CN209966451U

CN209966451U - Quick-release structure of instrument fixing device

Info

Publication number: CN209966451U
Application number: CN201821628423.8U
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: an isolation seat; the transmission seat is arranged on the isolation seat; the quick-release structure comprises a quick-release part and a positioning part fixedly connected with the isolation seat and the transmission seat, the quick-release part comprises a first positioning block arranged on the isolation seat and a quick-release assembly arranged on the transmission seat, when the transmission seat is installed and connected with the isolation seat, the quick-release assembly can be clamped on the first positioning block, and when the transmission seat is detached from the isolation seat, the quick-release assembly can slip from the first positioning block. 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:

the isolation seat is provided with a groove for accommodating an instrument rod;

the transmission seat is arranged on the isolation seat;

the quick-release structure comprises a quick-release part and a positioning part for fixedly connecting the isolation seat with the transmission seat, and the quick-release part comprises a first positioning block arranged on the isolation seat and a quick-release assembly arranged on the transmission seat;

when the transmission seat is installed and connected with the isolation seat, the quick-release assembly can be clamped on the first positioning block, and when the transmission seat is detached from the isolation seat, the quick-release assembly can slip off the first positioning block.

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 part further includes:

the first sliding block is provided with a first sliding groove and a second sliding groove, the first sliding groove is arranged at one end of the first sliding groove, the second sliding groove is arranged at the same end of the first sliding block as the first sliding groove, and the first sliding block and the second sliding groove can be accommodated in the first sliding groove.

Preferably, the first positioning block comprises inclined grooves symmetrically arranged on two sides of the first sliding block and a protruding part positioned on the outer sides of the inclined grooves.

Preferably, the quick-release components are symmetrically arranged at two sides of the transmission seat, the quick-release components comprise a button, a guide block, a stop block and small cylinders which are sequentially connected, a spring is sleeved between the small cylinders of the quick-release components at two sides,

the guide block comprises an inclined part and a plane part, the inclined part enables the button to be always positioned above the side of the first positioning block, a second positioning block is arranged on the lower surface of the joint position of the inclined part and the plane part, the width of the second positioning block is smaller than that of the inclined groove,

when the spring is in a relaxed state, the second positioning block can be clamped and fixed on the protruding portion, when the spring is in a compressed state, the transmission seat is moved along the length direction of the isolation seat, and the second positioning block can pass through the inclined groove.

Preferably, a guide groove is formed in the transmission seat at a position corresponding to the quick release assembly, and the planar portion is accommodated in the guide groove and can slide along the guide groove.

Preferably, the first sliding groove is configured as a wide portion and a narrow portion, a step is formed between the wide portion and the narrow portion, and the first positioning portion can abut against the step when the transmission seat is installed and connected with the isolation seat.

Preferably, one end of the first sliding block is provided with a guide inclined plane so as to reduce the resistance when the first sliding block enters the first sliding groove.

Preferably, the end face of the small cylinder on the stop block is provided with a first clamping groove, and the spring is abutted against the first clamping groove.

Preferably, the button, the guide block, the stopper and the small cylinder are integrally formed.

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 may be realized and attained by the structure particularly pointed out in the written description and 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.

As shown in fig. 2 and 3, the driving seat 3 and the isolating seat 2 are quickly connected 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 31 arranged at the bottom of the transmission seat 3 and a first sliding block 21 arranged on the isolation seat 2. The first slider 21 can be accommodated in the first slide groove 31 and slide along the first slide groove 31.

The first runner 31 is configured in two portions of unequal width, with a wider portion near one end of the implement attachment mechanism 4 and a narrower portion away from one end of the implement attachment mechanism 4, with a step 32 formed between the wider and narrower portions. The first slide block 21 of the isolation seat 2 is symmetrically provided with first positioning blocks 22 at both sides, and the first positioning blocks 22 comprise inclined grooves 221 and convex parts 222 (shown in fig. 4) positioned at the ends of the inclined grooves 221. During the process of introducing the first slider 21 into the first slide groove 31, the first positioning block 22 can abut on the step 32 of the first slide groove 31, thereby limiting the movement range of the transmission base 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 first slider 21 and the first slide groove 31.

Further, the first quick release structure further includes a second positioning portion, the second positioning portion includes a protrusion 33 disposed at one end of the first sliding groove 31 far away from the apparatus connecting mechanism 4 (the protrusion 33 is located on the plane where the lower surface of the transmission seat 3 is located), a groove 23 is disposed at one end of the first sliding block 21 far away from the apparatus connecting mechanism 4, and when the transmission seat 3 slides to a state of being assembled with the isolation seat 2, the protrusion 33 can be accommodated in the groove 23. 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 first slider 21 into the first sliding groove 321, a downwardly inclined guiding inclined surface 211 is provided at an end of the first slider 21 away from the instrument connecting mechanism 4 to reduce resistance when the first slider 21 enters the first sliding groove 31, thereby improving assembly efficiency.

As shown in fig. 5 and 6, the two sides of the driving seat 3 are symmetrically provided with the first quick release assemblies 34, each first 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 start 341 to be always positioned above the side of the first positioning block 22 so as not to interfere with the first positioning block 22. 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 22. 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. 7, a guide groove 35 is provided on the transmission base 3 at a position corresponding to the first 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. 8, 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 first 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 first quick release assemblies 34. As shown in fig. 9, 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, during the movement process of the transmission seat 3, the second positioning block 345 on the first quick release assembly 34 enters the chute 221 of the first positioning block 22 (close to the outer side of the chute 221), and under the limiting and guiding effects of the chute 221, the spring of the first quick release assembly 34 is gradually compressed to move the second positioning block 345 towards the direction close to the first slider 21, so that the second positioning block 345 can smoothly pass through the narrow part of the chute 221. The second positioning block 345 passes through the inclined groove 221 and then is reset under the action of the spring, and at the moment, the second positioning block 345 is just clamped on the convex part 222 of the first positioning block 22, so that the transmission seat 3 is prevented from moving reversely to the X axis. And at this time, the projection 33 on the first sliding chute 31 and the groove 23 on the first sliding block 21 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 protrusion 222 of the first positioning block 22, the transmission seat 3 is pushed along the X-axis negative direction, the second positioning block 345 passes through the chute 221, at this time, the button 341 can be released, 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.

Returning to fig. 2 and 3, the isolation seat 2 and the driving seat 1 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 second sliding groove 24 formed in the bottom of the isolation seat 2 and a second sliding block 11 arranged on the driving seat 1, and the second sliding block 11 can be contained in the second sliding groove 24, 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 second slide block 11 and the second slide groove 24.

Further, the second quick release structure further comprises a fourth positioning portion, the fourth positioning portion comprises a clamping block 25 arranged at one end of the bottom of the isolation seat 2 far away from the instrument connection mechanism 4 and an insertion block 26 arranged at one end of the isolation seat 2 close to the instrument connection mechanism 4, and the insertion block 26 extends along the length direction of the isolation seat 2. The driving seat 1 is provided with an insertion hole 27 which is matched with the insertion block 26, when the isolation seat 2 is installed on the driving seat 1, the insertion block 26 is inserted into the insertion hole 27, and simultaneously, the end part of the driving seat 1 far away from the instrument connecting mechanism 4 is clamped in the clamping block 25 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. 10, the second quick release structure 7 further includes a second quick release assembly 12, and the second 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 down 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 second quick release assembly 12 further includes a first locking hole 28 disposed at the bottom of the isolation seat 2 (the first locking hole 28 is located at an end close to the implement connecting mechanism 4), and when the isolation seat 2 is installed with the driving seat 1, the linkage button 123 is accommodated inside the first locking hole 28.

A circular hole 1211 is formed at one end of the slot seat 121, a third sliding groove 1224 is formed at a position, corresponding to the circular hole 1211, of the end of the linkage block 122, a fourth sliding groove 1225 is formed at a position, corresponding to the third sliding groove 1224, of the linkage button 123, and a sliding rod (shown in the figure) penetrates through the circular hole 1211, the third sliding groove 1224 and the fourth sliding groove 1225, so that when the linkage block 122 moves downwards, 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 second sliding groove 24 at the bottom of the isolation seat 2 is matched with the second 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 26 of the isolation seat 2 is inserted into the plug hole 27 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 25 of the isolation seat 2. Meanwhile, the linkage button 123 of the second quick release assembly is just accommodated in the clamping hole 28 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 1222 needs to be pressed, the third slider 1221 moves downward to drive the linkage button 123 to move downward, so that the linkage button 123 moves out of the clamping hole 28 of the isolation seat 2, and at this time, 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 push rod 1222 is not forced any more, the push rod 1222 and the link button 123 are reset by the spring.

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:

the transmission seat is arranged on the isolation 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 fixation device of claim 2, wherein the positioning portion further comprises:

4. The quick release structure of an instrument fixing device according to claim 3, wherein the first positioning block comprises inclined grooves symmetrically arranged at both sides of the first sliding block and a convex part positioned at the outer sides of the inclined grooves.

5. The quick release structure of an instrument fixing device according to claim 4, wherein the quick release components are symmetrically arranged on two sides of the transmission seat, the quick release components comprise a button, a guide block, a stop block and small cylinders which are connected in sequence, a spring is sleeved between the small cylinders of the quick release components on two sides,

6. The quick release structure of an instrument fixing device according to claim 5, wherein the transmission base is provided with a guide slot corresponding to the quick release assembly, and the flat portion is received in the guide slot and can slide along the guide slot.

7. The quick release structure of an instrument fixation device of claim 6, wherein the first slot is configured to be wide

The transmission seat is connected with the isolation seat in an installing mode, and the first positioning part can abut against the step when the transmission seat is connected with the isolation seat in the installing mode.

8. The quick release structure of an instrument fixing device according to claim 2, wherein one end of the first sliding block is provided with a guiding slope to reduce the resistance of the first sliding block entering the first sliding groove.

9. The quick release structure of an instrument fixing device according to claim 5, wherein the end surface of the small cylinder on the stopper is provided with a first slot, and the spring abuts against the first slot.

10. The quick release structure of an instrument fixation device of claim 5 wherein the button, the guide block, the stop, and the small cylinder are integrally formed therebetween.