CN213465246U - Puncture outfit locking device and surgical robot - Google Patents
Puncture outfit locking device and surgical robot Download PDFInfo
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- CN213465246U CN213465246U CN202021256401.0U CN202021256401U CN213465246U CN 213465246 U CN213465246 U CN 213465246U CN 202021256401 U CN202021256401 U CN 202021256401U CN 213465246 U CN213465246 U CN 213465246U
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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 assembly. The embedded piece comprises an embedded part and a connecting part, and the connecting part is connected with the outer sleeve of the puncture outfit; the first clamping piece comprises a clamping part, a transition part and a pivoting part which are connected in sequence; the locking component comprises a first locking connecting rod, a second locking connecting rod and a third locking connecting rod which are pivoted, and the first locking connecting rod is pivoted with the pivoting part; the second clamping piece is pivoted with the second locking connecting rod, one end of the third locking connecting rod is fixedly connected with the second clamping piece, and the other end of the third locking connecting rod is pivoted with the transition part; the locking assembly is provided with an unlocking position and a locking position, and when the locking assembly is located at the locking position, the clamping part and the second clamping piece clamp the embedding part. The surgical robot comprises the locking device. The puncture outfit is convenient to mount and dismount, the second clamping piece and the clamping part clamp the embedded part together, and the outer sleeve is prevented from separating from the mounting part.
Description
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:
provided is a puncture instrument locking device including:
the embedded part comprises an embedded part and a connecting part, and the connecting part is connected with the outer sleeve of the puncture outfit;
the first clamping piece comprises a clamping part, a pivoting part and a transition part, and the transition part is connected with the clamping part and the pivoting part;
the second clamping piece is of an open annular structure and is arranged to be connected with surgical equipment;
the locking assembly comprises a first locking connecting rod, a second locking connecting rod and a third locking connecting rod, the first locking connecting rod and the pivoting part are respectively hinged with the first locking connecting rod at a first hinging position and a second hinging position, the second locking connecting rod is hinged with the second clamping piece at a third hinging position, one end of the third locking connecting rod is fixedly connected with the second clamping piece, the other end of the third locking connecting rod is hinged with the transition part at a fourth hinging position, compared with the first hinging position and the second hinging position, the third hinging position is closer to the clamping part, the locking assembly rotates between a locking position and an unlocking position relative to the pivoting part, and in the locking position, the third hinging position is closest to the clamping part, so that the clamping part is clamped between an opening of the second clamping piece and the clamping part, in the unlocking position, the third hinge position is away from the engaging portion, thereby releasing the fitting portion.
As a preferable mode of the locking device of the puncture outfit, the locking position comprises a first limit position and a second limit position, when the locking assembly is located at any position between the first limit position and the second limit position, the locking assembly is in a locking state, and the angle between the second locking link at the first limit position and the second locking link at the second limit position is 0-10 °.
As a preferable embodiment of the locking device of the puncture instrument, when the locking assembly is located at the first limit position, three points of the first hinge position, the second hinge position and the third hinge position are collinear to form a dead-center line.
As a preferred scheme of the puncture outfit locking device, a limiting groove is formed in the second clamping piece, one end, far away from the first locking connecting rod, of the second locking connecting rod is rotatably arranged in the limiting groove, the limiting groove comprises a groove bottom, and when the locking assembly is located at the locking position, the second locking connecting rod can be abutted to the groove bottom.
As a preferable scheme of the puncture outfit locking device, the clamping part comprises a first body and a first clamping part, a second clamping part is arranged on the embedding part corresponding to the first clamping part, and the second clamping part can be clamped with the first clamping part;
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 second clamping piece comprises a second body and a third clamping part, a fourth clamping part is arranged on the embedding part corresponding to the third clamping part, and the third clamping part can be clamped with the fourth 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 clamping part is in a V shape, a U shape or an arc shape; and/or the presence of a gas in the gas,
the opening of the second clamping piece is V-shaped, U-shaped or arc-shaped.
As a preferable scheme of the puncture outfit locking device, the second locking connecting rod comprises a connecting section and a handle section, and the connecting section is respectively pivoted with the first locking connecting rod and the second clamping piece;
preferably, the connecting section is collinear with the handle section, and the length of the handle section is not less than that of the connecting section; or the like, or, alternatively,
the handle section and the connecting section form an included angle;
further preferably, a first avoiding groove is formed in the first locking connecting rod, and one end, close to the handle section, of the connecting section is rotatably arranged in the first avoiding groove.
As a preferable scheme of the puncture outfit locking device, the puncture outfit locking device further comprises a base, wherein the base is arranged to be fixedly connected to the surgical equipment, and the second clamping piece is fixedly arranged on the base;
preferably, a sterile film is paved on the base.
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, and connecting portion are connected with the outer pipe box of puncture ware, and the second fastener is installed in advance on surgical robot's installation department, and first fastener is including the block portion, pin joint portion and the transition portion that are connected, and block portion and pin joint portion are connected to the transition portion, and it is articulated through locking Assembly between first fastener and the second fastener. The locking assembly specifically comprises a first locking connecting rod, a second locking connecting rod and a third locking connecting rod. The second locking connecting rod and the pivoting part are hinged with the first locking connecting rod at a first hinging position and a second hinging position respectively, the second locking connecting rod is hinged with the second clamping piece at a third hinging position, one end of the third locking connecting rod is fixedly connected with the second clamping piece, the other end of the third locking connecting rod is hinged with the transition part of the first clamping piece at a fourth hinging position, and compared with the first hinging position and the second hinging position, the third hinging position is closer to and away from the clamping part. The first engaging member, the second engaging member and the locking assembly together form a hinge linkage. When the locking assembly is driven to move between the unlocking position and the locking position relative to the second clamping piece, the first clamping piece moves along with the locking assembly, and when the third hinge position is closest to the clamping part, the clamping part of the clamping part is clamped or unlocked.
Specifically, before the operation is started, the locking assembly is located at the unlocking position, the connecting part of the embedded part is connected with the outer sleeve of the puncture outfit, and the outer wall of the embedded part is close to or attached to the first clamping part. Then, the locking assembly is driven to rotate from the unlocking position to the locking position, the whole first clamping piece moves along with the locking assembly, and the clamping part of the first clamping piece is close to the embedding part of the embedding piece. When the locking assembly moves to the locking position, the clamping part of the first clamping piece and the second clamping piece clamp the embedding part of the embedding piece together, and the embedding piece is fixed on the mounting part, so that 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 assembly is driven to move reversely, the locking assembly rotates from the locking position to the unlocking position, the first clamping piece moves reversely along with the locking assembly, the clamping part of the first 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.
This embodiment overall structure is simple, and the installation and the dismantlement of puncture ware are convenient, and the block portion through second fastener and first fastener presss from both sides tight gomphosis portion jointly, 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.
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.
Fig. 1 is a schematic structural view of a puncture instrument locking device (locking assembly in unlocking device) provided in an embodiment of the present invention;
fig. 2 is a schematic structural view of a locking device (locking assembly in 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 second engaging member on a base in the locking device of the puncture device according to the embodiment of the present invention;
fig. 5 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;
fig. 6 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. 7 is a schematic structural view of a second locking link in the locking device of the puncture instrument provided by the embodiment of the present invention;
fig. 8 is a schematic structural view of a first locking link 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-a third articulation position; d-a fourth hinge position;
1-a fitting; 2-a first snap-fit member; 3-a locking assembly; 4-a second snap-fit; 5-a base;
11-a chimeric portion; 12-a connecting part;
111-a second snap-in part;
21-an engaging portion; 22-a pivot joint; 23-a transition;
211-a first body; 212-a first snap-in part;
221-a second avoidance slot; 222-a second connection hole;
231-fourth connection hole;
31-a first locking link; 32-a second locking link; 33-a third locking link;
311-a first avoidance slot; 312 — a first connection hole; 313-second shaft hole;
321-a connecting segment; 322-a handle section;
3211-a first shaft hole; 3212-third shaft hole;
331-fourth shaft hole;
41-a second body; 42-a third snap-fit portion; 43-a limit groove; 431-groove bottom; 44-third connecting hole.
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 locking assembly 3, and a second engaging member 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. Illustratively, the fitting portion 11 is columnar, and the cross section of the fitting portion 11 is a circular surface.
The second engaging member 4 has an open ring structure and is provided to be pre-mounted on a mounting portion of the surgical robot. Referring to fig. 4, in order to facilitate the installation of the second engaging member 4, the locking device of the puncture outfit of the present embodiment further includes a base 5, the base 5 is configured to be fixedly installed on the installation portion of the surgical robot, and the second engaging member 4 is fixedly installed on the base 5, so as to increase the connection area between the second engaging member 4 and the installation portion, and ensure the stable connection between the whole locking device and the installation portion of the surgical robot.
Referring to fig. 1, 2 and 6, the first engaging member 2 includes an engaging portion 21, a pivoting portion 22 and a transition portion 23. The engaging portion 21 and the pivot portion 22 are disposed at two ends of the first engaging member 2, and the transition portion 23 connects the engaging portion 21 and the pivot portion 22. The first engaging member 2 may be integrally formed or may be a separate structure, and the engaging portion 21 and the transition portion 23 and/or the transition portion 23 and the pivot portion 22 are connected by a screw, a snap, or a welding method.
The first engaging member 2 and the second engaging member 4 are hinged to each other by a locking assembly 3. The locking assembly 3 specifically includes a first locking link 31, a second locking link 32, and a third locking link 33. The first and second lock links 31 and 32 are hinged by the first pivot at the first hinge position a. The first locking link 31 is hinged to the pivot portion 22 of the first engaging member 2 at the second hinge position b via a second pivot, and the second locking link 32 is hinged to the second engaging member 4 at the third hinge position c via a third pivot. One end of the third locking link 33 is fixedly connected to the second engaging member 4, and the other end is hinged to the transition portion 23 of the first engaging member 2 at a fourth hinge position d via a fourth rotating shaft. And the third hinge position c is closer to the engaging portion 21 than the first hinge position a and the second hinge position b, and when the locking assembly 3 is driven to move between the unlocking position and the locking position with respect to the second engaging member 4, the first engaging member 2 moves together with the locking assembly 3, and in the locking position, the third hinge position c is closest to the engaging portion 21, so that the fitting portion 11 is interposed between the opening of the second engaging member 4 and the engaging portion 21, and in the unlocking position, the third hinge position c is farther from the engaging portion 21, so that the fitting portion 11 is released.
Specifically, before the operation is started, the locking assembly 3 is located at the unlocking position, the connecting portion 12 of the engaging member 1 is sleeved outside the outer sleeve of the puncture instrument, the connecting portion 12 is rotated around the outer sleeve to adjust the angle of the engaging member 1 relative to the second engaging member 4, so that one end surface of the engaging portion 11 of the engaging member 1 is attached to the base 5, and the outer wall of the engaging portion 11 is close to or attached to the inner side surface of the opening of the second engaging member 4. Then, the lock assembly 3 is driven to move from the unlock position to the lock position, the entire first engaging member 2 moves together with the lock assembly 3, and the engaging portion 21 of the first engaging member 2 approaches the fitting portion 11 of the fitting member 1. In the unlocking position, the third hinge position c is far away from the clamping part 21, when the locking assembly 3 rotates towards the locking position, the third hinge position c and the clamping part 21 gradually approach, when the locking assembly 3 moves to the locking position, the third hinge position c is closest to the clamping part 21, and at the moment, the clamping part 21 of the first clamping part 2 and the first clamping part 2 clamp the embedding part 11 of the embedding part 1 together, so that the embedding part 1 is fixed on the base 5, and the fixed connection of the outer sleeve of the puncture outfit and the mounting part of the surgical robot is realized.
When the puncture outfit needs to be removed or replaced, the locking assembly 3 is driven to move from the locking position to the unlocking position, the first clamping piece 2 moves reversely along with the locking assembly 3, the third hinge position c is far away from the clamping part 21, the clamping part 21 of the first clamping piece 2 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 installation 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 21 of second fastener 4 and first fastener 2, 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.
Specifically, referring to fig. 1 and 2, the first engaging member 2, the lock assembly 3 (the first lock link 31, the second lock link 32, and the third lock link 33), and the second engaging member 4 of the present embodiment constitute a hinge link mechanism. The second engaging piece 4 is fixed to a mounting portion of the surgical robot via a base 5. When the second locking link 32 is driven to rotate around the third rotation axis relative to the second engaging member 4, the second locking link 32 drives the first locking link 31 to rotate around the first rotation axis, the first locking link 31 further drives the first engaging member 2 to rotate around the second rotation axis and the fourth rotation axis, and the engaging portion 21 of the first engaging member 2 moves towards the direction close to the engaging portion 11 of the engaging member 1 until the engaging portion 21 presses the engaging portion 11 onto the second engaging member 4.
The pivoting position of the first locking link 31 and the second locking link 32 is set as a first hinge position a, the pivoting position of the first locking link 31 and the pivoting portion 22 is set as a second hinge position b, and the pivoting position of the second locking link 32 and the second engaging member 4 is set as a third hinge position c. When the three points of the first hinge position a, the second hinge position b and the third hinge position c are collinear, and simultaneously, due to the existence of the third locking connecting rod 33, the whole hinge connecting rod mechanism is in a dead point position, at this time, the hinge connecting rod mechanism composed of the first clamping piece 2, the second clamping piece 4 and the locking component 3 is in a stable state of force balance, and stable locking of the embedding part 11 is realized. The third locking connecting rod 33 ensures the structural stability of the whole hinge connecting rod mechanism in the plane of the whole hinge connecting rod mechanism, prevents the locking assembly 3 and the first clamping piece 2 from inclining relative to the second clamping piece 4, ensures the motion stability of the whole hinge connecting rod mechanism, and ensures that the clamping part 21 of the first clamping piece 2 can be accurately clamped with the embedding part 11.
When three points of the first hinge position a, the second hinge position b and the third hinge position c are set to be collinear, a straight line formed by the three points is a dead point straight line, and the position of the locking assembly 3 at the moment is set to be a first limit position.
It should be noted that, after the entire hinge link mechanism reaches the dead point position, if the second locking link 32 is driven to rotate 0 ° to 10 ° from the dead point position to the direction away from the unlocking position, the entire hinge link mechanism is still in a stable state with balanced force, and the effective clamping of the engaging portion 21 of the first engaging member 2 and the engaging portion 11 of the second engaging member 4 to the engaging member 1 can still be ensured. When the second locking link 32 is set to rotate 10 ° further away from the unlocking position from the dead-center position, the entire locking assembly 3 is in the second extreme position.
From the above analysis, when the locking assembly 3 is located at any position between the first limit position and the second limit position, the locking assembly 3 is in the locked state, and the entire hinge link mechanism is in the stable state. That is, the locking position of the locking assembly 3 is a region which is a moving path of the locking assembly 3 between the first limit position and the second limit position, and at any position on the path, the locking assembly 3 is in a locking state.
Referring to fig. 5, the second engaging member 4 is provided with a limiting groove 43, and the limiting groove 43 is disposed on a side of the second engaging member 4 away from the engaging portion 11. One end of the second lock link 32, which is away from the first lock link 31, is rotatably disposed in the limiting groove 43 by a third rotating shaft. The retainer groove 43 includes a groove bottom 431. In this embodiment, the plane of the groove bottom 431 includes the dead-center line, that is, the included angle between the plane of the groove bottom 431 and the dead-center line is 0 °, at this time, the plane of the groove bottom 431 completely coincides with the horizontal plane, that is, when the second locking link 32 moves to the first limit position (that is, the whole hinge link mechanism moves to the dead-center position), the second locking link 32 abuts against the groove bottom 431. The second locking link 32 and the entire locking assembly 3 are limited by the groove bottom 431, and the locking assembly 3 and the entire hinge link mechanism are guaranteed to accurately move to the dead point position.
According to the above analysis of the second limit position, in other embodiments, the included angle between the plane of the groove bottom 431 of the limiting groove 43 and the dead point straight line may be set to be 0 ° to 10 °, so that the second locking link 32 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.
Exemplarily, when the plane of the groove bottom 431 forms an angle of 10 ° with the dead-center line: the second locking link 32 can continue to rotate 10 ° past the dead center position until it abuts the slot bottom 431 with the entire hinge linkage at the second extreme position
Similarly to the above, when the plane of the groove bottom 431 forms an angle of 5 ° with the dead point line: the second lock link 32 can continue to rotate 5 ° past the dead center position into abutment with the trough bottom 431.
In this embodiment, when the second lock link 32 is located at the first limit position (i.e., the entire hinge link mechanism is located at the dead point position), and the third lock link 33 is parallel to the dead point straight line, the stability of the entire hinge link mechanism is higher, that is, the mounting stability of the outer tube of the puncture instrument on the mounting portion of the surgical robot is higher. Of course, in other embodiments, when the second lock link 32 is located at the first limit position (i.e., the entire hinge link mechanism is located at the dead point position), the third lock link 33 may also be angled with respect to the dead point line, and the position of the third lock link 33 is not limited herein.
When the lock assembly 3 is actuated to move from the locked position to the unlocked position, the second lock link 32 in fig. 2 rotates counterclockwise, and the entire lock assembly 3 assumes the state shown in fig. 1. When one end of the second locking connecting rod 32, which is far away from the first locking connecting rod 31, is abutted against the groove wall of the limiting groove 43, which is opposite to the notch, the locking assembly 3 is unlocked in place.
The pivot joint of the third locking link 33 and the transition portion 23 of the first engaging member 2 is set to the fourth hinge position d.
It should be noted that, when the locking assembly 3 moves from the locking position to the unlocking position, when the first hinge position a, the second hinge position b and the fourth hinge position d are collinear, the maximum unlocking rotation angle of the second locking link 32 and the locking assembly 2 may be obtained, and if the second locking link 32 continues to rotate, the locking assembly 3 and the entire hinge link mechanism may not be reset, and it can be understood that, in this case, even if the second locking link 32 rotates from the unlocking position to the locking position, the locking assembly 3 and the entire hinge link mechanism may not reach the dead point position. Therefore, when the second locking connecting rod 32 is set to rotate to the maximum unlocking rotation angle, the included angle between the second locking connecting rod 32 and the groove bottom 431 of the limiting groove 43 is set to be A, and the maximum included angle between the groove wall of the limiting groove 43, which is opposite to the groove opening, and the groove bottom 431 is set to be A, so that the rotation angle of the second locking connecting rod 32 is limited not to exceed the maximum unlocking rotation angle, and the reliability and the stability of the whole structure are ensured.
Illustratively, the transition portion 23 is L-shaped, and has a simple structure and is convenient to machine. In other embodiments, the transition portion 23 may also be formed in a V shape, an arc shape, or the like, which is not limited herein.
Preferably, referring to fig. 1, 3 and 6, the engaging portion 21 of the first engaging member 2 includes a first body 211 and a first engaging portion 212, and the engaging portion 11 is provided with a second engaging portion 111 corresponding to the first engaging portion 212, and the second engaging portion 111 can engage with the first engaging portion 212. The first clamping part 212 is clamped with the second clamping part 111, so that the abutting area of the clamping part 21 and the embedding part 11 is increased, the connection stability of the clamping part 21 and the embedding part 11 is improved, and the embedding part 11 is prevented from being displaced relative to the clamping part 21 along the axial direction of the embedding part 11.
Specifically, one of the first and second clip portions 212 and 111 is provided as a first protrusion, and the other of the first and second clip portions 212 and 111 is provided as a first recess.
In this embodiment, the first clamping portion 212 is a first protrusion disposed on the first body 211, the second clamping portion 111 is a first groove disposed on the engaging portion 11, and the first protrusion is clamped into the first groove, so that the clamping is stable, the structure is simple, and the processing is convenient. Furthermore, the cross section of the first protrusion is triangular, the cross section of the first groove is correspondingly V-shaped, and the structure is simple and the processing is convenient. In other embodiments, the cross section of the first protrusion may be rectangular, trapezoidal, or irregular, and the shape of the first groove may be matched with the shape of the first protrusion. In addition, the first clamping portion 212 can be a first groove on the first body 211, and the second clamping portion 111 can 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.
In this embodiment, referring to fig. 1, 3 and 4, the second engaging member 4 includes a second body 41 and a third engaging portion 42, a fourth engaging portion is disposed on the engaging portion 11 corresponding to the third engaging portion 42, and the third engaging portion 42 can be engaged with the fourth engaging portion. Through third joint portion 42 and fourth joint portion joint, make things convenient for the prepositioning of gomphosis portion 11 on base 5, increase the butt area of second fastener 4 and gomphosis portion 11 simultaneously, improve connection stability between them, prevent that gomphosis portion 11 from taking place along the axial displacement of gomphosis portion 11 for second fastener 4.
It is understood that one of the third and fourth clamping portions 42 and 42 is provided as a second protrusion, and the other of the third and fourth clamping portions 42 and 42 is provided as a second recess.
In this embodiment, the third engaging portion 42 is a second protrusion disposed on the second body 41, the fourth engaging portion is a second groove disposed on the engaging portion 11, the second protrusion is engaged into the second groove, the engaging is stable, the structure is simple, and the processing is convenient. It should be noted that, in the present embodiment, both ends of the second groove are connected to both ends of the first groove, and the two are combined 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 movement of the second protrusion clamped in the second groove can be guided. In other embodiments, the cross section of the second protrusion may be rectangular, trapezoidal, or irregular, and the shape of the second groove may be matched with the second protrusion. Of course, the third engaging portion 42 can be a second groove on the second body 41, and the fourth engaging portion can be a second protrusion on the engaging portion 11.
Preferably, referring to fig. 6, the inner surface of the engaging portion 21 of the present embodiment is arc-shaped, and the curvature of the inner surface of the first body 211 of the engaging portion 21 is the same as the curvature of the outer contour of the fitting portion 11, that is, the contact surface between the first body 211 and the fitting portion 11 is arc-shaped and curved, so that the contact area between the two is large, the stable fit between the engaging portion 21 and the fitting portion 11 is ensured, and the connection stability is high. Of course, in other embodiments, the engaging portion 21 may be formed in a V-shape, a U-shape, a special shape, or the like, and in this case, the engaging portion 21 may be in stable point contact, line contact, or surface contact with the fitting portion 11.
Similarly, referring to fig. 4 and 5, the opening of the second engaging member 4 of the present embodiment is also arc-shaped, and the curvature of the inner surface of the second body 41 of the second engaging member 4 is the same as the curvature of the outer contour of the fitting part 11, that is, the contact surface between the second body 41 and the fitting part 11 is an arc-shaped curved surface, the contact area between the two is large, stable fitting between the engaging part 21 and the fitting part 11 is ensured, and the connection stability is high. Of course, in other embodiments, the opening of the second engaging element 4 may be formed in a V shape, a U shape, a special shape, or the like, and in this case, the second engaging element 4 may be in stable point contact, line contact, or surface contact with the fitting portion 11.
Further, referring to fig. 1 and 2, the second locking link 32 includes a connecting section 321 and a handle section 322, and the connecting section 321 is pivotally connected to the first locking link 31 and the second engaging member 4, respectively.
Specifically, referring to fig. 7 and 8, a first shaft hole 3211 is disposed at one end of the connecting section 321 close to the handle section 322, the first rotating shaft penetrates through the first shaft hole 3211, meanwhile, the first locking link 31 is provided with a first avoiding groove 311, two opposite groove walls of the first avoiding groove 311 are provided with first connecting holes 312, two ends of the first rotating shaft are respectively located in the corresponding first connecting holes 312, and the connecting section 321 and the first locking link 31 are pivoted.
Referring to fig. 6 and 8, a second shaft hole 313 is formed in one end of the first locking link 31, which is away from the second locking link 32, the second shaft passes through the second shaft hole 313, meanwhile, a second avoiding groove 221 is formed in the pivoting portion 22 of the first engaging member 2, second connecting holes 222 are formed in two opposite groove walls of the second avoiding groove 221, and two ends of the second shaft are respectively located in the corresponding second connecting holes 222, so that the first locking link 31 is pivoted with the first engaging member 2.
Referring to fig. 5 and 7, in the second locking connecting rod 32, one end of the connecting section 321, which is far away from the handle section 322, is provided with a third shaft hole 3212, the third rotating shaft passes through the third shaft hole 3212, two opposite groove walls of the limiting groove 43 of the second engaging member 4 are provided with third connecting holes 44, and two ends of the third rotating shaft are respectively located in the corresponding third connecting holes 44, so as to realize the pivot connection between the second locking connecting rod 32 and the second engaging member 4.
Further, referring to fig. 6, the second avoiding groove 221 extends to the transition portion 23 of the first engaging member 2. A fourth through hole 231 is further disposed on two opposite walls of the second avoiding groove 221, a fourth shaft hole 331 is disposed at one end of the third locking connecting rod 33 away from the second engaging member 4, a fourth rotating shaft is disposed in the fourth shaft hole 331 in a penetrating manner, and two ends of the fourth rotating shaft are respectively located in the corresponding fourth through holes 231, so as to realize the pivot connection between the third locking connecting rod 33 and the transition portion 23 of the first engaging member 2.
In this embodiment, referring to fig. 1 and 7, in the second lock link 32, the handle section 322 is disposed at an angle to the connecting section 321, so that an operator can hold the handle section 322 to drive the second lock link 32 to move between the unlocking position and the locking position. Of course, in other embodiments, the handle section 322 and the connecting section 321 may be arranged in a collinear manner, and the entire second locking link 32 is a linear rod, which is simple in structure and convenient to process. The length of the handle segment 322 is preferably no less than the length of the connecting segment 321, which facilitates the operator to hold the handle segment 322.
The engaging portion 21 includes a first engaging surface that is in abutting engagement with the fitting portion 11, and the second engaging member 4 includes a second engaging surface that is in abutting engagement with the fitting portion 11. In this embodiment, the first engagement surface is an inner surface of the first body 211 of the arc-shaped engagement portion 21, and the second engagement surface is an inner surface of the second body 41 of the arc-shaped second engagement member 4.
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 element measures an interaction force when the engaging portion 21 abuts against the fitting portion 11 of the fitting element 1, and the magnitude of the interaction force is set to a first pressure value. The second pressure measuring device measures an interaction force when the second engaging device 4 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 part 21 and the second clamping part 4 on the embedding part 11 of the embedding part 1 is large enough, the embedding part 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, and the sterile film extends along the plane of the surface of the base 5 to form a sterile side and a non-sterile side, so that the puncture outfit locking device is prevented from being detached and sterilized after each surgical procedure, the working efficiency is improved, and the cost is saved.
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 (15)
1. A locking device for a puncture instrument, comprising:
the embedded part (1) comprises an embedded part (11) and a connecting part (12), wherein the connecting part (12) is connected with an outer sleeve of the puncture outfit;
the first clamping piece (2) comprises a clamping part (21), a pivoting part (22) and a transition part (23), and the transition part (23) is connected with the clamping part (21) and the pivoting part (22);
the second clamping piece (4) is of an open annular structure, and is arranged to be connected with surgical equipment;
a locking assembly (3) comprising a first locking link (31), a second locking link (32) and a third locking link (33), wherein the second locking link (32) and the pivot portion (22) are hinged to the first locking link (31) at a first hinge position (a) and a second hinge position (b), respectively, the second locking link (32) is hinged to the second engaging member (4) at a third hinge position (c), one end of the third locking link (33) is fixedly connected to the second engaging member (4), the other end is hinged to the transition portion (23) at a fourth hinge position (d), the third hinge position (c) is closer to the engaging portion (21) than the first hinge position (a) and the second hinge position (b), and the locking assembly (3) rotates between a locking position and an unlocking position relative to the pivot portion (22), in the locked position, the third hinge position (c) is closest to the engaging portion (21) so as to interpose the fitting portion (11) between the opening of the second engaging piece (4) and the engaging portion (21), and in the unlocked position, the third hinge position (c) is distant from the engaging portion (21) so as to release 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 assembly (3) is in the locked state when the locking assembly (3) is located at any position between the first extreme position and the second extreme position, and the angle between the second locking link (32) in the first extreme position and the second locking link (32) in the second extreme position is 0 ° to 10 °.
3. Puncture instrument locking device according to claim 2, characterized in that the first hinge position (a), the second hinge position (b) and the third hinge position (c) are three points collinear to form a dead center line when the locking assembly (3) is in the first extreme position.
4. The locking device for puncture outfits according to any one of claims 1 to 3, characterized in that a limiting groove (43) is provided on the second engaging member (4), the end of the second locking link (32) away from the first locking link (31) is rotatably disposed in the limiting groove (43), the limiting groove (43) comprises a groove bottom (431), and when the locking assembly (3) is located at the locking position, the second locking link (32) abuts against the groove bottom (431).
5. The locking device for puncture outfits according to claim 1, wherein the engaging portion (21) comprises a first body (211) and a first clamping portion (212), a second clamping portion (111) is disposed on the embedding portion (11) corresponding to the first clamping portion (212), and the second clamping portion (111) can be clamped with the first clamping portion (212).
6. The puncture instrument locking device according to claim 5, wherein one of the first catching portion (212) and the second catching portion (111) is provided as a first protrusion, and the other of the first catching portion (212) and the second catching portion (111) is provided as a first recess.
7. The locking device for puncture outfits according to claim 1, wherein the second engaging member (4) comprises a second body (41) and a third engaging portion (42), a fourth engaging portion is provided on the engaging portion (11) corresponding to the third engaging portion (42), and the third engaging portion (42) can be engaged with the fourth engaging portion.
8. Puncture instrument locking device according to claim 7, characterized in that one of the third (42) and fourth (42) catch section is provided as a second projection and the other of the third (42) and fourth catch section is provided as a second recess.
9. The puncture instrument locking device according to claim 1, wherein the engaging portion (21) is V-shaped, U-shaped, or arc-shaped; and/or the presence of a gas in the gas,
the opening of the second clamping piece (4) is V-shaped, U-shaped or arc-shaped.
10. The puncture instrument locking device according to claim 1, wherein the second locking link (32) comprises a connecting section (321) and a handle section (322), the connecting section (321) being pivotally connected to the first locking link (31) and the second engaging member (4), respectively.
11. The puncture instrument locking device according to claim 10, wherein the connecting section (321) is collinear with the handle section (322), and the length of the handle section (322) is not less than the length of the connecting section (321); or the like, or, alternatively,
the handle section (322) and the connecting section (321) are arranged at an included angle.
12. A puncture instrument locking device according to claim 11, wherein the first locking link (31) is provided with a first avoiding groove (311), and one end of the connecting section (321) near the handle section (322) is rotatably provided in the first avoiding groove (311).
13. The puncture instrument locking device according to claim 1, further comprising a base (5), wherein the base (5) is configured to be fixedly connected to the surgical device, and the second engaging member (4) is fixedly disposed on the base (5).
14. A puncture instrument locking device according to claim 13, characterized in that the base (5) is provided with a sterile membrane.
15. A surgical robot comprising a puncture instrument locking apparatus according to any one of claims 1 to 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021256401.0U CN213465246U (en) | 2020-06-30 | 2020-06-30 | Puncture outfit locking device and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021256401.0U CN213465246U (en) | 2020-06-30 | 2020-06-30 | Puncture outfit locking device and surgical robot |
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| Publication Number | Publication Date |
|---|---|
| CN213465246U true CN213465246U (en) | 2021-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021256401.0U Active CN213465246U (en) | 2020-06-30 | 2020-06-30 | Puncture outfit locking device and surgical robot |
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| Country | Link |
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| CN (1) | CN213465246U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113855221A (en) * | 2021-12-01 | 2021-12-31 | 真健康（北京）医疗科技有限公司 | A surgical robot that is used for terminal needle holder of ablation needle and carries out ablation |
-
2020
- 2020-06-30 CN CN202021256401.0U patent/CN213465246U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113855221A (en) * | 2021-12-01 | 2021-12-31 | 真健康（北京）医疗科技有限公司 | A surgical robot that is used for terminal needle holder of ablation needle and carries out ablation |
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Address after: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |
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