the isolation seat 2 is installed with the driving seat 1, the linkage button 123 is accommodated in the first locking hole 24.

Preferably, a circular hole 1211 is formed at one end of the slot seat 121, a second sliding groove 1224 is formed at a position of the end of the linkage block 122 corresponding to the circular hole 1211, a third sliding groove 1225 is formed at a position of the linkage button 123 corresponding to the second sliding groove 1224, and a sliding rod (not shown in the figures) is inserted through the circular hole 1211, the second sliding groove 1224, and the third sliding groove 1225, so that when the linkage block 122 moves downward, the sliding rod can limit the linkage block 122, and the springs sleeved on the first guide rod 1211 and the second guide rod 1212 are prevented from reaching a compression limit.

The two sides of the slot seat 121 are provided with ears 1212, the ears 1212 are provided with screw holes 1213, and the slot seat 121 is fixed at the bottom of the driving seat 1 through the screw holes 1213 on the ears 1212.

The installation mode of the isolation seat 2 and the driving seat 1 is as follows:

the bottom surface of the isolation seat 2 is contacted with the upper surface of the driving seat 1, the isolation seat 2 is pushed along the length direction of the driving seat 1 (namely, the X-axis direction), and in the moving process of the isolation seat 2, the first sliding groove 21 at the bottom of the isolation seat 2 is matched with the first sliding block 11 on the upper surface of the driving seat, so that the movement of the isolation seat 2 is limited and guided.

The isolation seat 2 continues to move, the plug block 23 of the isolation seat 2 is inserted into the insertion hole 13 of the driving seat, and the end (the end far away from the instrument) of the bottom plate of the driving seat 1 is clamped in the clamping block 22 of the isolation seat 2. Meanwhile, the linkage button 123 of the first quick release assembly is just accommodated in the clamping hole 24 at the bottom of the isolation seat, so that the installation of the isolation seat 2 and the driving seat 1 is completed.

When the isolation seat 2 needs to be detached from the driving seat 1, only the pressing rod 1221 needs to be pressed, the linkage block 122 moves downwards to drive the linkage button 123 to move downwards, so that the linkage button 123 moves out of the clamping hole 24 of the isolation seat 2, and at the moment, the isolation seat 2 is pushed in the direction opposite to the mounting direction, so that the isolation seat 2 is separated from the driving seat 1. When the pressing rod 1221 is not stressed any more, the pressing rod 1221 and the link button 123 are reset by the spring.

As shown in fig. 2 and 3, the driving seat 3 and the isolating seat 2 are quickly connected through a second quick release structure.

The second quick release structure comprises a third positioning portion, wherein the third positioning portion comprises a fourth sliding groove 31 arranged at the bottom of the transmission seat 3 and a second sliding block 25 arranged on the isolation seat 2. The second slider 25 can be accommodated in the fourth slide groove 31 and slide along the fourth slide groove 31.

The fourth runner 31 is configured in two portions of unequal width, a wider portion being near one end of the implement attachment mechanism 4 and a narrower portion being away from one end of the implement attachment mechanism 4, the wider portion and the narrower portion forming a step 32 therebetween. The first slide block 21 of the isolation seat 2 is symmetrically provided with first positioning blocks 26 at two sides, and the first positioning blocks 26 comprise inclined grooves 261 and protruding parts 262 (shown in fig. 6) positioned at the ends of the inclined grooves 261. During the process of introducing the second slider 25 into the fourth slide groove 31, the first positioning block 26 can abut on the step 32 of the fourth slide groove 31, thereby limiting the movement range of the transmission seat 3 in the X direction. Thus, the driving seat 3 and the spacer 2 are completely positioned in the Y-axis direction and the X-direction by the second slider 25 and the fourth slide groove 31.

Further, the second quick release structure further includes a fourth positioning portion, the fourth positioning portion includes a projection 33 disposed at one end of the fourth sliding groove 31 far away from the apparatus connecting mechanism 4 (the projection 33 is located on the plane where the lower surface of the transmission seat 3 is located), a groove 27 is disposed at one end of the second sliding block 25 far away from the apparatus connecting mechanism 4, and when the transmission seat 3 slides to the state of being assembled with the isolation seat 2, the projection 33 can be accommodated in the groove 27. So that the isolation seat 2 and the transmission seat 3 are completely positioned in the Z-axis direction.

In order to facilitate the smooth guiding of the second slider 25 into the fourth sliding groove 31, a downwardly inclined guiding inclined surface 251 is provided at an end of the second slider 25 away from the implement connecting mechanism 4 to reduce resistance when the second slider 25 enters the fourth sliding groove 31, thereby improving assembly efficiency.

As shown in fig. 7 and 8, the two sides of the driving seat 3 are symmetrically provided with the second quick release assemblies 34, each second quick release assembly 34 includes a button 341, a guide block 342, a stop 343, and a small cylinder 344, which are connected in sequence, and the button 341, the guide block 342, the stop 343, and the small cylinder 344 are integrally formed. The small cylinder 344 is disposed at the center of the stopper 343, and preferably, the end surface of the stopper 343 on which the small cylinder 344 is disposed is provided with a first locking groove 3441 to limit unnecessary movement of the spring. The guide block 342 further includes an inclined portion 3421 (inclined upward) and a flat portion 3422, and the inclined portion 3421 allows the button 341 to always end up on the upper side of the first positioning block 26 so as not to interfere with the first positioning block 26. A long groove 3423 is provided at the middle position of the flat surface part 3422, and a second positioning block 345 is provided on the lower surface of the joint of the inclined part 3421 and the flat surface part 3422. The width of the second positioning block 345 is smaller than the width of the chute 221, and when the lower surface of the transmission seat 3 contacts the upper surface of the isolation seat 2 and slides relatively along the X-axis, the second positioning block 345 is always located above the first positioning block 26. So that the second positioning block 345 can smoothly pass through the inclined groove 221 when the driving seat moves in the X-axis direction.

As shown in fig. 9, a guide groove 35 is provided on the transmission base 3 at a position corresponding to the second quick release assembly 34, and the flat portion 3422 of the guide block 342 can be received in the guide groove 35, so that the guide block 342 can move in the guide groove 35 along the Y-axis direction.

As shown in fig. 10, springs (not shown) are sleeved between the small cylinders 344 of the two first quick release assemblies 34, and the springs respectively abut against the stop 343 of each second quick release assembly 34. Preferably, the springs abut in the first catching grooves 3441, respectively. When the button 341 is released, the spring can quickly reset the two second quick release assemblies 34. As shown in fig. 11, when the transmission seat 3 and the isolation seat 2 are installed, the second positioning block 345 is clamped on the protrusion 222.

The transmission seat 3 and the isolation seat 2 are installed in the following way:

the lower surface of the transmission seat 3 is in contact with the upper surface of the isolation seat 2, the transmission seat 3 is pushed along the length direction (i.e. the X-axis direction) of the isolation seat 2, in the moving process of the transmission seat 3, the second positioning block 345 on the second quick release assembly 34 enters the chute 261 of the first positioning block 26 (close to the outer side of the chute 261), and under the limiting and guiding effects of the chute 261, the spring of the second quick release assembly 34 is gradually compressed to move the second positioning block 345 towards the direction close to the second slider 25, so that the second positioning block 345 can smoothly pass through the narrow part of the chute 261. The second positioning block 345 passes through the inclined slot 261 and then is reset under the action of the spring, and at the moment, the second positioning block 345 is just clamped on the projection 262 of the first positioning block 26, so that the transmission seat 3 is prevented from moving reversely to the X axis. And at this time, the projection 33 on the fourth sliding chute 31 and the groove 27 on the second sliding block 25 are just matched. At this time, the driving seat 3 and the isolation seat 2 are installed.

When the transmission seat 3 needs to be detached from the isolation seat 2, the buttons 341 on both sides are pressed simultaneously, at this time, the second positioning block 345 is no longer limited by the protruding portion 262 of the first positioning block 26, the transmission seat 3 is pushed along the X-axis negative direction, the second positioning block 345 passes through the chute 261, at this time, the button 341 can be loosened, and the transmission seat 3 is continuously pushed along the X-axis negative direction, so that the detachment of the transmission seat 3 and the isolation seat 2 can be realized.

The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily make changes or variations within the technical scope of the present invention, and such changes or variations should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A quick release structure for an instrument fixture, comprising:

a driving seat;

2. The quick release structure of an instrument fixation device of claim 1 wherein the positioning portion comprises:

3. The quick release structure of an instrument fixing device according to claim 1, wherein the positioning portion further comprises a locking block disposed at a bottom of the first end of the isolation seat, and one end of the driving seat is capable of being locked in the locking block.

4. The quick release structure of an instrument fixing device according to claim 3, wherein the positioning portion further comprises an insertion block disposed at the second end of the isolation seat, and a socket is disposed at one end of the driving seat corresponding to the insertion block and capable of being received in the socket.

5. The quick release structure of an instrument fixing device according to claim 1, wherein the linkage assembly comprises a slot seat and a linkage block capable of sliding up and down along the slot seat, the linkage block is provided with a pressing rod and a linkage button,

6. The quick release structure of an instrument fixing device according to claim 5, wherein a first guide rod is provided at the bottom of the slot seat, a first spring is sleeved on the first guide rod,

7. The quick release structure of an instrument fixing device according to claim 6, wherein a second guide rod is further provided at the bottom of the slot seat, a second spring is sleeved on the second guide rod,

8. The quick release structure of the instrument fixing device according to claim 7, wherein a circular hole is formed at an end of the slot seat, a second sliding slot is formed at a position of the end of the linkage block corresponding to the circular hole, a third sliding slot is formed at a position of the linkage button corresponding to the second sliding slot, and a sliding rod penetrates through the circular hole, the second sliding slot and the third sliding slot, so that when the linkage block moves downwards, the sliding rod can limit the linkage block.

9. The quick release structure of an instrument fixation device of claim 5 wherein the top of the linkage button is configured as a ramp to reduce resistance as the linkage button enters the card hole.

10. The quick release structure of the instrument fixing device according to claim 5, wherein the two sides of the slot seat are provided with ears, the ears are provided with threaded holes, and the slot seat is fixed at the bottom of the driving seat through the threaded holes.