CN213465245U - Puncture outfit locking device and surgical robot - Google Patents

Abstract

The utility model relates to the technical field of medical equipment, a puncture outfit locking device and surgical robot is disclosed. The puncture outfit locking device comprises an embedded piece, a first clamping piece, a second clamping piece and a locking connecting rod. The embedded part comprises an embedded part and a connecting part, the connecting part can be connected with an outer sleeve of the puncture outfit, two opposite ends of the second embedded part are respectively provided with a clamping part and a pivoting part, the first embedded part and the pivoting part are respectively pivoted with the locking connecting rod at different hinging positions, the locking connecting rod is provided with an unlocking position and a locking position, and when the locking connecting rod is positioned at the locking position, the first embedded part and the clamping part clamp the embedded part. The surgical robot comprises the puncture outfit locking device. This embodiment overall structure is simple, and the puncture ware installation and dismantlement are convenient, and the block portion through first fastener and second fastener presss from both sides tight gomphosis portion jointly, guarantees that the outer pipe box of puncture ware is stably installed on surgical robot's installation department, effectively avoids the outer pipe box of puncture ware to break away from the installation department, and surgical safety is high.

Description

Puncture outfit locking device and surgical robot

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a puncture ware locking device and surgical robot.

Background

Minimally invasive surgery has the characteristics of small wound area, quick recovery and the like, and is widely applied to clinical surgeries. The puncture outfit is an important instrument in laparoscopic minimally invasive surgery. The puncture outfit comprises a puncture needle and an outer sleeve. When the laparoscopic surgery is started, the skin epidermis is cut at the selected puncture position by the scalpel, then the puncture needle penetrates the skin and is inserted into the body cavity, the puncture needle drives the outer sleeve to enter the body cavity together when entering the body cavity, one end of the outer sleeve enters the body cavity, and the other end of the outer sleeve is exposed outside the human body. After the puncture is finished, the puncture needle is drawn out, the outer sleeve forms a surgical working channel, and surgical instruments and lighting equipment are introduced into the body cavity through the surgical working channel to perform surgery.

The outer sleeve is fixedly connected with the installation part on the surgical robot through the locking device to prevent displacement and ensure smooth completion of the surgery. In the operation process, frequently need remove surgical instruments or change surgical instruments, consequently need can reliably be connected and can install the dismantlement fast between the installation department on puncture ware and the surgical robot steadily.

The existing puncture outfit locking device has complex structure, complex and low-efficiency installation process, and if the installation part of the puncture outfit and the operation robot is separated in the operation process, the operation time can be prolonged due to the reinstallation, even the risk of the operation is increased.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a puncture ware locking device and surgical robot to the puncture ware locking device structure that exists among the solution prior art is complicated, and the installation and the technical problem that the dismantlement process is loaded down with trivial details and puncture ware easily drops.

In order to realize the purpose, the following technical scheme is provided:

the puncture outfit locking device comprises an embedded part, a first clamping part, a second clamping part and a locking connecting rod;

the jogged piece comprises a jogged part and a connecting part, the connecting part is arranged to be connected with an outer sleeve of the puncture outfit, the second jogged piece is provided with two opposite ends which are respectively a clamping part and a pivoting part, the first jogged piece is of an open ring structure, the first jogged piece and the pivoting part are respectively hinged with the locking connecting rod at a first hinging position and a second hinging position, compared with the second hinging position, the first hinging position is closer to the clamping part, the locking connecting rod rotates between a locking position and an unlocking position relative to the pivoting part, the first hinging position is closest to the clamping part at the locking position, so that the jogged part is clamped between the opening of the first jogged piece and the clamping part, and the first hinging position is far away from the clamping part at the unlocking position, thereby releasing the fitting portion.

As a preferable mode of the locking device of the puncture outfit, the locking position includes a first limit position and a second limit position, the locking link is in the locking state when the locking link is located at any position between the first limit position and the second limit position, and the angle between the locking link at the first limit position and the locking link at the second limit position is 0 ° to 10 °.

As a preferable mode of the locking device for the puncture instrument, when the locking link is located at the first limit position, three points of the first hinge position, the second hinge position and the center of mass of the engaging portion are collinear and aligned, and the straight line passes through the portion where the engaging portion and the engaging portion are engaged.

As a preferred scheme of the locking device of the puncture outfit, a limiting groove is arranged on the first clamping piece, one end of the locking connecting rod is rotatably arranged in the limiting groove, the limiting groove comprises a groove bottom and a first groove wall, and when the locking connecting rod is located at the locking position, the locking connecting rod is abutted against the first groove wall.

As a preferable scheme of the puncture outfit locking device, the first clamping piece comprises a first body and a first clamping portion, a second clamping portion corresponding to the first clamping portion is arranged on the embedding portion, and the second clamping portion can be clamped with the first clamping portion;

preferably, one of the first clamping portion and the second clamping portion is provided as a first protrusion, and the other of the first clamping portion and the second clamping portion is provided as a first groove.

As a preferable scheme of the puncture outfit locking device, the clamping part comprises a second body and a third clamping part, a fourth clamping part corresponding to the third clamping part is arranged on the embedding part, and the fourth clamping part can be clamped with the third clamping part;

preferably, one of the third clamping portion and the fourth clamping portion is a second protrusion, and the other of the third clamping portion and the fourth clamping portion is a second groove.

As a preferable scheme of the puncture outfit locking device, the opening of the first clamping piece is in a V shape, a U shape or an arc shape; and/or the presence of a gas in the gas,

the clamping part is V-shaped, U-shaped or arc-shaped.

As a preferable scheme of the puncture outfit locking device, the locking connecting rod comprises a connecting section and a handle section which are connected, and the connecting section is respectively pivoted with the first clamping piece and the pivoting part;

preferably, the handle segment is collinear with the connecting segment, and the length of the handle segment is not less than that of the connecting segment; or the like, or, alternatively,

the handle section and the connecting section are arranged at an included angle.

As a preferable mode of the puncture instrument locking device, the first engaging member includes a first engaging surface which is in abutting engagement with the fitting portion, and the engaging portion includes a second engaging surface which is in abutting engagement with the fitting portion;

the first matching surface is provided with a first pressure measuring piece, and/or the second matching surface is provided with a second pressure measuring piece.

A surgical robot comprising a penetrator locking device as described above.

The utility model has the advantages that:

the utility model provides an among puncture ware locking device and the surgical robot who contains it, the gomphosis piece includes gomphosis portion and connecting portion, the outer bushing of connecting portion and puncture ware, first fastener fixed mounting is on surgical robot's installation department, and the relative both ends of second fastener are block portion and pin joint portion respectively. The locking connecting rod is hinged with the first clamping piece and the pivoting part at a first hinge position and a second hinge position respectively, and the first hinge position is closer to the clamping part. The locking connecting rod can rotate between the unlocking position and the locking position relative to the pivoting part, and the second clamping piece moves along with the locking connecting rod.

Before the operation starts, the locking connecting rod is located at the unlocking position, one end face of the embedding part is made to be attached to the base, and the outer wall of the embedding part is close to or attached to the inner wall of the opening of the first clamping part. Then, the lock link is driven to rotate from the unlock position to the lock position, the whole second engaging member rotates along with the lock link, and the engaging portion of the second engaging member moves toward the direction of the engaging portion of the engaging member. When the locking connecting rod rotates to the locking position, the clamping part and the first clamping piece clamp the embedded part together, the embedded part is fixed on the base, and the outer sleeve of the puncture outfit is fixedly connected with the mounting part of the surgical robot.

When the puncture outfit is removed or replaced, the locking connecting rod is driven to rotate reversely, the locking connecting rod rotates from the locking position to the unlocking position, the second clamping piece moves reversely along with the locking connecting rod, the clamping part of the second clamping piece is separated from the embedding part of the embedding piece, the embedding piece is unlocked, and the separation of the outer sleeve of the puncture outfit and the installation part of the surgical robot is realized.

The utility model has the advantages of simple integral structure, the installation of puncture ware and dismantlement are convenient, and block portion through first fastener and second fastener presss from both sides tight gomphosis portion jointly, guarantees the outer pipe box of puncture ware and installs the stable installation on the installation department, effectively avoids the outer pipe box of puncture ware to break away from the installation department of surgical robot, improves the operation security.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts. The present invention will be described in further detail with reference to the accompanying drawings and examples.

Fig. 1 is a schematic structural view of a puncture outfit locking device (a locking connecting rod is in an unlocking device) provided by the embodiment of the present invention;

fig. 2 is a schematic structural view of a locking device (locking link is in the locking device) of the puncture outfit provided by the embodiment of the present invention;

fig. 3 is a schematic structural view of an engaging member in the locking device of the puncture instrument according to the embodiment of the present invention;

fig. 4 is a schematic view illustrating an installation of a first engaging member on a base in a locking device of a puncture device according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a first engaging member in the locking device of the puncture device according to the embodiment of the present invention;

fig. 6 is a schematic structural view of a second engaging member in the locking device of the puncture device according to the embodiment of the present invention.

Reference numerals:

a-a first hinge position; b-a second hinge position; c-the mating position;

1-a fitting; 2-a first snap-fit member; 3-a second engaging member; 4-locking the connecting rod; 5-a base;

11-a chimeric portion; 12-a connecting part;

111-a second snap-in part;

21-a first body; 22-a first snap-in portion;

211-a limiting groove;

2111-tank bottom; 2112-first slot wall; 2113-second slot wall;

31-an engaging portion; 32-a pivot joint; 33-a transition;

311-a second body; 312-a third snap-fit portion;

321-avoidance slots;

41-connecting section; 42-handle segment.

Detailed Description

In order to make the technical problems, technical solutions adopted and technical effects achieved by the present invention clearer, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", 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 simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The present embodiment provides a puncture instrument locking device for stably and reliably mounting a puncture instrument on a mounting portion of a surgical robot. The puncture outfit comprises a puncture needle and an outer sleeve. As shown in fig. 1 to 3, the puncture instrument locking device includes an engaging member 1, a first engaging member 2, a second engaging member 3, and a lock link 4.

Referring to fig. 3, the fitting member 1 includes a fitting portion 11 and a connecting portion 12. The connecting part 12 is connected with the outer sleeve of the puncture outfit. The connecting portion 12 is preferably sleeve-shaped and rotatably received over the outer sleeve of the puncture instrument. The outer wall of outer pipe box is provided with two spacing portions, and two spacing portions set up along the axial interval of outer pipe box to locate the axial both ends of connecting portion 12 separately, prevent that connecting portion 12 from along outer pipe box axial displacement.

The first engaging member 2 is fixedly attached to the attachment portion of the surgical robot. Referring to fig. 4, in order to facilitate the installation of the first engaging member 2, the locking device of the puncture outfit of the present embodiment further includes a base 5, the base 5 is fixedly installed on the installation portion, the first engaging member 2 is in an open ring structure and is fixedly installed on the base 5, so as to increase the connection area between the first engaging member 2 and the installation portion, and ensure the stable connection between the whole locking device and the installation portion.

Referring to fig. 1, 2 and 6, two opposite ends of the second engaging member 3 are respectively an engaging portion 31 and a pivoting portion 32. The locking link 4 is pivotally connected to the first engaging member 2 at a first hinge position a, and the pivot portion 32 is pivotally connected to the locking link 4 at a second hinge position b, wherein the first hinge position a is closer to the engaging portion 31 than the second hinge position b. The lock link 4 is rotatable between an unlocked position and a locked position relative to the first engaging member 2, and the second engaging member 3 moves with the lock link 4. In the locked position, the first hinge position a is closest to the engaging portion 31, so that the fitting portion 11 is interposed between the opening 2 of the first engaging piece 2 and the engaging portion 31 of the 31, and in the unlocked position, the first hinge position a is distant from the engaging portion 31, so that the fitting portion 11 is released.

Before the operation, the locking link 4 is located at the unlocking position, the connecting part 12 of the embedded part 1 is connected with the outer sleeve of the puncture outfit, the connecting part 12 rotates around the outer sleeve to adjust the angle of the embedded part 1, one end face of the embedded part 11 of the embedded part 1 is attached to the base 5, and the outer wall of the embedded part 11 is close to or attached to the inner side face of the opening of the first clamping part 2. Then, the lock link 4 is driven to rotate from the unlock position to the lock position, the entire second engaging element 3 rotates with the lock link 4, and the engaging portion 31 of the second engaging element 3 moves in the direction of the fitting portion 11 of the fitting element 1. In the unlocking position, the first hinge position a is far away from the clamping part 31, when the locking connecting rod 4 rotates towards the locking position, the first hinge position a and the clamping part 31 gradually approach, when the locking connecting rod 4 rotates to the locking position, the first hinge position a is closest to the clamping part 31, at this time, the clamping part 31 and the first clamping piece 2 clamp the embedding part 11 together, the embedding piece 1 is fixed on the base 5, and the outer sleeve of the puncture outfit is fixedly connected with the mounting part of the surgical robot.

When the puncture outfit needs to be removed or replaced, the locking connecting rod 4 is driven to rotate reversely, the locking connecting rod 4 rotates from the locking position to the unlocking position, the second clamping piece 3 moves reversely along with the locking connecting rod 4, the first hinging position a is far away from the clamping part 31, the clamping part 31 of the second clamping piece 3 is separated from the embedding part 11 of the embedding piece 1, the embedding piece 1 is unlocked, and the separation of the outer sleeve of the puncture outfit and the mounting part of the surgical robot is realized.

This embodiment overall structure is simple, and the installation and the dismantlement of puncture ware are convenient, presss from both sides tight gomphosis portion 11 jointly through the block portion 31 of first fastener 2 and second fastener 3, guarantees the outer tube cover of puncture ware and stably installs on surgical robot's installation department, effectively avoids the outer tube cover of puncture ware to break away from the installation department, improves the operation security.

Illustratively, referring to fig. 1-3, the fitting portion 11 is cylindrical, and the cross section of the fitting portion 11 is a circular surface. The pivoting position of the locking link 4 and the first engaging member 2 is set as a first hinge position a, and the pivoting position of the pivoting portion 32 and the locking link 4 is set as a second hinge position b. The engaging portions 31 of the first engaging member 2 and the second engaging member 3 clamp the engaging portion 11 along two radial ends of the engaging portion 11, the first hinge position a and the second hinge position b are collinear with the centroid (i.e. the center of circle) of the engaging portion 11 to form a straight line, i.e. the connecting line of the first hinge position a and the second hinge position b passes through the center of circle of the circular surface, the straight line passes through the engaging portion 31 of the second engaging member 3 and the engaging portion 11, the intersection point of the straight line and the engaging portion 31 and the engaging portion 11 is an engaging position c, the first hinge position a, the second hinge position b and the engaging position c are collinear, at this time, the hinge link mechanism composed of the first engaging member 2, the second engaging member 3 and the locking link 4 is in a dead point position, the stability of the whole structure is high, the clamping force of the engaging portions 31 of the first engaging member 2 and the second engaging member 3 to the engaging portion 11 is large, the outer pipe sleeve of the puncture outfit is guaranteed to be stably installed on the installation part of the surgical robot, the outer pipe sleeve of the puncture outfit is effectively prevented from being separated from the installation part of the surgical robot, and the surgical safety is improved.

When the hinge link mechanism composed of the first engaging member 2, the second engaging member 3 and the locking link 4 is set to be at a dead point position, a straight line formed by connecting three points of the first hinge position a, the second hinge position b and the matching position c is set to be a dead point straight line, and the position of the locking link 4 at this time is set to be a first limit position.

It should be noted that, after the whole hinge link mechanism reaches the dead point position, if the locking link 4 is driven to rotate 0 ° to 10 ° from the dead point position to the direction departing from the unlocking position, the whole hinge link mechanism is still in the stable state of force balance, and the effective clamping of the engaging portion 31 of the first engaging member 2 and the second engaging member 3 to the engaging portion 11 can still be ensured.

When the locking connecting rod 4 is set to rotate 10 degrees from the dead point position to the direction departing from the unlocking position, the position of the locking connecting rod 4 is set as a second limit position.

As can be seen from the above analysis, when the lock link 4 is located at any position between the first limit position and the second limit position, the lock link 4 is in the locked state, and the entire hinge link mechanism is in the stable state. That is, the lock position of the lock link 4 is a region that is a movement path of the lock link 4 between the first limit position and the second limit position, and at any position on the path, the lock link 4 is in the lock state.

Further, referring to fig. 4 and 5, the first engaging member 2 is provided with a limiting groove 211, and the limiting groove 211 is disposed on a side of the first engaging member 2 away from the engaging portion 11. One end of the lock link 4 is rotatably disposed in the stopper groove 211. The retaining groove 211 includes a groove bottom 2111, a first groove wall 2112, and two opposing second groove walls 2113. The groove bottom 2111 is perpendicular to the radial direction of the circular face. In this embodiment, the plane of the first slot wall 2112 includes the dead-center line, i.e., the included angle between the plane of the first slot wall 2112 and the dead-center line is 0 °, i.e., when the locking link 4 moves to the first limit position (i.e., the entire hinge link mechanism moves to the dead-center position), the locking link 4 abuts against the first slot wall 2112. The locking connecting rod 4 is limited through the first groove wall 2112, and the locking connecting rod 4 is guaranteed to accurately move to a dead point position.

Based on the above analysis: the locking position of the lock link 4 is an area which is a moving path of the lock link 4 between the first limit position and the second limit position, and thus, in other embodiments, the included angle between the plane of the first groove wall 2112 of the limit groove 211 and the dead point straight line is set to be 0 to 10 degrees, so that the lock link 4 and the whole hinge link mechanism can accurately move from the dead point position to the second limit position or any position between the first limit position and the second limit position.

Illustratively, when the plane of the first slot wall 2112 forms an angle of 10 ° with the dead-center line, the lock link 4 may continue to rotate 10 ° beyond the dead-center position until it abuts against the first slot wall 2112, and the entire hinge link mechanism is in the second limit position.

Similarly, when the plane of the first slot wall 2112 forms an angle of 5 ° with the dead-center line, the lock link 4 may continue to rotate 5 ° beyond the dead-center position until it abuts against the first slot wall 2112.

It should be noted that, in other embodiments, the cross section of the fitting part 11 may also be an ellipse, a rectangle, a special shape, etc., and is not limited herein as long as the connecting line of the first hinge position a, the second hinge position b, and the fitting position c passes through the center of mass of the fitting part 11 when the lock link 4 is at the dead point position.

Preferably, referring to fig. 1 and 4, the first engaging member 2 includes a first body 21 and a first engaging portion 22, a second engaging portion 111 corresponding to the first engaging portion 22 is disposed on the engaging portion 11, and the second engaging portion 111 can engage with the first engaging portion 22. Through first joint portion 22 and the joint of second joint portion 111, make things convenient for the prepositioning of gomphosis portion 11 on base 5, increase the butt area of first fastener 2 and gomphosis portion 11 simultaneously, improve connection stability between them, prevent that gomphosis portion 11 from taking place along gomphosis portion 11 axial displacement for first fastener 2.

Specifically, one of the first and second clip portions 22 and 111 is provided as a first protrusion, and the other of the first and second clip portions 22 and 111 is provided as a first recess.

In this embodiment, the first engaging portion 22 is a first protrusion disposed on the first body 21, the second engaging portion 111 is a first groove disposed on the engaging portion 11, and the first protrusion is engaged into the first groove. The cross section of the first protrusion is triangular, the cross section of the first groove is V-shaped, and the surface of the first protrusion is matched with the groove wall of the first groove to guide the movement of the first protrusion inserted into the first groove. In other embodiments, the cross section of the first protrusion may be rectangular, trapezoidal, or irregular, and the first groove may be matched with the first protrusion. It should be noted that the first engaging portion 22 may be a first groove on the first body 21, and the second engaging portion 111 may be a first protrusion on the engaging portion 11. It should be noted that, the first protrusion and the first groove may be arranged in one circle along the circumferential direction, or may be arranged partially along the circumferential direction.

The engaging portion 31 includes a second body 311 and a third engaging portion 312, and a fourth engaging portion (not shown) corresponding to the third engaging portion 312 is disposed on the engaging portion 11, and the fourth engaging portion can engage with the third engaging portion 312. The third clamping portion 312 is clamped with the fourth clamping portion, so that the abutting area between the clamping portion 31 of the second clamping member 3 and the embedding portion 11 is increased, the connection stability of the clamping portion and the embedding portion is improved, and the embedding portion 11 is prevented from being displaced relative to the clamping portion 31 along the axial direction of the embedding portion 11.

It is understood that one of the third and fourth clamping portions 312 and 312 is provided as a second protrusion, and the other of the third and fourth clamping portions 312 and 312 is provided as a second recess.

In this embodiment, the third engaging portion 312 is a second protrusion disposed on the second body 311, the fourth engaging portion is a second groove disposed on the engaging portion 11, and the second protrusion is engaged in the second groove, so that the structure is simple and the processing is convenient. Further, both ends of the second groove are connected to both ends of the first groove, and the second groove and the first groove are joined to form a complete groove arranged along the circumferential direction of the fitting portion 11. In other embodiments, the two ends of the second groove may not be connected to the first groove, and the second protrusion and the second groove may be arranged in one circle or in part along the circumferential direction.

The cross section of the second protrusion is triangular, the cross section of the second groove is V-shaped, and the novel groove is simple in structure and convenient to machine. In other embodiments, the cross section of the second protrusion may be rectangular, trapezoidal, or irregular, and the second groove may be matched with the second protrusion. It should be noted that the third engaging portion 312 may be a second groove on the second body 311, and the fourth engaging portion may be a second protrusion on the engaging portion 11.

Preferably, the opening of the first engaging member 2 of the present embodiment is arc-shaped, and the curvature of the inner surface of the first engaging member 2 is the same as the curvature of the outer contour of the fitting portion 11, that is, the contact surface between the first engaging member 2 and the fitting portion 11 is an arc-shaped curved surface, and the contact area between the two is large, so that stable fitting between the first engaging member 2 and the fitting portion 11 is ensured, and the connection stability is high. Similarly, the inner surface of the engaging portion 31 of the present embodiment is also arc-shaped, and the curvature of the inner surface of the engaging portion 31 is the same as the curvature of the outer contour of the fitting portion 11, that is, the contact surface between the engaging portion 31 and the fitting portion 11 is an arc-shaped curved surface, the contact area between the two is large, stable adhesion between the engaging portion 31 and the fitting portion 11 is ensured, and the connection stability is high. Of course, in other embodiments, the opening of the first engaging member 2 may be V-shaped, U-shaped, or irregular, and in this case, the first engaging member 2 and the engaging portion 11 may form a stable abutting connection point or connection surface. Similarly, the engaging portion 31 may be provided in a V shape, a U shape, an irregular shape, or the like.

Referring to fig. 1, 2 and 6, the second engaging member 3 further includes a transition portion 33, and two ends of the transition portion 33 are respectively connected to the engaging portion 31 and the pivoting portion 32, so that the second engaging member 3 has a certain deformation when locked. Specifically, the transition portion 33 may be V-shaped, U-shaped, or arc-shaped, and has a simple structure and is convenient to process.

Further, referring to fig. 1 and 2, the locking link 4 includes a connecting section 41 and a handle section 42 connected to each other, and the connecting section 41 is pivotally connected to the first engaging member 2 and the pivoting portion 32, respectively. Specifically, one end of the connecting section 41, which is far away from the handle section 42, is provided with a first shaft hole, and a first rotating shaft is connected in the first shaft hole. On the first engaging member 2, a first connecting hole is formed on the two second slot walls 2113 of the limiting slot 211. The two ends of the first rotating shaft are respectively positioned in the corresponding first connecting holes, so that the locking connecting rod 4 is pivoted with the first clamping piece 2.

In addition, the pivoting portion 32 of the second engaging member 3 is provided with an avoiding groove 321 corresponding to the locking link 4, and one end of the connecting section 41 close to the handle section 42 is rotatably connected in the avoiding groove 321. Specifically, one end of the connecting section 41 close to the handle section 42 is provided with a second shaft hole, and a second rotating shaft penetrates through the second shaft hole. Meanwhile, the pivoting portion 32 is provided with a second connecting hole penetrating through the two groove walls of the avoiding groove 321, and two ends of the second rotating shaft are respectively located in the corresponding second connecting holes, so that the locking connecting rod 4 is pivoted with the second engaging member 3. The avoiding groove 321 is used for installing the connecting section 41 of the locking link 4, and also plays a role of avoiding the rotation of the handle section 42, so that the locking link 4 can be smoothly rotated between the unlocking position and the locking position.

In this embodiment, the handle section 42 and the connecting section 41 are collinear, and the whole locking connecting rod 4 is a linear rod, so that the structure is simple and the processing is convenient. Preferably, the length of the handle segment 42 is not less than the length of the connecting segment 41, which facilitates the operator to drive the locking link 4 between the unlocked position and the locked position. Of course, in other embodiments, the handle segment 42 may be disposed to be connected to the connection segment 41 at an angle, which is not limited herein.

The first engaging member 2 includes a first engaging surface that is in abutting engagement with the fitting portion 11, and the engaging portion 31 includes a second engaging surface that is in abutting engagement with the fitting portion 11. In this embodiment, the first engaging surface is an inner surface of the arc-shaped first engaging member 2, and the second engaging surface is an inner surface of the arc-shaped engaging portion 31. Preferably, the first mating surface is provided with a first pressure measuring member, and/or the second mating surface is provided with a second pressure measuring member. The first pressure measuring device measures an interaction force when the first engaging device 2 abuts against the fitting portion 11 of the fitting device 1, and sets the magnitude of the interaction force to a first pressure value. The second pressure measuring device measures an interaction force when the engaging portion 31 of the second engaging device 3 abuts against the fitting portion 11 of the fitting device 1, and sets the magnitude of the interaction force to a second pressure value. When the first pressure value measured by the first pressure measuring piece exceeds the first preset pressure value and/or the second pressure value measured by the second pressure measuring piece exceeds the second preset pressure value, the clamping force of the clamping parts 31 of the first clamping piece 2 and the second clamping piece 3 on the embedding part 11 of the embedding piece 1 is large enough, the embedding piece 1 can be stably installed on the base 5, and the outer sleeve of the puncture device is fixedly connected with the installation part of the surgical robot. The first pressure measuring part and the second pressure measuring part are preferably pressure sensors, so that the installation is convenient, and the measurement is accurate.

The embodiment also provides a surgical robot which comprises a mounting part and the puncture outfit locking device. The base 5 is fixedly connected with the installation part, and can be in bolt connection, clamping connection, magnetic connection or welding and the like. This surgical robot who contains puncture ware locking device, simple structure, connection are stable, and the installation of puncture ware is dismantled conveniently, and work efficiency is high to can prevent effectively that the outer pipe box of puncture ware from breaking away from surgical robot's installation department, the security of performing the operation is high.

Preferably, a sterile film (not shown) is laid on the base 5 for isolating the puncture outfit, the puncture locking device and the surgical instruments from the surgical robot during surgery to form a sterile side and a non-sterile side, thereby avoiding the need of detaching and sterilizing the puncture outfit locking device after each surgical procedure, improving the working efficiency and saving the cost.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims (13)

1. A puncture outfit locking device is characterized by comprising an embedded part (1), a first clamping part (2), a second clamping part (3) and a locking connecting rod (4);

the jogging piece (1) comprises a jogging part (11) and a connecting part (12), the connecting part (12) is arranged to be connected with an outer sleeve of the puncture outfit, the second jogging piece (3) is provided with two opposite ends which are respectively a jogging part (31) and a pivoting part (32), the first jogging piece (2) is of an open ring structure, the first jogging piece (2) and the pivoting part (32) are respectively hinged with the locking connecting rod (4) at a first hinging position (a) and a second hinging position (b), compared with the second hinging position (b), the first hinging position (a) is closer to the jogging part (31), the locking connecting rod (4) rotates between a locking position and an unlocking position relative to the pivoting part (32), and the first hinging position (a) is closest to the jogging part (31) at the locking position, thereby interposing the fitting portion (11) between the opening of the first engaging piece (2) and the engaging portion (31), and in the unlocking position, the first hinge position (a) is away from the engaging portion (31), thereby releasing the fitting portion (11).

2. The puncture instrument locking device according to claim 1, wherein the locking position comprises a first extreme position and a second extreme position, the locking link (4) is in the locking state when the locking link (4) is located at any position between the first extreme position and the second extreme position, and the angle between the locking link (4) at the first extreme position and the locking link (4) at the second extreme position is 0-10 °.

3. The puncture instrument locking device according to claim 2, wherein the first hinge position (a), the second hinge position (b) and the centroid three points of the engaging portion (11) are collinear and form a straight line passing through the portions where the engaging portion (31) and the engaging portion (11) are engaged when the locking link (4) is located at the first limit position.

4. The locking device for puncture outfits according to any one of claims 1 to 3, characterized in that the first engaging member (2) is provided with a limiting groove (211), one end of the locking link (4) is rotatably disposed in the limiting groove (211), the limiting groove (211) comprises a groove bottom (2111) and a first groove wall (2112), and when the locking link (4) is located at the locking position, the locking link (4) abuts against the first groove wall (2112).

5. The locking device for puncture outfits according to claim 1, wherein the first engaging member (2) comprises a first body (21) and a first engaging portion (22), the engaging portion (11) is provided with a second engaging portion (111) corresponding to the first engaging portion (22), and the second engaging portion (111) can engage with the first engaging portion (22).

6. Puncture instrument locking device according to claim 5, characterized in that one of the first catch portion (22) and the second catch portion (111) is provided as a first protrusion and the other of the first catch portion (22) and the second catch portion (111) is provided as a first recess.

7. The locking device of a puncture outfit according to claim 1, wherein the engaging portion (31) comprises a second body (311) and a third engaging portion (312), a fourth engaging portion corresponding to the third engaging portion (312) is provided on the engaging portion (11), and the fourth engaging portion can engage with the third engaging portion (312).

8. Puncture instrument locking device according to claim 7, characterized in that one of the third (312) and fourth (312) catch section is provided as a second projection and the other of the third (312) and fourth catch section is provided as a second recess.

9. Puncture instrument locking device according to any one of claims 1 to 3, characterized in that the opening of the first catch (2) is V-shaped, U-shaped or arc-shaped; and/or the presence of a gas in the gas,

the clamping part (31) is V-shaped, U-shaped or arc-shaped.

10. The puncture instrument locking device according to claim 1, wherein the locking link (4) comprises a connecting section (41) and a handle section (42) connected to each other, the connecting section (41) being pivotally connected to the first engaging member (2) and the pivoting portion (32), respectively.

11. The puncture instrument locking device according to claim 10, wherein the handle segment (42) is collinear with the connecting segment (41), and a length of the handle segment (42) is not less than a length of the connecting segment (41); or the like, or, alternatively,

the handle section (42) and the connecting section (41) are arranged at an included angle.

12. A puncture instrument locking device according to any one of claims 1 to 3, wherein the first engaging member (2) includes a first engaging surface which is in abutting engagement with the fitting portion (11), and the engaging portion (31) includes a second engaging surface which is in abutting engagement with the fitting portion (11);

the first matching surface is provided with a first pressure measuring piece, and/or the second matching surface is provided with a second pressure measuring piece.

13. A surgical robot comprising the puncture instrument locking apparatus according to any one of claims 1 to 12.

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