CN211381520U - Surgical instrument connecting device capable of being rapidly installed and detached - Google Patents
Surgical instrument connecting device capable of being rapidly installed and detached Download PDFInfo
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- CN211381520U CN211381520U CN201922031199.5U CN201922031199U CN211381520U CN 211381520 U CN211381520 U CN 211381520U CN 201922031199 U CN201922031199 U CN 201922031199U CN 211381520 U CN211381520 U CN 211381520U
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- 238000007789 sealing Methods 0.000 claims description 5
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- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
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- 238000010586 diagram Methods 0.000 description 3
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- 210000001503 joint Anatomy 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 238000011900 installation process Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
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- 230000003902 lesion Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
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Abstract
The utility model relates to a surgical instrument connecting device capable of being rapidly installed and disassembled, which solves the technical problems of high instrument replacement structure cost, low reliability and complex operation in the existing minimally invasive surgical robot system, and comprises a poking card, a puncture outfit connecting seat, an instrument adapter seat and a quick change interface, wherein the instrument adapter seat comprises a partition board and a connecting plate seal ring, the partition board is provided with a stepped hole, an intermediate connecting wheel is arranged in the stepped hole, the top surface of the intermediate connecting wheel is provided with two top surface waist-shaped holes, the bottom surface of the intermediate connecting wheel is provided with two bottom surface waist-shaped holes, the stepped hole is provided with a slot, and a bulge on the connecting plate seal ring is inserted into the slot; the side surface of the isolation plate is connected with a conductive copper sheet; the quick-change interface comprises a quick-change base, a shell, a driving assembly, a driving motor, a contact switch and a motor sliding shaft connecting seat; the puncture outfit connecting seat is connected with the poking card. The utility model discloses extensively be used for medical instrument technical field.
Description
Technical Field
The utility model relates to a minimal access surgery operation robot technical field particularly, relates to a but surgical instruments connecting device of quick installation and dismantlement.
Background
Referring to the chinese patent application with publication No. CN109091237A and named as an auxiliary system of minimally invasive surgical instruments, minimally invasive surgery represented by laparoscope is known as one of the important contributions of 20 th century medical science to human civilization, and minimally invasive surgical operation refers to a procedure in which a doctor uses a slender surgical tool to insert into the body through a tiny incision on the surface of the body to perform a surgical operation. Compared with the traditional open surgery, the utility model has the advantages of small surgical incision, less bleeding, small postoperative scar, quick recovery time and the like, which greatly reduces the pain of the patient; therefore, minimally invasive surgery is widely used in clinical surgery.
Referring to the chinese patent application with application publication No. CN109091238A entitled split minimally invasive surgical instrument assistance system, a minimally invasive surgical robotic system includes a surgeon console that precisely controls one or more surgical instruments on a robotic arm of a patient console to perform various surgical actions by operating the surgeon robotic arm.
Surgical instruments are an integral tool of surgical procedures that can perform various functions including clamping, cutting, stapling, and the like. Surgical instruments come in different configurations, including an execution tip, wrist, instrument shaft, instrument box, etc., through which the surgical instrument is inserted to perform a telesurgical operation.
During surgery, the patient robotic arm sets up a sterile drape attachment to isolate the surgical instruments from the surrounding area, maintaining the patient table clean. The surgical instrument needs to be connected to the instrument lift mount on the patient's robotic arm through the instrument adapter on the sterile drape attachment and receive electrical, mechanical, and other signals from the robotic arm. Meanwhile, in order to meet the action requirements of different surgical operation tasks (clamping, suturing, knotting and the like), the surgical instruments can be replaced at any time and reconnected with instrument mounting seats connected to the mechanical arms of the patient. Therefore, the realization of the quick replacement of the surgical instrument is an important function of the minimally invasive surgical robot. The existing instrument replacement structure has the problems of high cost, low reliability and complex operation. In order to meet the requirements of modern minimally invasive surgery, the instrument switching structure matched with surgical instruments and mechanical arms has the characteristics of low cost, high reliability and convenience in operation.
Disclosure of Invention
The utility model discloses it is with high costs exactly to change the structure in order to solve among the current minimal access surgery robot system apparatus, and the reliability is low, operates complicated technical problem, provides with low costs, the reliability is high, the simple operation can install fast and the surgical instruments connecting device who dismantles.
The utility model provides a surgical instrument connecting device capable of being rapidly installed and disassembled, which comprises a poking card, a puncture outfit connecting seat, an instrument adapter seat and a quick-change interface, wherein the instrument adapter seat comprises a partition plate and a connecting plate seal ring, the partition plate is provided with a step hole, an intermediate connecting wheel is arranged in the step hole, the top surface of the intermediate connecting wheel is provided with a first top surface waist-shaped hole and a second top surface waist-shaped hole, and the bottom surface of the intermediate connecting wheel is provided with a first bottom surface waist-shaped hole and a second bottom surface waist-shaped hole; the side surface of the isolation plate is provided with a clamping hook and a clamping groove; the stepped hole is provided with a slot, the sealing ring of the connecting plate is provided with a bulge, and the bulge of the sealing ring of the connecting plate is inserted into the slot; the side surface of the isolation plate is connected with a conductive copper sheet;
the quick-change interface comprises a quick-change base, a shell, a button slider, a reset spring, a button switch, a driving assembly, a driving motor, a contact switch and a motor sliding shaft connecting seat, the shell is connected with the quick-change base, the driving assembly is connected with the quick-change base, the contact switch is connected with the upper end face of the quick-change base, and the upper end face of the quick-change base is connected with a spring pin; the driving assembly comprises a jacking support, a jacking spring and a motor sliding shaft, the motor sliding shaft comprises a disc and two parallel sliding shaft sections, the two parallel sliding shaft sections are fixedly connected with the disc, and a spring mounting hole is formed in the center of the disc; the motor sliding shaft connecting seat is fixedly connected with an output shaft of the driving motor, the pushing spring is placed in a spring mounting hole of the motor sliding shaft, one end of the pushing spring is in contact with the lower end of the jacking support, and the other end of the pushing spring is in contact with the upper end of the motor sliding shaft connecting seat; the jacking device is provided with two jacking shaft holes which are parallel to each other, the end surface of the jacking is fixedly connected with two circular bulges, linear bearings are connected in the jacking shaft holes, the two linear bearings are totally two linear bearings, the two linear bearings are respectively sleeved on the two sliding shaft sections, and the tail ends of the sliding shaft sections are connected with limit screws; the quick-change base is provided with a sliding groove, the button is connected with the button sliding block, and a return spring is connected between the bottom surface of the sliding groove and the button sliding block;
the poking card is provided with a limiting groove, a reset spring, a clamping hook and a button are arranged in the limiting groove, the button of the poking card is connected with the clamping hook, and the reset spring is connected between the clamping hook and the bottom surface of the limiting groove; the middle of the puncture outfit connecting seat is provided with a slot, and the two sides are symmetrically provided with hook grooves.
Preferably, the surgical instrument connecting device capable of being quickly mounted and dismounted further comprises an instrument lifting seat, the poking card is connected with the instrument lifting seat, and the quick-change interface is connected with the instrument lifting seat.
The beneficial effects of the utility model are that, the size is little, and the structure is simple and easy, and is with low costs, the simple operation, it is high to connect the reliability.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a schematic view of a mounting arrangement of a surgical instrument of a minimally invasive surgical robotic system to a robotic arm of a patient;
FIG. 2 is a schematic structural view of the instrument adapter;
FIG. 3 is a schematic structural view of the instrument adapter;
FIG. 4 is a schematic view of the connection of a connection plate seal ring to a spacer plate in an instrument adapter;
FIG. 5 is a schematic view of the connection of conductive copper blades in the instrument adapter;
fig. 6 is a schematic structural diagram of a quick-change interface;
FIG. 7 is a schematic view of the mounting of the drive assembly in the quick-change coupling of FIG. 6;
fig. 8 is a schematic structural diagram of a driving assembly in the quick-change interface shown in fig. 6;
FIG. 9 is a cross-sectional view of the structure shown in FIG. 8;
FIG. 10 is a schematic view of the structure of a motor slide shaft in the structure shown in FIG. 8;
FIG. 11 is a schematic view of the structure of the jacking member of the structure of FIG. 8;
FIG. 12 is a positional relationship diagram of the surgical instrument, the instrument adapter and the quick-change interface;
FIG. 13 is a schematic structural view of the surgical instrument;
fig. 14 is a schematic view of a mounting arrangement of a surgical instrument to a quick-change interface via an instrument adapter;
FIG. 15 is a schematic view of the structure of FIG. 14 with the chip, pogo pins and conductive copper plate in communication;
fig. 16 is a schematic view of the state that the intermediate connecting wheel is jacked up by two circular bulges on the top surface under the action of the jacking spring after the instrument adapter is mounted to the quick-change connector through the buckling device;
FIG. 17 is a schematic view of the stop block 502-1 of the intermediate connecting wheel 502 contacting the stop 503-2;
FIG. 18 is a schematic view of the circular boss of the jack engaging the kidney-shaped hole in the bottom surface of the intermediate coupling wheel;
FIG. 19 is a schematic view of the surgical instrument mounted on the instrument adapter with the rounded protrusion on the bottom surface of the drive shaft pressing against the intermediate coupling wheel;
FIG. 20 is a schematic view of a stop pin on the surgical instrument restricting the rotational angle of the drive assembly;
FIG. 21 is a schematic view of the surgical instrument with two circular protrusions on the bottom surface of the drive shaft engaging the first top kidney-shaped hole and the second top kidney-shaped hole of the intermediate coupling wheel;
FIG. 22 is a schematic view of a locking structure of the connector holder of the puncture instrument in connection with the stamp card;
fig. 23 is a schematic view of the locking structure of the surgical instrument connected to the quick-change interface through the instrument adapter.
The symbols in the drawings illustrate that:
1. an instrument lifting seat, 2 parts of a poking card, 2 parts of a button, 1 parts of a limiting groove, 2 parts of a reset spring, 2 parts of a clamping hook, 3 parts of a puncture outfit connecting seat, 3 parts of a slot, 3 parts of a hook groove, 4 parts of a quick-change interface, 401 parts of a quick-change base, 402 parts of a shell, 403 parts of a driving component, 403 parts of a circular protrusion, 403 parts of a quick-change base, 403 parts of a shell, 403 parts of a driving component, 403 parts of a circular protrusion, 403 parts of a top support shaft hole, 403 parts of a linear bearing, 403 parts of a limit screw, 403 parts of a pushing spring, 403 parts of a motor sliding shaft, 403 parts of a sliding shaft, 6 parts of a spring mounting hole, 403 parts of a linear bearing, 6 parts of a circular disc, 404 parts of a driving motor, 405 parts of a contact switch, 407-1, a button sliding block, 407-2, a return spring, 408, a control button, 409, a motor sliding shaft connecting seat;
5. the device comprises an instrument adapter seat, 501, an isolation plate, 501-1, a stepped hole, 501-1-1, a slot, 501-2, a hook, 501-3, a clamping groove, 501-4, a boss, 502, an intermediate connecting wheel, 502-1, a limiting block, 502-2, a first top surface waist-shaped hole, 502-3, a second top surface waist-shaped hole, 502-4, a first bottom surface waist-shaped hole, 502-5, a second bottom surface waist-shaped hole, 503, a connecting plate sealing ring, 503-1, a bulge, 503-2, a stop block, 504, a conductive copper sheet, 504-1, a bulge, 505, a slot, 505-1, a pit and 506, and a clamping block; 5-1. axis;
6. the surgical instrument comprises a surgical instrument body 601, a sleeve 602, an end effector 603, an instrument box base 604, an instrument spring needle 605, a transmission assembly 605-1, a transmission shaft 605-2, a limit step 605-3, a limit pin 606, a surgical instrument button 606-1, a return spring 606-2 and a clamping hook; 607. and (3) a chip.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description of the preferred embodiments with reference to the accompanying drawings.
As shown in fig. 1, the patient robot arm comprises an instrument lifting seat 1 for installing surgical instruments, a pricking card 2 is connected with the instrument lifting seat 1, and a puncture outfit connecting seat 3 is connected with the pricking card 2. The stamp card 2 is connected with a first button 2-1. A sterile drape may be attached to instrument adapter 5. The quick-change interface 4 is arranged on the instrument lifting seat 1, and can drive the surgical instrument to move along the sleeve in the surgical process and control the end effector of the surgical instrument to execute different surgical operation tasks (clamping, suturing, knotting and the like). On one hand, the instrument adapter 5 can isolate the surgical instrument from the robot body, the surgical instrument is easily infected by bacteria due to the direct contact with the lesion tissue, and the quick-change interface is inconvenient for high-frequency disinfection, so that the surgical instrument and the robot body are separated as much as possible; on the other hand, the instrument adapter main body is made of medical engineering plastics, so that the insulation effect can be achieved, and the leakage current of the surgical instrument is prevented from being conducted to the robot body.
When the puncture outfit is used, the sterile drape is sleeved on a mechanical arm of a patient, the button 2-1 is pressed, the puncture outfit connecting seat 3 is manually inserted into the poking card 2, the button 2-1 is released, and the puncture outfit connecting seat 3 and the poking card 2 are automatically locked. The button switch 407 is pressed, the instrument adapter 5 is manually inserted into the quick-change connector 4, the button switch 407 is released, and the instrument adapter 5 and the quick-change connector 4 are automatically locked. The method has the advantages of convenience in operation, short installation time and high reliability.
The instrument adapter 5 provides an interface between the surgical instrument and the patient robotic arm. When the surgical instrument is installed, the surgical instrument button 606 on the surgical instrument 6 is pressed, the surgical instrument is manually inserted into the instrument adapter 5, the surgical instrument button 606 is released, and the surgical instrument button 606 and the instrument adapter are automatically locked. The surgical instrument 6 is connected to the instrument lift 1 of the patient robot arm via the instrument adapter 5 and receives electrical, mechanical and other signals from the robot arm via the instrument lift 1. The puncture outfit connecting seat 3 enters the appointed position of the operation through the guiding function of the sleeve. The connection of the surgical instrument and the instrument adapter has the advantages of convenient, quick and reliable operation.
As shown in fig. 2-5, the instrument adapter 5 includes a partition plate 501, an intermediate connection wheel 502, a connection plate sealing ring 503, a conductive copper sheet 504, and a fixture block 506, wherein four stepped holes 501-1 are formed in the partition plate 501, and one intermediate connection wheel 502 is installed in each stepped hole 501-1. The intermediate connecting wheel 502 is generally stepped shaft-shaped and is movable within the stepped bore 501-1 along the axis 5-1 and rotatable about the axis 5-1. A first top waist-shaped hole 502-2 and a second top waist-shaped hole 502-3 are formed in the top surface of each intermediate connecting wheel 502, and the distances from the centers of the first top waist-shaped hole 502-2 and the second top waist-shaped hole 502-3 to the center of the circular surface of the top surface of each intermediate connecting wheel are different and are arranged asymmetrically. The bottom surface of each intermediate connecting wheel 502 is provided with a first bottom surface waist-shaped hole 502-4 and a second bottom surface waist-shaped hole 502-5, and the distances from the centers of the first bottom surface waist-shaped hole 502-4 and the second bottom surface waist-shaped hole 502-5 to the center of the circular surface of the bottom surface of the intermediate connecting wheel are different and are also asymmetrically arranged.
The partition 501 is provided with a boss 501-4. The side of the isolation plate 501 is provided with two hooks 501-2 and a slot 501-3. The stepped hole 501-1 is provided with a slot 501-1-1, the connecting plate seal ring 503 is provided with a protrusion 503-1 and a stop 503-2, and the protrusion 503-1 is inserted into the slot 501-1-1 to realize the installation of the connecting plate seal ring 503. The intermediate connecting wheel 502 is provided with a limiting block 502-1, and when the intermediate connecting wheel 502 rotates, the limiting block 503-2 can limit the rotating angle of the intermediate connecting wheel 502.
The side of the isolation board 501 is also installed with a set of conductive copper sheets 504 insulated from each other for connecting the pins of the chip on the surgical instrument with the controller of the control system. The conductive copper sheet 504 is concave, and a protrusion 504-1 is disposed inside the conductive copper sheet 504. A slot 505 is arranged at the side position of the isolation plate 501, and a pit 505-1 is arranged in the slot 505. When the conductive copper sheet is installed, the conductive copper sheet 504 is inserted into the slot 505, the protrusion 504-1 is embedded into the pit 505-1, and then the fixture block 506 is embedded into the slot 505 in an interference fit manner to limit the conductive copper sheet. Therefore, no chemical adhesive is used in the installation process of the conductive copper sheet 504, so that the conductivity of the copper sheet can be ensured not to be affected, and the time consumption of the installation process is short.
As shown in fig. 6 to 11, the quick-change interface 4 includes a quick-change base 401, a housing 402, a driving assembly 403, a driving motor 404, a contact switch 405, a pogo pin 406, a button switch 407, a control button 408, and a motor sliding shaft connecting seat 409, where the housing 402 is sleeved on the quick-change base 401 to achieve connection, four driving assemblies 403 having self-connection function are installed on the quick-change base 401, two circular protrusions 403-1 are provided on an end surface of the driving assembly 403, and each driving assembly 403 is connected to an output shaft of a corresponding driving motor 404. When the instrument adapter 5 is mounted on the quick-change connector 4, the driving motor 404 drives the driving assembly 403 to rotate around respective axes, and two circular protrusions 403-1 on the end surface of the driving assembly are aligned with the first bottom-surface kidney-shaped hole 502-4 and the second bottom-surface kidney-shaped hole 502-5 on the bottom surface of the middle connecting wheel in the instrument adapter 5, so that the two are buckled together. A contact switch 405 is installed on the upper end face of the quick-change base 401, and the contact switch 405 is connected into a circuit of a robot control system; when the instrument adapter 5 is installed in the quick-change connector 4, the contact switch 405 is triggered to output a detection signal, the control system outputs a start control signal to the driving motor 404 according to the read detection signal output by the contact switch, and the driving assembly 403 starts to perform a self-connection action. A group of spring pins 406 are also mounted on the upper end face of the quick-change base 401, and the spring pins 406 are also connected into the circuit of the robot control system. After the surgical instrument 6 is mounted on the quick-change interface 4 through the instrument adapter 5, the spring pin 406 is communicated with a chip in the surgical instrument 6 through the conductive copper sheet 504, and the control system reads instrument data. The button switch 407 is installed on the side surface of the quick-change base 401, and after the instrument adapter 5 is installed on the quick-change connector 4, the hook 501-2 located on the bottom surface of the isolation plate is hooked with the button slider 407-1 inside the button switch 407, so that the function of locking the instrument adapter is achieved. The bottom of the shell 402 is provided with a control button 408, the control button 408 is connected to a circuit of the robot control system, and after the surgical instrument is successfully installed, an operator can release the locking state of the quick-change interface 4 and the surgical instrument on the instrument lifting seat 1 by operating the control button 408, so that the position of the surgical instrument on the instrument lifting seat 1 can be manually adjusted, and the surgical instrument can be rapidly retracted and positioned.
The driving assembly 403 comprises a circular protrusion 403-1, a jacking 403-2, a linear bearing 403-3, a limit screw 403-4, a jacking spring 403-5 and a motor sliding shaft 403-6, wherein the motor sliding shaft 403-6 comprises a disc 403-6-3 and two sliding shaft sections 403-6-1, the two parallel sliding shaft sections 403-6-1 are fixedly connected with the disc 403-6-3, and a spring mounting hole 403-6-2 is formed in the center of the disc 403-6-3. The motor sliding shaft connecting seat 409 is fixedly connected with an output shaft of the driving motor 404, the pushing spring 403-5 is placed in the spring mounting hole 403-6-2, one end of the pushing spring 403-5 is in contact with the lower end of the jacking support 403-2, and the other end of the pushing spring is in contact with the upper end of the motor sliding shaft connecting seat 409. The top support 403-2 is provided with two top support shaft holes 403-2-1 which are parallel to each other, and the two circular bulges 403-1 are fixedly connected with the end surface of the top support 403-2. Two linear bearings 403-3 are respectively installed in the two jacking shaft holes 403-2-1 in an interference fit manner. The two linear bearings 403-3 are respectively sleeved on the two sliding shaft sections 403-6-1, and the two limit screws 403-4 are respectively connected with the tail ends of the two sliding shaft sections 403-6-1; the linear bearing 403-3 is able to slide between the disc 403-6-3 and the head of the limit screw 403-4. The limit screw 403-4 limits the movement of the jacking 403-2. The distances from the centers of the two circular bulges 403-1 to the centers of the circular surfaces of the top supports 403-2 are different and are arranged asymmetrically, and the distance between the centers of the two circular bulges 403-1 is the same as the distance between the centers of the two bottom waist-shaped holes on the bottom surface of the middle connecting wheel.
When the motor sliding shaft 403-6 rotates under the action of the driving motor 404, the synchronous rotation of the jacking 403-2 along with the driving motor is realized through the sliding shaft section 403-6-1. The top support 403-2 is at the upper limit position under the action of the top spring 403-5 when not being acted by external force. When the top holder 403-2 is acted by a force in the direction of the driving motor 404, it slides along the sliding shaft section 403-6-1 in the direction of the driving motor 404 and compresses the top spring 403-5 until reaching the lower limit position. After the instrument adapter 5 is installed on the quick-change connector 4, the jacking spring 403-5 jacks up the intermediate connecting wheel 502 through the circular protrusion 403-1 on the top surface of the jacking while the jacking 403-2 rotates along with the driving motor 404 (as shown in fig. 16), and after the two circular protrusions 403-1 of the jacking coincide with the first bottom-surface kidney-shaped hole 502-4 and the second bottom-surface kidney-shaped hole 502-5 on the bottom surface of the intermediate connecting wheel, the elastic force of the jacking spring 403-5 automatically enables the two circular protrusions 403-1 to be buckled with the first bottom-surface kidney-shaped hole 502-4 and the second bottom-surface kidney-shaped hole 502-5. The circular protrusions and the waist-shaped holes on the bottom surface are asymmetrically arranged, so that the problem of wrong buckling of the protrusions can be effectively avoided, the problem of wrong buckling in the connection process of the protrusions and the waist-shaped holes can be effectively avoided by adopting a waist-shaped hole structure, and the buckling success probability is increased.
As shown in fig. 12-13, the surgical instrument 6 includes a cannula 601, an end effector 602, an instrument cassette base 603, an instrument pogo pin 604, a transmission assembly 605, a surgical instrument button 606, and a chip 607, the transmission assembly 605 includes a transmission shaft 605-1, a limit step 605-2, and a limit pin 605-3, and the instrument pogo pin 604 is connected to the instrument cassette base 603. The cartridge base 603 has mounted thereon a plurality of drive assemblies 605, the drive assemblies 605 being rotatable about respective axes. The bottom surface of the transmission shaft 605-1 of the transmission assembly 605 is provided with a circular protrusion 605-1-1 corresponding to the waist-shaped hole on the top surface of the intermediate connecting wheel of the instrument adapter. The upper end surface of the transmission shaft 605-1 is provided with a limit step 605-2. A limit pin 605-3 is connected to the instrument box base 603 to limit the rotation angle of the transmission assembly 605, and the limit pin 605-3 blocks the limit step 605-2 as shown in FIG. 20. After the intermediate connecting wheel of the instrument adapter is connected with the driving component of the quick-change interface, the intermediate connecting wheel can rotate under the action of the driving motor. After the surgical instrument 6 is mounted on the instrument adapter 5, as shown in fig. 19, the circular protrusion 605-1-1 on the bottom surface of the transmission shaft presses the intermediate connecting wheel 502, and then the intermediate connecting wheel 502 rotates to a position where the first top-surface waist-shaped hole 502-2 and the second top-surface waist-shaped hole 502-3 are respectively overlapped with the circular protrusion 605-1-1 on the bottom surface of the transmission shaft, and the elastic force of the pushing spring 403-5 enables the two top-surface waist-shaped holes (the first top-surface waist-shaped hole 502-2 and the second top-surface waist-shaped hole 502-3) to be respectively buckled with the two circular protrusions 605-1-1 (as shown in fig. 21), so that power is transmitted to the surgical instrument. The circular bulge 605-1-1 and the waist-shaped hole on the top surface are asymmetrically arranged, so that the problem of staggered buckling of the bulge can be effectively avoided, the staggered problem in the connection process of the bulge and the waist-shaped hole can be effectively avoided by adopting the waist-shaped hole structure, and the successful buckling probability is increased.
Fig. 14 is a schematic view of the locking structure of the instrument adapter, the surgical instrument and the quick-change interface. The slider of the surgical instrument button 606 is inserted into the slot 501-3 of the isolation plate, and the return spring 606-1 of the surgical instrument button 606 provides a locking force. The hook 501-2 of the isolation board is mutually hooked with the button slider 407-1 of the button switch 407, the reset spring 407-2 of the button switch 407 provides locking force, and the surgical instrument, the instrument adapter and the quick-change connector are firmly connected. The instrument box base 603 is embedded into the boss 501-4 of the isolation plate 501, so that locking and positioning of the instrument box base and the isolation plate are realized.
As shown in fig. 15, the chip 607 is connected to the cartridge base 603, the instrument pogo pins 604 are connected to pins of the chip 607, the pogo pins 406 are in contact with the conductive copper sheets 2431, and the instrument pogo pins 604 are in contact with the conductive copper sheets 2431, so as to realize data transmission between the robot control system and the surgical instrument.
As shown in fig. 16, after the instrument adapter 5 is mounted to the quick-change connector 4 by the snap device, the intermediate connecting wheel 502 is jacked up by the two circular protrusions 403-1 on the top surface under the action of the jacking spring 403-5. Meanwhile, the contact switch 405 on the upper end surface of the quick-change base 401 is triggered and outputs a detection signal to the control system, the control system further starts the driving motor 404, the driving motor 404 drives the top holder 403-2 to start rotating, and the driving assembly 403 starts to execute a self-connection action. As shown in FIG. 17, in a counterclockwise direction, the stopper 502-1 of the intermediate connecting wheel 502 contacts the stopper 503-2, so that the rotation of the intermediate connecting wheel relative to the holder is limited. When the circular protrusion 403-1 of the top support coincides with the waist-shaped hole on the bottom surface of the intermediate connecting wheel, the elastic force of the pushing spring automatically enables the circular protrusion and the waist-shaped hole to be buckled (as shown in fig. 18), and the bottom surface of the intermediate connecting wheel is attached to the top surface of the top support, so that the automatic butt joint of the quick-change connector 4 and the instrument adapter 5 is realized.
As shown in fig. 20 and 21, the stop step 605-2 of the surgical instrument contacts the stop pin 605-3 in the base of the instrument cassette, so that the rotation of the driving assembly 605 relative to the intermediate connecting wheel 502 and the top bracket 403-2 is limited. When the circular protrusion 605-1-1 on the bottom surface of the transmission shaft is superposed with the first top surface waist-shaped hole 502-2 and the second top surface waist-shaped hole 502-3 on the top surface of the intermediate connecting wheel, the pushing spring 403-5 automatically buckles the two by elasticity, and the top surface of the intermediate connecting wheel 502 is attached to the bottom surface of the transmission shaft 605-1, as shown in fig. 21, so that the automatic butt joint of the surgical instrument and the surgical instrument adapter is realized, and the automatic butt joint of the surgical instrument and the quick-change interface is further realized.
As shown in figure 22, the poking card 2 is integrally convex, two limiting grooves 2-2 are symmetrically arranged in the poking card, a reset spring 2-3, a hook 2-4 and a button 2-1 are respectively arranged in each limiting groove 2-2 according to the mode shown in the figure, the button 2-1 is connected with the hook 2-4, and the reset spring 2-3 is connected between the hook 2-4 and the bottom surfaces of the limiting grooves 2-2. The button can reciprocate along the direction of the axis 2-5, the return spring 2-3 pushes the hook 2-4 and the button 2-1 to the edge of the limiting groove 2-2 together when not acted by external force, and the hook 2-4 extends out of the poking card. After the button 2-1 is pressed, the clamping hook 2-4 can be driven to retract into the poking card. The puncture outfit connecting seat 3 is integrally concave, the middle part is provided with a slot 3-1, and the two sides are symmetrically provided with hook slots 3-2. When the puncture outfit connecting seat 3 is arranged on the puncture outfit 2, an operator presses two buttons 2-1 by fingers, the puncture outfit 2 is inserted into a slot 3-1 in the puncture outfit connecting seat 3, then the buttons 2-1 are released, the hooks 2-4 are automatically embedded into the hook slots 3-2, and the two are arranged together; when the puncture outfit and the puncture outfit are disassembled, only the button 2-1 is pressed, and the puncture outfit connecting seat 3 is pulled out from the poking card 2. Because the two sides of the button 2-1 are symmetrically arranged, the button needs to be pressed simultaneously during disassembly, and the mistaken touch in the operation process can be effectively avoided.
As shown in FIG. 23, two sliding grooves 401-1 are symmetrically arranged inside the quick-change base 401, a return spring 407-2, a button slider 407-1 and a button 407 are arranged in each sliding groove 401-1, the button 407 is connected with the button slider 407-1, and the return spring 407-2 is connected between the bottom surface of the sliding groove 401-1 and the button slider 407-1. The button 407 can reciprocate along the direction of the axis 4-3, when the reset spring 407-2 is not acted by external force, the button slider 407-1 and the button 407 are pushed to the edge of the sliding groove 401-1 together, and the button slider 407-1 extends out of the limit groove. When the button 407 is pressed, the button slider 407-1 is retracted into the slide groove 401-1. The instrument box base 603 is symmetrically provided with limiting grooves, each limiting groove is internally provided with a return spring 606-1, a hook 606-2 and a surgical instrument button 606 according to the mode shown in the figure, the surgical instrument button 606 is connected with the hook 606-2, and the return spring 606-1 is connected between the hook 606-2 and the bottom surface of the limiting groove. The button 606 of the surgical instrument can reciprocate along the direction of the axis 6-4, when the reset spring 606-1 is not acted by external force, the hook 606-2 and the button 606 of the surgical instrument are pushed to the edge of the limit groove together, the hook 606-2 extends out of the limit groove, and after the button 606 of the surgical instrument is pressed, the hook 606-2 retracts into the limit groove. The instrument adapter is arranged between the quick-change base 401 and the instrument box base 603, a groove and a protrusion are arranged for connecting the quick-change base 401 and the instrument box base 603, during installation, an operator presses the button 407, the instrument adapter is placed on the quick-change base 401, the hook 501-2 is inserted into the sliding groove 401-1, then the button 407 is released, the button sliding block 407-1 is hooked with the hook 501-2 under the elastic action of the return spring 407-2, and the two are connected together. The operator presses the button 606 of the surgical instrument again, places the surgical instrument on the adapter 5 of the surgical instrument, and then releases the button 606 of the surgical instrument, the hook 606-2 is embedded into the card slot 501-3 under the elastic action of the reset spring 606-1, and the two are installed together; during the dismantlement, only need press surgical instruments button 606, with surgical instruments and apparatus adapter take out from quick-change interface can, because surgical instruments button 606 bilateral symmetry sets up, need press simultaneously during the dismantlement, can effectively avoid the mistake among the operation process to bump.
The present invention and its embodiments have been described above schematically, and the description is not limited thereto, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if those skilled in the art should understand it, without departing from the spirit of the present invention, they should also understand that other configurations of the components, driving devices and connecting means can be adopted without inventive design and structural modes and embodiments similar to the technical solution.
Claims (2)
1. A surgical instrument connecting device capable of being quickly mounted and dismounted is characterized by comprising a poking card, a puncture outfit connecting seat, an instrument adapter seat and a quick-change interface, wherein the instrument adapter seat comprises a partition plate and a connecting plate sealing ring, the partition plate is provided with a stepped hole, an intermediate connecting wheel is arranged in the stepped hole, the top surface of the intermediate connecting wheel is provided with a first top surface waist-shaped hole and a second top surface waist-shaped hole, and the bottom surface of the intermediate connecting wheel is provided with a first bottom surface waist-shaped hole and a second bottom surface waist-shaped hole; the side surface of the isolation plate is provided with a clamping hook and a clamping groove; the stepped hole is provided with a slot, the connecting plate seal ring is provided with a bulge, and the bulge of the connecting plate seal ring is inserted into the slot; the side surface of the isolation plate is connected with a conductive copper sheet;
the quick-change connector comprises a quick-change base, a shell, a button slider, a reset spring, a button switch, a driving assembly, a driving motor, a contact switch and a motor sliding shaft connecting seat, wherein the shell is connected with the quick-change base; the driving assembly comprises a jacking support, a jacking spring and a motor sliding shaft, the motor sliding shaft comprises a disc and two parallel sliding shaft sections, the two parallel sliding shaft sections are fixedly connected with the disc, and a spring mounting hole is formed in the center of the disc; the motor sliding shaft connecting seat is fixedly connected with an output shaft of the driving motor, the pushing spring is placed in a spring mounting hole of the motor sliding shaft, one end of the pushing spring is in contact with the lower end of the jacking support, and the other end of the pushing spring is in contact with the upper end of the motor sliding shaft connecting seat; the jacking device is characterized in that the jacking is provided with two jacking shaft holes which are parallel to each other, the end surface of the jacking is fixedly connected with two circular bulges, linear bearings are connected in the jacking shaft holes, the two linear bearings are totally two linear bearings, the two linear bearings are respectively sleeved on two sliding shaft sections, and the tail ends of the sliding shaft sections are connected with limit screws; the quick-change base is provided with a sliding groove, the button is connected with a button sliding block, and a return spring is connected between the bottom surface of the sliding groove and the button sliding block;
the poking card is provided with a limiting groove, a reset spring, a clamping hook and a button are arranged in the limiting groove, the button of the poking card is connected with the clamping hook, and the reset spring is connected between the clamping hook and the bottom surface of the limiting groove; the middle of the puncture outfit connecting seat is provided with a slot, and the two sides of the puncture outfit connecting seat are symmetrically provided with hook grooves.
2. The quick-attach and disconnect surgical instrument connection device of claim 1, further comprising an instrument lift base, the stab card being coupled to the instrument lift base, the quick-change interface being coupled to the instrument lift base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922031199.5U CN211381520U (en) | 2019-11-20 | 2019-11-20 | Surgical instrument connecting device capable of being rapidly installed and detached |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922031199.5U CN211381520U (en) | 2019-11-20 | 2019-11-20 | Surgical instrument connecting device capable of being rapidly installed and detached |
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| CN211381520U true CN211381520U (en) | 2020-09-01 |
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| CN201922031199.5U Active CN211381520U (en) | 2019-11-20 | 2019-11-20 | Surgical instrument connecting device capable of being rapidly installed and detached |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111700683A (en) * | 2019-11-20 | 2020-09-25 | 山东威高手术机器人有限公司 | Quick change device for minimally invasive surgical instrument |
| CN112426184A (en) * | 2020-11-30 | 2021-03-02 | 重庆金山医疗机器人有限公司 | Instrument equipment and installation buckle thereof |
| CN112890955A (en) * | 2021-01-18 | 2021-06-04 | 山东大学 | Operation arm system of transluminal surgical robot, robot and method |
| CN113598968A (en) * | 2021-08-10 | 2021-11-05 | 常州唯精医疗机器人有限公司 | Instrument quick change device and minimally invasive surgery robot |
| CN113855248A (en) * | 2021-10-25 | 2021-12-31 | 南京佗道医疗科技有限公司 | Surgical robot instrument assembly |
| CN114176667A (en) * | 2021-12-31 | 2022-03-15 | 南京佗道医疗科技有限公司 | Instrument assembly clamping detection mechanism, clamping detection method and instrument assembly |
| CN114533269A (en) * | 2021-09-13 | 2022-05-27 | 广西大学 | RCM positioning mechanism of surgical robot |
| CN114795481A (en) * | 2022-04-07 | 2022-07-29 | 吉林大学 | Quick-replacement type flexible surgical instrument for minimally invasive abdominal surgery |
| WO2023283735A1 (en) * | 2021-07-15 | 2023-01-19 | Titan Medical Inc. | Sterile adapter assemblies for robotic surgical systems |
| WO2023226828A1 (en) * | 2022-05-27 | 2023-11-30 | 瑞龙诺赋(上海)医疗科技有限公司 | Laparoscopic surgical instrument and surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111700683A (en) * | 2019-11-20 | 2020-09-25 | 山东威高手术机器人有限公司 | Quick change device for minimally invasive surgical instrument |
| CN112426184A (en) * | 2020-11-30 | 2021-03-02 | 重庆金山医疗机器人有限公司 | Instrument equipment and installation buckle thereof |
| CN112890955A (en) * | 2021-01-18 | 2021-06-04 | 山东大学 | Operation arm system of transluminal surgical robot, robot and method |
| WO2023283735A1 (en) * | 2021-07-15 | 2023-01-19 | Titan Medical Inc. | Sterile adapter assemblies for robotic surgical systems |
| CN113598968A (en) * | 2021-08-10 | 2021-11-05 | 常州唯精医疗机器人有限公司 | Instrument quick change device and minimally invasive surgery robot |
| CN114533269A (en) * | 2021-09-13 | 2022-05-27 | 广西大学 | RCM positioning mechanism of surgical robot |
| CN114533269B (en) * | 2021-09-13 | 2023-10-31 | 广西大学 | RCM positioning mechanism of surgical robot |
| CN113855248A (en) * | 2021-10-25 | 2021-12-31 | 南京佗道医疗科技有限公司 | Surgical robot instrument assembly |
| CN113855248B (en) * | 2021-10-25 | 2024-02-23 | 佗道医疗科技有限公司 | Zero point positioning method for surgical robot instrument assembly |
| CN114176667A (en) * | 2021-12-31 | 2022-03-15 | 南京佗道医疗科技有限公司 | Instrument assembly clamping detection mechanism, clamping detection method and instrument assembly |
| CN114176667B (en) * | 2021-12-31 | 2023-08-11 | 佗道医疗科技有限公司 | Instrument assembly clamping detection mechanism, clamping detection method and instrument assembly thereof |
| CN114795481A (en) * | 2022-04-07 | 2022-07-29 | 吉林大学 | Quick-replacement type flexible surgical instrument for minimally invasive abdominal surgery |
| WO2023226828A1 (en) * | 2022-05-27 | 2023-11-30 | 瑞龙诺赋(上海)医疗科技有限公司 | Laparoscopic surgical instrument and surgical robot |
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