CN211325576U - Surgical tool mounting device and surgical robot - Google Patents

Abstract

The utility model provides a surgical tool installation device and surgical robot, surgical tool installation device includes: the base comprises a mounting hole arranged along the axial direction, the inner wall of the mounting hole comprises a conical surface, and the guide pin extends out of the inner wall of the mounting hole; the telescopic claw comprises a plurality of claws and a connecting part, the claws are arranged at the end part of the connecting part, the outer wall of each claw is provided with an inclined plane matched with a conical surface, the conical surface can enable the claws to contract, the telescopic claw is arranged in the mounting hole, the connecting part is provided with a guide groove matched with the guide pin, and the outer wall of the connecting part is provided with external threads; rotatory ring, including the through-hole that sets up along the axial, be equipped with on the inner wall with external screw-thread fit's internal thread, the through-hole is packed into to the base, but rotatory ring pivoting, rotatory ring's rotation drives flexible claw sideslip. The operation tool mounting device of the utility model is convenient to operate and is convenient for the quick assembly disassembly of tools.

Description

Surgical tool mounting device and surgical robot

Technical Field

The utility model belongs to mechanical design especially relates to an operation instrument installation device and robot.

Background

In the field of orthopedics, there are more and more surgeries to be performed using robots to assist. Different surgical tools can be carried at the front end of the surgical robot to complete different indication surgical operations. Compared with the traditional operation, the core performance and the outstanding advantages of the surgical robot are accurate positioning and stable operation. The rigidity, stability, integratability of the front end surgical tool attachment is critical to the overall robotic surgical performance and safety.

The existing connecting device of the surgical robot tool is mainly adapted to a flange of a surgical robot. It is difficult to quickly attach and detach the tool to the front connection during surgery using the flange. In addition, under the condition of vibration, the connection of the flange plate is easy to loosen, and the operation is affected.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one of the above problems, the present invention aims to provide a surgical tool mounting apparatus and a robot.

An embodiment of the utility model provides a surgical tool installation device, include: the base comprises a mounting hole arranged along the axial direction, and the inner wall of the mounting hole comprises a conical surface part; the guide pin is arranged by protruding out of the inner wall of the mounting hole; the telescopic claw comprises a plurality of claws and a connecting part, the claws are arranged at the end part of the connecting part at intervals, the outer wall of each claw is provided with an inclined surface part matched with the conical surface part, the end part of each claw is inserted from one end with a small diameter of the conical surface part of the mounting hole, the outer wall of the connecting part is provided with a guide groove matched with the guide pin, and the outer wall of the connecting part is provided with external threads;

the rotating ring comprises a through hole which is axially arranged, an internal thread which is matched with the external thread is arranged on the inner wall of the rotating ring, the end part of the base, which is far away from the conical surface part, is arranged in the through hole, the rotating ring can rotate around a shaft, and the rotating ring rotates to drive the telescopic claws to transversely move.

According to some embodiments of the present invention, the outer wall of the base is provided with a first spring key groove and a second spring key groove; a first latch and a first elastic piece for supporting the first latch are arranged in the first latch groove, a second latch and a second elastic piece for supporting the second latch are arranged in the second latch groove, and a first limiting flange extends from the outer wall of the base along the radial direction; the surgical tool mounting device further comprises a gear ring, wherein a first latch limiting groove corresponding to the first latch and a second latch limiting groove corresponding to the second latch are formed in the inner wall of the gear ring, and the gear ring is rotatably arranged on the base and located between the first limiting flange and the rotating ring; the inner wall of the rotating ring is provided with a plurality of latch teeth which are uniformly distributed in the circumferential direction, and the latch teeth are matched with the first latch key and the second latch key respectively.

According to some embodiments of the utility model, when first latch is located first spacing groove, first latch and latch cooperation restriction rotatory ring anticlockwise rotation.

According to some embodiments of the present invention, when the second latch is located in the second latch limiting groove, the second latch and the latch cooperate to limit the clockwise rotation of the rotating ring.

According to some embodiments of the present invention, a steel ball groove is provided on an outer wall of the base, and a steel ball and a third elastic member supporting the steel ball are provided in the steel ball groove; and a plurality of gear grooves matched with the steel balls are formed in the inner wall of the gear ring.

According to some embodiments of the utility model, the outer wall of connecting portion radially extends second limit flange, second limit flange be located with the one end that the jack catch is relative, the external diameter of second limit flange is greater than the internal diameter of the mounting hole of base, the external screw thread is located on the second limit flange.

According to some embodiments of the invention, the end of the rotating ring remote from the jaws extends radially inwards a third stop flange, the inner diameter of which is smaller than the outer diameter of the second stop flange.

According to some embodiments of the utility model, the base still includes flexible claw spout, flexible claw spout by the conical surface part of mounting hole extends along the axial, the jack catch is located in the flexible claw spout.

According to some embodiments of the utility model, still the base is used for connecting the terminal arm interface that includes of arm, the arm interface is located on the outer wall of flexible claw spout.

An embodiment of the present invention further provides a surgical robot, including a mechanical arm and a surgical tool mounting device as described above, the surgical tool mounting device is connected to the end of the mechanical arm.

The utility model discloses a surgical tool installation device, but the shrink through the jack catch quick clamping tool loosens the jack catch and changes the instrument, realizes the quick assembly disassembly of instrument. Other advantages of the surgical tool mounting device of the present invention are detailed in the specific embodiments.

Drawings

FIG. 1 is an exploded view of a surgical tool mounting device according to an embodiment of the present invention;

FIG. 2 is a schematic view of a surgical tool mounting device according to an embodiment of the present invention;

fig. 3 is a perspective view of a base according to an embodiment of the present invention;

fig. 4 is a cross-sectional view of a base according to an embodiment of the present invention;

fig. 5 is a second perspective view of the base according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a telescopic claw according to an embodiment of the present invention;

fig. 7 is a top view of a telescopic pawl according to an embodiment of the present invention;

FIG. 8 is a schematic structural view of a rotating ring according to an embodiment of the present invention;

FIG. 9 is a cross-sectional view of a rotating ring according to an embodiment of the present invention;

fig. 10 is a first perspective view of a shift ring according to an embodiment of the present invention;

fig. 11 is a second perspective view of the shift ring according to an embodiment of the present invention;

fig. 12 is a schematic view of a latch according to an embodiment of the present invention;

fig. 13 is a first schematic view illustrating a working principle of a shift ring according to an embodiment of the present invention;

fig. 14 is a schematic view of a working principle of a shift ring according to an embodiment of the present invention;

fig. 15 is a diagram of the gear ring in an unlocked state according to an embodiment of the present invention;

fig. 16 is a diagram illustrating a state of the shift ring in a rotation stop state according to an embodiment of the present invention;

fig. 17 is a diagram illustrating a shift ring in a locked position according to an embodiment of the present invention;

Detailed Description

In the following, only certain exemplary embodiments are briefly described. In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present invention, it should be noted that unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The exemplary embodiments of the present invention will be described in conjunction with the accompanying drawings, and it should be understood that the exemplary embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not intended to limit the present invention.

Example 1

As shown in fig. 1 and 2, an exemplary embodiment of the present invention provides a surgical tool mounting device. The surgical tool mounting apparatus includes a base 100, telescopic claws 200, and a rotating ring 300. The retractable claw 200 and the rotating ring 300 are both mounted on the base 100, and the rotation of the rotating ring 300 drives the retractable claw 200 to move axially relative to the base 100. The movement of the telescopic claw 200 relative to the base 100 causes the jaw of the telescopic claw 200 to contract or expand, thereby realizing the quick assembly and disassembly of the tool.

As shown in fig. 3 and 4, the base 100 includes a mounting hole 110 of a through hole type disposed in an axial direction. A part of the inner wall of the mounting hole 110 is a tapered portion 111, and the rest is a cylindrical portion 112, as shown in fig. 4, wherein the left side portion of the inner wall of the mounting hole is the tapered portion 111, and the rest is the cylindrical portion 112. Optionally, the inclined angle of the conical surface portion 111 is 10-40 ° and the conical surface portion 112 is divergent relative to the cylindrical surface portion 112, so as to facilitate the transmission of force, wherein the end with the smallest inner diameter of the conical surface portion 111 is connected to the cylindrical surface portion 112, and the inner diameter of the cylindrical surface portion 112 is equal to the smallest inner diameter of the conical surface portion 111. The base 100 is provided with a circumferential pin groove 120 having a certain width and depth on an outer wall of the cylindrical surface portion 112 away from the tapered surface portion 111.

The base 100 also includes a pin hole 130. in this embodiment, the pin hole 130 extends through the sidewall of the base 100, preferably through the location of the cylindrical surface portion 112. A guide pin 521 may be cooperatively disposed in the pin hole 130, and an end of the guide pin 521 passes through the pin hole 130 and protrudes from the inner wall of the mounting hole 110. Alternatively, the pin hole 130 may not be provided, and the guide pin 521 may be fixed or integrally formed on the inner wall of the corresponding position of the mounting hole 110, and may be generally disposed at a suitable position on the inner wall 112 of the cylindrical surface.

As shown in fig. 6 and 7, the telescopic pawl 200 includes a coupling portion 210 and a plurality of pawls 220. In this embodiment, the connecting portion 210 is a hollow cylindrical structure, the jaws 220 are elongated strip structures, the thin ends of the jaws 220 are circumferentially spaced on one end surface of the connecting portion 210 to form a cylindrical structure, gaps are formed between the adjacent jaws 220 through the gaps, and the jaws 220 and the connecting portion 210 are integrally formed. The inner wall of each jaw 220 facing the inside of the cylindrical structure is smoothly transited to the connection portion 210. The outer wall of each jaw 220 facing the outside of the cylindrical structure is provided with a slope part 221 and a flat part, in this embodiment, the slope part 221 is located at one end of the jaw 220 close to the connecting part 210, and the flat part is located at one end far away from the connecting part 210, wherein the slope of the slope part 221 is designed such that the thickness of the jaw 220 is smaller as it is closer to the connecting part 210. Because the gaps are formed among the claws 220, the claws 220 have certain inward contraction capacity, that is, after the inclined surface part 221 of the claws 220 is pressed, the claws 220 are contracted inward, and after the pressure disappears, the claws 220 are restored to the original state.

When the surgical tool mounting apparatus is mounted, the end of the jaw of the telescopic pawl 200 is inserted from the small-diameter end (i.e., the end of the cylindrical surface portion 112) of the tapered surface portion 111 of the mounting hole 110 of the base 100. Because the inner wall of the base 100 is provided with the conical surface part 111, the jaws 220 are provided with the inclined surface parts 221, and the inclinations of the two parts are matched with each other, when the telescopic jaw 200 is completely inserted into the base 110, the conical surface part 111 is matched with the inclined surface parts 221, and the jaws 220 are in a natural state, when the jaws 220 are stretched outwards and drawn out for a certain distance, the jaws 220 naturally gather inwards due to the mutual extrusion of the conical surface part 111 and the inclined surface parts 221, so that a workpiece clamped by the centers of the jaws can be clamped. Through the axial movement of the telescopic claw 200, the contraction and the relaxation of the claw 220 are realized, and the clamping and the loosening of the workpiece to be clamped are realized. For example, as shown in FIG. 2, the telescoping claw 200 moves to the right and the tapered surface 111 presses against the ramp 221 causing the jaws 220 to contract, which jaws 220 can grip if a tool is in them. When the telescopic claw 200 moves leftward, the pressing force of the tapered surface 111 on the inclined surface 221 is weakened, so that the claw 220 is relaxed, and the clamped tool can be released.

The side wall of the connecting portion 210 is further provided with a guide groove 212 engaged with the guide pin 521. The guide pin 521 is located in the guide groove 212 to limit the pivoting of the retractable claw 200 such that the retractable claw 200 can only move axially. The outer wall of the connection portion 210 is provided with an external thread 211.

As shown in fig. 8 and 9, the rotating ring 300 includes a through hole 310 provided in the axial direction, and the end of the base 100 provided with the pin groove 120 is fitted into the through hole 310. The side wall of the rotating ring 300 is provided with a through-hole type pin hole 320, and a pin is installed in the pin hole 320. The pins extend out the inner wall of the through-holes 310 into the circumferentially disposed pin slots 120 of the susceptor. The rotation ring 300 is rotatable about the axis by restricting the axial movement of the rotation ring 300 by the pin but not restricting the rotation of the rotation ring 300. In this embodiment, the number of the pin holes 320 is three, and the three pin holes are uniformly distributed along the axial direction. The susceptor 100 is inserted into the through-hole 310 such that the pins 511, 512, and 513 are positioned in the three pin holes, respectively. The provision of a plurality of pins is more advantageous in ensuring that the force of the rotating ring 300 is balanced.

The inner wall of the rotating ring 300 is provided with an internal thread 311, and the internal thread 311 is screwed with the external thread 211 of the coupling portion of the telescopic claw 200. Since the pins 511, 512, and 513 restrict the axial movement of the rotating ring 300 relative to the base 100, when the rotating ring 300 rotates, the axial position between the rotating ring 300 and the base is fixed, and only the rotating shaft rotates, and since the rotating ring 300 and the telescopic claws 200 are screwed, when the rotating ring rotates, the telescopic claws are driven to move, and further, the axial movement or the axial movement is generated due to the design of the screw connection. The guide pin 521 limits the rotation of the telescopic claws, and the rotary ring 300 serves as a knob and is rotated by manual operation to drive the telescopic claws to move transversely, that is, the rotary motion of the rotary ring 300 is changed into the transverse motion of the telescopic claws 200 by thread transmission. The telescopic claw 200 is axially transversely moved, and due to the design of the inclined surface part of the outer wall of the claw and the conical surface part of the inner part of the base, the claw 220 is contracted or expanded, so that the tool can be quickly mounted or dismounted.

As shown in fig. 5, according to an alternative embodiment of the present invention, a first spring key groove 181 and a second spring key groove 182 are formed on an outer wall of the base 100. In this embodiment, the first spring key groove 181 and the second spring key groove 182 are symmetrically arranged along the vertical plane. The first latch groove 181 is provided with a first latch 611 and a first elastic member 621 supporting the first latch. One end of the first elastic member 621 abuts against the bottom surface of the first elastic key groove 181, and the other end abuts against the first elastic key 611. The first latch 611 is supported by the elastic member to move up and down, and the end surface of the first latch 611 is moved out of the first latch groove 181 by the first elastic key 621. The second latch groove 182 is provided with a second latch 612 and a second elastic member 622 supporting the second latch, one end of the second elastic member 622 abuts against the bottom surface of the second latch groove 182, and the other end abuts against the second latch 612. The second latch 612 is supported by the elastic member to move up and down, and the end surface of the second latch 612 is moved out of the second latch groove 182 by the second elastic member 612.

As shown in fig. 10 and 11, the surgical tool mounting device of the present embodiment further includes a shift ring 400. A first latch limiting groove 411 and a second latch limiting groove 412 are formed on the inner wall of the gear ring 400. The first latch limiting groove 411 corresponds to the first latch 611, and when the first latch limiting groove 411 is located outside the first latch 611, the gear ring 400 is rotated to elastically push the first latch 611 into the first latch limiting groove 411 under the elastic force of the first elastic key 621. The second latch limiting groove 412 corresponds to the second latch 612, and when the second latch limiting groove 412 is located outside the second latch 612, the gear ring is rotated, so that the second latch 612 is elastically pushed into the second latch limiting groove 412 under the elastic force of the second elastic key 622.

As shown in fig. 12, the first latch 611 and the second latch 612 are both U-shaped, and include a horizontal portion 601 and a vertical portion 602, and a groove 603 for placing a first elastic key 621 and a second elastic key 622 is formed between the two vertical portions 602. The first latch 611 and the second latch 612 of the present embodiment are both the latches shown in fig. 12.

When the first latch 611 is located in the first latch limiting groove 411, the vertical portion of the first latch 611 is still located in the first latch groove 181, so that the first latch 611 can only move up and down. When the second latch 612 is located in the second latch limiting groove 412, the vertical portion of the second latch 612 is still located in the second latch groove 182, so that the second latch 612 can only move up and down.

The side walls of the first latch limiting groove 411 and the second latch limiting groove 412 are obliquely arranged, the size of the top opening of the groove body is larger than that of the bottom opening of the groove body, and the edges of the bottoms of the first latch 611 and the second latch 612 are provided with chamfers, so that the first latch 611 can move into or out of the first latch limiting groove 411 conveniently, and the second latch 612 can move into or out of the second latch limiting groove 412 conveniently.

As shown in fig. 2 and 4, a first position-defining flange 140 is protruded from the outer wall of the base 100 in the radial direction, and the first position-defining flange 140 is positioned at the left side of the pin groove 120, i.e., at the side close to the tapered surface portion 111. The base 100 passes through the shift collar 400, and the shift collar 400 is rotatably disposed on the base 100 between the first position-defining flange 150 and the rotating ring 300. The axial movement of the range ring 400 is restricted by the first limit flange 150 and the rotary ring 300.

As shown in fig. 8 and 9, the inner wall of the rotating ring 300 is provided with a plurality of circumferentially and evenly distributed latch teeth 312. The inner wall of the rotating ring 300 is provided with a clamping tooth section, a limiting section and a thread section in sequence from one end close to the conical surface part to one end far away from the conical surface part. A plurality of latches 312 evenly distributed in the circumferential direction are located on the latch section, the pin hole 320 is located on the limiting section, and the internal thread 311 is located on the thread section.

As shown in fig. 13 and 14, a plurality of latches 312 are engaged with the first and second latches 611 and 612, respectively. When the first latch 611 is located in the first latch catching groove 411, a part of the first latch 611 contacts the latch 312. The rotating ring 300 is rotated in one direction (e.g., clockwise), the first latch 611 moves up and down without restricting the rotation of the rotating ring 300, and the rotating ring 300 is rotated in the other direction (e.g., counterclockwise), the first latch 611 cannot move up and down, thereby restricting the rotating ring 300 from rotating only in one direction. The first latch 611 is located in the first latch catching groove 411 such that the rotating ring 300 can only rotate in a specific direction (e.g., clockwise). When the second latch 612 is located in the second latch limiting groove 412, a part of the second latch 612 contacts the latch 312. The rotating ring 300 is rotated in one direction (e.g., counterclockwise), the second latch 612 can move up and down without restricting the rotation of the rotating ring 300, and the rotating ring 300 is rotated in the other direction (e.g., clockwise), and the second latch 612 cannot move up and down, thereby restricting the rotating ring 300 from rotating only in one direction. The second latch 612 is positioned in the second latch retaining groove 412 such that the rotary ring 300 can only be rotated in a particular direction (e.g., counterclockwise).

As shown in fig. 15, according to an alternative embodiment of the present invention, when the first latch 611 is located in the first latch limiting groove 411, the first latch 611 can only move up and down due to the limitation of the first latch limiting groove 411 and the latch 312, and the first latch 611 and the latch 312 cooperate to limit the counterclockwise rotation of the rotating ring 300, and only allow the clockwise rotation of the rotating ring 300.

As shown in fig. 17, according to an alternative embodiment of the present invention, when the second latch 612 is located in the second latch limiting groove 412, the second latch 612 can only move up and down due to the limitation of the second latch limiting groove 412 and the latch 312, and the second latch 612 cooperates with the latch 312 to limit the clockwise rotation of the rotating ring 300, and only allow the counterclockwise rotation of the rotating ring 300.

As shown in fig. 16, according to an alternative embodiment of the present invention, when the first latch 611 is located in the first latch limiting groove 411 and the second latch 612 is located in the second latch limiting groove 412, the rotating ring 300 cannot rotate due to the restriction of the first latch 611 and the second latch 612.

According to an optional technical scheme of the utility model, be equipped with steel ball groove 140 on the outer wall of base 100, steel ball groove 140's position is relative with gear ring 400. The steel ball groove 140 is provided with a steel ball 631 and a third elastic member 632 for supporting the steel ball, and the third elastic member 632 provides elastic support for the steel ball 631.

The inner wall of the gear ring 400 is provided with a plurality of gear grooves matched with the steel balls 631. The gear groove in this embodiment includes an unlocking gear groove 421, a rotation stop groove 422, and a locking gear groove 423, which are sequentially disposed. The gear grooves are arc-shaped grooves, and the edges of the gear grooves are in smooth transition with the inner wall of the gear ring 400. Corresponding icons are arranged on the outer wall of the gear ring 400 at positions corresponding to the gear grooves, so that an operator can conveniently identify the gears where the gear ring 300 is located.

When the steel ball 631 is located in the unlocking slot 421, the first latch 611 is located in the first latch positioning slot 411. The second latch 612 is not in the second latch catching groove 412 and is pressed into the second latch groove 182, allowing only the clockwise rotation of the rotary ring 300.

When the steel balls 631 are located in the locking groove 423, the second latch 612 is located in the second latch positioning groove 412. The first latch 611 is not in the first latch stopper groove 411 and is pressed into the first latch groove 181, allowing only the rotary ring 300 to rotate counterclockwise.

When the locking gear is in, after the jaws 220 clamp the tool, the rotating ring 300 cannot rotate reversely, and when vibration and the like occur, unnecessary looseness of the clamped tool cannot occur.

When the steel balls 631 are located in the rotation stopping groove 422, the first latch 611 is located in the first latch positioning groove 411, the second latch 612 is located in the second latch positioning groove 412, and the rotating ring 300 cannot rotate.

As shown in fig. 6 and 7, according to an alternative embodiment of the present invention, the outer wall of the telescopic claw coupling portion 210 radially extends out of the second limit flange 213. The second position-defining flange 213 is located at an end opposite the pawl 220. The outer diameter D2 of the second position-defining flange 213 is greater than the inner diameter D1 of the mounting hole 110 of the base. When the retractable claw 200 moves leftward, the second stopper flange 213 contacts the base 100, and then the retractable claw 200 is restricted from moving excessively leftward. The external threads 211 are located on the second stop 213 flange to facilitate connection with the internal threads 311.

As shown in fig. 9, according to an alternative embodiment of the present invention, the rotating ring 300 extends radially inward away from the ends of the jaws to a third stop flange 330. The inner diameter D3 of the third position-defining flange 330 is less than the outer diameter D2 of the second position-defining flange. When the telescopic claw 200 moves rightwards, one end of the connecting part of the telescopic claw 200, which is far away from the claw, is abutted against the third limit flange 330, so that the telescopic claw 200 is limited from moving rightwards excessively.

According to an alternative embodiment of the present invention, as shown in fig. 3, the base 100 further includes a telescopic claw sliding groove 160. The telescopic pawl slide groove 160 extends in the axial direction from the large-diameter end of the tapered surface portion of the mounting hole 110. The jaw 220 is located in the telescopic jaw sliding groove 160, and the telescopic jaw sliding groove 160 plays a supporting role for the jaw 220, so that the rigidity and stability of the surgical tool installation device are improved.

In this embodiment, as shown in fig. 3, the base 100 further includes a robot arm interface 170, and the robot arm interface 170 is located on an outer wall of the telescopic claw chute 160. The robotic arm interface 170 may also be disposed at other locations on the base 100 for connection to the distal end of a medical robotic arm.

Example 2

An exemplary embodiment of the present invention provides a medical robot including a robot arm and a surgical tool mounting device as above. The surgical tool mounting device is connected with the tail end of the mechanical arm, and surgical tools are clamped and fixed through the clamping jaws 220 of the surgical tool mounting device.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A surgical tool mounting device, comprising:

the base comprises a mounting hole arranged along the axial direction, and the inner wall of the mounting hole comprises a conical surface part;

the guide pin is arranged by protruding out of the inner wall of the mounting hole;

the telescopic claw comprises a plurality of claws and a connecting part, the claws are arranged at the end part of the connecting part at intervals, the outer wall of each claw is provided with an inclined surface part matched with the conical surface part, the end part of each claw is inserted from one end with a small diameter of the conical surface part of the mounting hole, the outer wall of the connecting part is provided with a guide groove matched with the guide pin, and the outer wall of the connecting part is provided with external threads;

the rotating ring comprises a through hole which is axially arranged, an internal thread which is matched with the external thread is arranged on the inner wall of the rotating ring, the end part of the base, which is far away from the conical surface part, is arranged in the through hole, the rotating ring can rotate around a shaft, and the rotating ring rotates to drive the telescopic claws to transversely move.

2. The surgical tool mounting device of claim 1, wherein the outer wall of the base is provided with a first resilient key groove and a second resilient key groove; a first latch and a first elastic piece for supporting the first latch are arranged in the first latch groove, a second latch and a second elastic piece for supporting the second latch are arranged in the second latch groove, and a first limiting flange extends from the outer wall of the base along the radial direction;

the surgical tool mounting device further comprises a gear ring, wherein a first latch limiting groove corresponding to the first latch and a second latch limiting groove corresponding to the second latch are formed in the inner wall of the gear ring, and the gear ring is rotatably arranged on the base and located between the first limiting flange and the rotating ring;

the inner wall of the rotating ring is provided with a plurality of latch teeth which are uniformly distributed in the circumferential direction, and the latch teeth are matched with the first latch key and the second latch key respectively.

3. The surgical tool mounting apparatus of claim 2, wherein the first latch and the latch cooperate to limit counterclockwise rotation of the swivel ring when the first latch is positioned in the first retaining groove.

4. The surgical tool mounting apparatus of claim 2, wherein the second latch and the latch cooperate to limit clockwise rotation of the swivel ring when the second latch is positioned in the second latch-limiting slot.

5. The surgical tool mounting device of claim 2, wherein a steel ball groove is formed on the outer wall of the base, and a steel ball and a third elastic member supporting the steel ball are arranged in the steel ball groove;

and a plurality of gear grooves matched with the steel balls are formed in the inner wall of the gear ring.

6. A surgical tool mounting apparatus as claimed in claim 1, wherein the outer wall of the connecting portion extends radially beyond a second stop flange at an end opposite the jaw, the second stop flange having an outer diameter greater than an inner diameter of the mounting hole of the base, the external thread being on the second stop flange.

7. A surgical tool mounting apparatus as claimed in claim 6, wherein the end of the swivel ring remote from the jaws extends radially inwardly beyond a third stop flange, the third stop flange having an inner diameter smaller than the outer diameter of the second stop flange.

8. A surgical tool mounting apparatus as recited in claim 1, wherein the base further includes a telescoping pawl slide extending axially from the tapered portion of the mounting hole, the pawl being positioned within the telescoping pawl slide.

9. A surgical tool mounting apparatus as claimed in claim 8, wherein the base further comprises a robotic arm interface for connecting an end of a robotic arm, the robotic arm interface being located on an outer wall of the telescoping claw slide.

10. A surgical robot comprising a robotic arm and a surgical tool mounting device as claimed in any one of claims 1 to 9, the surgical tool mounting device being connected to a distal end of the robotic arm.

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