CN216754600U

CN216754600U - Medical fast-assembling quick detach actuating mechanism and surgical robot

Info

Publication number: CN216754600U
Application number: CN202122915857.4U
Authority: CN
Inventors: 王少白; 李春宝; 张琳; 朱峰
Original assignee: Shanghai Zhuoxin Medical Technology Co ltd
Current assignee: Shanghai Zhuoxin Medical Technology Co ltd
Priority date: 2021-11-25
Filing date: 2021-11-25
Publication date: 2022-06-17
Anticipated expiration: 2031-11-25

Abstract

The utility model discloses a medical quick-mounting and quick-dismounting executing mechanism and a surgical robot provided with the same. The disassembling component is connected with a connecting piece which is matched with the disassembling component to clamp the surgical tool. The dismounting component is provided with a mounting groove, and the side wall of the mounting groove is provided with an opening. The fixing component comprises a fixing seat, a buckle and an elastic piece, wherein the fixing seat is partially attached to the mounting groove and can slide relative to the mounting groove along the depth direction of the groove, a containing groove is formed in the fixing seat, the buckle is contained in the containing groove, a clamping block matched with the opening is arranged on the buckle, and the elastic piece is arranged in the buckle and the containing groove and used for enabling the clamping block on the buckle to stretch out of a notch of the containing groove and be clamped with the opening. The fixing seat is also provided with a fixing part which is used for being connected with the front end of the mechanical arm of the surgical robot. The utility model can realize quick disassembly and assembly, and has simple use method and low requirement on users.

Description

Medical fast-assembling quick detach actuating mechanism and surgical robot

Technical Field

The utility model belongs to the field of medical instruments, and particularly relates to a medical quick-mounting and quick-dismounting actuating mechanism and a surgical robot.

Background

The executing mechanism is fixed at the front end of a mechanical arm of the orthopedic robot and used for clamping a surgical tool, a sterile sleeve is sleeved on the mechanical arm, then the executing mechanism is arranged at the front end of the mechanical arm, and the executing mechanism moves along with the mechanical arm. After the mechanism is used, high-temperature sterilization is needed, so that the mechanism needs to be frequently disassembled and quickly assembled. Namely, the requirements of the executing mechanism are that the sterile sleeve on the mechanical arm can not be punctured and the mechanical arm can be quickly clamped and disassembled.

Generally, the actuator is divided into two parts, a fixed part fixed at the front end of the robot arm and a detachable part for holding a surgical tool, while the detachable part can be detachably attached to the fixed part. After the actuator is used each time, the disassembly part is disassembled for high-temperature sterilization.

However, the disassembling part and the fixing part in the traditional actuating mechanism are fixed by matching two locking screws through the positioning shaft, and the fixing mode has the following disadvantages: 1. when the positioning shaft is guided and positioned, the sterile sleeve is easy to puncture, so that the mechanical arm is polluted; 2. the positioning shaft cannot be accurately judged to be positioned in place during positioning, and the requirement on a user is high; 3. the time for using when disassembling and assembling the disassembling part is longer.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a medical quick-mounting and quick-dismounting execution mechanism and a surgical robot, and aims to solve the problem that in the prior art, the dismounting and mounting of a fixed part and a dismounting part in the execution mechanism are long in time.

The technical scheme of the utility model is as follows:

a medical fast-assembling quick detach actuating mechanism includes:

the disassembling component is connected with a connecting piece, and the connecting piece is matched with the disassembling component and used for clamping a surgical tool; the dismounting assembly is provided with a mounting groove, and the side wall of the mounting groove is provided with an opening;

the fixing assembly comprises a fixing seat, a buckle and an elastic piece, wherein the fixing seat is partially attached to and arranged in the mounting groove and can slide relative to the mounting groove along the depth direction of the mounting groove;

the fixing seat is further provided with a fixing part which is used for being connected with the front end of a mechanical arm of the surgical robot.

In one embodiment, a medical quick-assembly and quick-disassembly actuating mechanism is provided, the disassembly assembly includes:

the dismounting piece is provided with the mounting groove, a sliding groove is axially arranged in the dismounting piece, and the sliding groove is communicated with the groove bottom of the mounting groove;

the locking block is connected in the sliding groove in a sliding manner; a limiting hole communicated with the sliding groove is formed in the side wall of the dismounting part, a limiting part is convexly arranged on the side wall of the locking block, the limiting part penetrates through the limiting hole and extends out of the limiting hole, and the limiting part can slide in the limiting hole along the axial direction of the dismounting part; when the locking block is located at a preset position in the sliding groove, the locking block abuts against the fixed seat;

the retaining member, the cover is located the lateral wall of dismantlement piece and rather than threaded connection, be equipped with spacing face on the inner wall of retaining member, be used for following the retaining member to promote when the fixing base removes the locating part.

In the medical quick-mounting and quick-release actuating mechanism provided by an embodiment, a fixing block is arranged between the side wall of the opening far away from the locking block and the surface of the notch corresponding to the mounting groove, a protrusion is further arranged on the buckle, a first groove is formed between the protrusion and the clamping block through the buckle, and the fixing block is accommodated and fixed in the first groove.

In an embodiment, the surface of the clamping block, which is far away from the accommodating groove, is an inclined surface, the inclined surface gradually increases from the bottom of the installation groove to the direction of the notch, and the bottom of the inclined surface, which is closest to the installation groove, does not extend out of the opening.

In an embodiment, the elastic member is a spring, a first end of the spring is connected with the bottom of the accommodating groove, and a second end of the spring is connected with the surface of the buckle facing the bottom of the accommodating groove.

In an embodiment of the medical quick-mounting and quick-dismounting actuator, a second groove is formed in a surface of the buckle facing the bottom of the accommodating groove, the spring is partially accommodated in the second groove, and a second end of the spring is connected with the bottom of the second groove.

According to the medical quick-mounting and quick-dismounting actuating mechanism provided by one embodiment, a guide groove is formed in the buckle, a guide piece is arranged on the fixing seat and is connected to the guide groove in a sliding mode, and the sliding direction is the direction in which the buckle extends out of or retracts into the opening.

In an embodiment of the medical quick-mounting and quick-dismounting actuator, the fixing portion is disposed at a first axial end of the fixing seat, a second axial end of the fixing seat is accommodated in the mounting groove, and the accommodating groove is disposed on a side wall of the fixing seat.

In an embodiment, the connecting member is connected to the dismounting member, the sliding groove is an axial through hole in the dismounting member, and the sliding groove portion of the locking block, which is away from one side of the fixing seat, is used for accommodating the surgical tool and is matched with the connecting member to clamp and fix the surgical tool.

An embodiment provides a medical fast-assembling quick detach actuating mechanism, the disassembly part is in the latch segment is kept away from be equipped with the intercommunication on the lateral wall of fixing base one side the screw hole of spout, the connecting piece has the threaded rod, threaded rod threaded connection in threaded hole and both ends all stretch out the screw hole, wherein the threaded rod stretches into the one end of spout be used for with mounting hole threaded connection on the surgical tool cooperates the spout centre gripping is fixed surgical tool.

An embodiment provides a medical fast-assembling quick detach actuating mechanism, the connecting piece includes threaded rod and handle, the handle link firmly in the threaded rod stretches out the one end of disassembling piece.

In an embodiment of the medical quick-mounting and quick-dismounting actuator, a cross section of the sliding groove is non-circular.

A surgical robot, the front end of the mechanical arm of the surgical robot is connected with the medical quick-mounting and quick-dismounting actuating mechanism.

Due to the adoption of the technical scheme, compared with the prior art, the utility model has the following advantages and positive effects:

according to the medical quick-assembly and quick-disassembly actuating mechanism and the surgical robot, when the assembly is assembled and disassembled, only the clamping block needs to be pressed down, the buckle retracts into the accommodating groove by overcoming the resistance of the elastic piece, then the mounting groove on the disassembly assembly is sleeved on the fixed seat, the clamping block is loosened (the clamping block can be loosened when the clamping block is actually covered on the groove wall of the mounting groove and pressed in the accommodating groove, and the clamping block is limited by the groove wall of the mounting groove), the clamping block extends out of the opening under the action of the elastic piece to realize the connection of the disassembly assembly and the fixed seat, and therefore the disassembly assembly is installed on the fixed assembly; when the disassembling component needs to be disassembled, the clamping block is pressed down to enable the clamping buckle to overcome the resistance of the elastic piece to retract into the accommodating groove, and then the disassembling component can be disassembled. Therefore, the utility model can realize quick disassembly and assembly, has simple use method and low requirement on users, and solves the problem that the disassembly and assembly of the fixed part and the disassembly part in the actuating mechanism in the prior art takes long time.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the utility model.

FIG. 1 is a schematic structural view of a medical quick-mounting and quick-release actuator according to the present invention;

FIG. 2 is a schematic cross-sectional view of a medical quick-mounting and quick-release actuator according to the present invention;

FIG. 3 is a cross-sectional view of a mounting assembly of the present invention;

FIG. 4 is a cross-sectional view of a quick release assembly of the present invention;

FIG. 5 is a schematic view of a quick release assembly according to the present invention.

Description of reference numerals:

1: a fixed seat; 11: a guide member; 2: buckling; 21: a clamping block; 22: a protrusion; 3: a spring; 4: disassembling the parts; 41: an opening; 42: a fixed block; 5: a locking block; 51: a limiting member; 6: a locking member; 7: a connecting member.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the utility model, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

Example 1

Referring to fig. 5, the embodiment provides a medical quick-mounting and quick-dismounting actuating mechanism, which comprises a dismounting component and a fixing component. The disassembling component is connected with a connecting piece 7, and the connecting piece 7 is matched with the disassembling component to be used for clamping a surgical tool. The disassembling component is provided with a mounting groove, and the side wall of the mounting groove is provided with an opening 41. The fixing assembly comprises a fixing seat 1, a buckle 2 and an elastic piece, wherein part of the fixing seat 1 is attached to the mounting groove and can slide relative to the mounting groove along the depth direction of the groove, a containing groove is formed in the fixing seat 1, the buckle 2 is contained in the containing groove, a clamping block 21 matched with the opening 41 is arranged on the buckle 2, and the elastic piece is arranged in the buckle 2 and the containing groove and used for enabling the clamping block 21 on the buckle 2 to stretch out of the notch of the containing groove and be connected with the opening 41 in a clamping mode. The fixed seat 1 is further provided with a fixed part which is used for being connected with the front end of a mechanical arm of the surgical robot.

When the assembly is assembled and disassembled, the clamping block 21 is pressed down to enable the buckle 2 to retract into the accommodating groove by overcoming the resistance of the elastic element, then the mounting groove on the disassembly assembly is sleeved on the fixing seat 1, the clamping block 21 is loosened (the clamping block 21 is actually covered on the groove wall of the mounting groove, namely the clamping block 21 can be loosened when being pressed in the accommodating groove, the clamping block 21 is limited by the groove wall of the mounting groove), the clamping block 21 extends out of the opening 41 under the action of the elastic element to realize the connection of the disassembly assembly and the fixing seat 1, and therefore the disassembly assembly is installed on the fixing assembly; when the disassembling component needs to be disassembled, the clamping block 21 is pressed down to enable the buckle 2 to overcome the resistance of the elastic piece to retract into the accommodating groove, and then the disassembling component can be disassembled. Therefore, the embodiment can realize quick assembly and disassembly, and has simple use method and low requirement on users.

The structure of the present embodiment will now be explained. The whole medical fast-assembling quick detach actuating mechanism that this embodiment provided has the axial, for the convenience of description, establishes this axial as left right direction, is close to fixed subassembly one side and is the left side, is close to dismantlement subassembly one side and is the right side.

The left side of fixing base 1 is the first end of axial and sets up the fixed part, is connected with surgical robot's robotic arm front end, and the right side is the installation of axial second end dismantles the subassembly. The fixing base 1 may be connected to the front end of the arm by a screw at the fixing portion, but in other embodiments, the fixing portion may be connected to the front end of the arm by other methods such as a screw thread, and the like, which is not limited herein.

The accommodating groove is formed in the side wall of the fixing seat 1, one side, facing the bottom of the accommodating groove, of the buckle 2 is called an inner side, and the other opposite side is an outer side. The elastic piece is spring 3, and spring 3's first end is connected with the storage tank bottom, and the second end is connected with buckle 2 towards the surface of storage tank bottom. Further, a second groove can be formed in the inner side of the buckle 2, the spring 3 is partially accommodated in the second groove, and a second pipe of the spring 3 is connected with the groove bottom of the second groove. Can set up the guide way on buckle 2, set up guide 11 on fixing base 1, guide 11 sliding connection is in the guide way, and the slip direction is the direction that buckle 2 stretches out or retracts opening 41.

Preferably, the surface of the outer side of the latch block 21, i.e., the surface away from the receiving groove, may be an inclined surface, the inclined surface gradually increases from the bottom of the mounting groove to the notch, i.e., gradually increases to the left, and the inclined surface is closest to the bottom of the mounting groove and does not protrude out of the opening 41. So, when the subassembly is dismantled in the installation, just need not press the step of fixture block 21, directly with the mounting groove cover from the right side to the left on the right side of fixing base 1 can, when the relative fixing base 1 of mounting groove slides, can press back buckle 2 through the inclined plane gradually in the storage tank, then after the installation targets in place, spring 3 promotes buckle 2 and stretches out the storage tank joint in opening 41, realizes dismantling the connection of subassembly and fixing base 1.

The dismounting assembly comprises a dismounting member 4, a locking piece 5 and a locking member 6. The mounting groove sets up on the part of disassembling 4, and the inside of disassembling 4 is equipped with the spout along the axial, and the spout communicates with the tank bottom of mounting groove. The opening 41 is far away from between the lateral wall of latch segment 5 (that is the left side wall of opening 41) and the notch surface that corresponds the mounting groove partly be fixed block 42, and the outside of buckle 2 still sets up protruding 22 except that fixture block 21, and buckle 2 forms first recess between protruding 22 and fixture block 21, and when dismounting member 4 installed on fixing base 1, fixed block 42 holding was fixed in the recess, so, more stable when making dismounting member 4 install on fixing base 1. Because the inclined plane on the fixture block 21 is arranged, the fixture block 21 is inconvenient to press, and therefore, preferably, when the protrusion 22 is designed, the protrusion 22 can be set to extend out of the accommodating groove all the time, so that when the dismounting member 4 needs to be dismounted from the fixing seat 1, the protrusion 22 can be pressed to drive the fixture block 21 to retract into the accommodating groove, and the dismounting by a user is facilitated.

The locking block 5 is slidably connected in the chute. The side wall of the dismounting part 4 is provided with a limiting hole communicated with the sliding groove, the side wall of the locking block 5 is convexly provided with a limiting part 51, the limiting part 51 penetrates through the limiting hole and extends out of the limiting hole, and the limiting part 51 can slide in the limiting hole along the axial direction of the dismounting part 4. When the locking block 5 is located at the preset position in the sliding groove, the locking block 5 abuts against the fixed seat 1.

Retaining member 6 cover is established on the lateral wall of dismounting member 4 and rather than threaded connection, is equipped with spacing face on the inner wall of retaining member 6, and spacing face is located the right side of latch segment 5 for promote locating part 51 when moving to fixing base 1 along with retaining member 6. When the locking piece 5 is located at the preset position, the locking piece 6 abuts against the outer surface of the bottom of the mounting groove. According to the habit of use, when the locking member 6 is rotated rightwards, the locking member 6 is made to move the mounting groove when designing the thread between the locking member 6 and the side wall of the dismounting member 4.

The connecting piece 7 is connected with the dismounting piece 4, the sliding groove is an axial through hole in the dismounting piece 4, and the part of the locking block 5, which is far away from the sliding groove on one side of the fixing seat 1, namely the part of the sliding groove on the right side of the locking block 5, is used for accommodating surgical tools and is matched with the connecting piece 7 to clamp and fix the surgical tools. Specifically, the dismounting member 4 is on the lateral wall of the locking block 5 far away from one side of the fixed seat 1, namely, the threaded hole of the communicating chute is arranged on the lateral wall on the right side of the locking block 5, the connecting member 7 comprises a threaded rod and a handle, the threaded rod is connected in the threaded hole, the two ends of the threaded rod extend out of the threaded hole, one end of the threaded rod extending into the chute is used for being connected with the mounting hole of the surgical tool in a threaded mode, the surgical tool is fixed through clamping of the sliding groove, one end of the threaded rod extending out of the dismounting member 4 is fixedly connected with the handle, and the threaded rod is convenient to rotate through the setting of the handle.

Furthermore, the cross section of the sliding groove is non-circular, and the cross section of the locking block 5 is matched with the sliding groove, so that the surgical tool is convenient to position and mount when the disassembling component is connected. In the present embodiment, the cross section of the sliding groove is an equilateral hexagon.

When the sterile sleeve is sleeved on the mechanical arm of the surgical robot, the sterile sleeve and the fixing component are sleeved together. The sharp angle in the parts that link to each other in fixed subassembly and the dismantlement subassembly all is equipped with the arc chamfer, so, the aseptic cover can not be punctureed to the dismantlement subassembly in the installation.

Preferably, the number of the buckles 2, the accommodating groove, the spring 3, the opening 41 and the like is two, and the two buckles are respectively arranged at the symmetrical positions of the side wall of the fixed seat 1 or the side wall of the mounting groove; the stopper, spacing hole and spacing face etc. also can correspond and set up two, two respectively 5 lateral walls of latch segment or the symmetric position of spout lateral wall or 6 inside walls of retaining member, of course, spacing face can not be two, but the spacing face of round annular around 6 internal faces of retaining member, the stopper can be one run through latch segment 5, link firmly with latch segment 5, both ends stretch into the cylinder in two spacing holes. These may have other options in other embodiments, all without limitation.

The quick-assembly process of the medical quick-assembly and quick-disassembly actuating mechanism provided by the embodiment is as follows: the fixing seat 1 is fixedly connected with the front end of a mechanical arm of the surgical robot through 4 screws, a mounting groove in the dismounting assembly faces the right side of the fixing seat 1, the mounting groove is sleeved on the fixing seat 1 and is pushed from the right side to the left side, the clamping block 21 retracts into the accommodating groove under the action of the inclined surface, the dismounting assembly continues to be pushed until the opening 41 covers the clamping block 21 and the fixing block 42 reaches the position of the first groove, the buckle 2 upwards bounces under the action of the spring 3, the clamping block 21 is clamped into the opening 41, and the fixing block 42 is clamped into the first groove; then retaining member 6 dextrorotation makes retaining member 6 remove left, thereby promotes stopper through spacing face and drives latch segment 5 and move left, supports fixing base 1 until latch segment 5 left side, and latch segment 5 is located preset position this moment, and the fast-assembling is ended.

The quick-release process of the medical quick-mounting and quick-release actuating mechanism provided by the embodiment is as follows: dextrorotation retaining member 6, the restriction to the stopper is relieved to spacing face, presses arch 22, and fixture block 21 withdrawal storage tank can be taken off to the dismantlement subassembly.

Example 2

The present embodiment provides a surgical robot, in which the front end of a mechanical arm of the surgical robot is connected to the medical quick-mounting and quick-release actuator in embodiment 1.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.

Claims

1. The utility model provides a medical fast-assembling quick detach actuating mechanism which characterized in that includes:

the fixing seat is further provided with a fixing part used for being connected with the front end of a mechanical arm of the surgical robot.

2. The medical quick-assembly quick-release actuating mechanism as claimed in claim 1, wherein the disassembly assembly comprises:

the dismounting part is provided with the mounting groove, a sliding groove is axially formed in the dismounting part, and the sliding groove is communicated with the groove bottom of the mounting groove;

3. The medical quick-assembly and quick-disassembly actuating mechanism as claimed in claim 2, wherein a fixing block is disposed between a side wall of the opening away from the locking block and a surface of the notch corresponding to the mounting groove, a protrusion is further disposed on the buckle, a first groove is formed between the protrusion and the clamping block by the buckle, and the fixing block is received and fixed in the first groove.

4. The medical quick-assembly/disassembly actuator of claim 1 wherein the surface of the latch away from the receiving slot is a sloped surface, the sloped surface gradually increases from the bottom of the mounting slot to the slot opening, and the sloped surface closest to the bottom of the mounting slot does not extend out of the opening.

5. The medical quick-assembly and quick-disassembly actuating mechanism as claimed in claim 1, wherein the resilient member is a spring, a first end of the spring is connected to the bottom of the receiving groove, and a second end of the spring is connected to a surface of the buckle facing the bottom of the receiving groove.

6. The medical quick-assembly and quick-disassembly actuating mechanism as claimed in claim 5, wherein a second groove is formed on a surface of the buckle facing the bottom of the receiving groove, the spring is partially received in the second groove, and a second end of the spring is connected with the bottom of the second groove.

7. The medical quick-assembly and quick-disassembly actuating mechanism as claimed in claim 1, wherein a guide slot is formed on the buckle, a guide member is arranged on the fixing base, the guide member is slidably connected in the guide slot, and the sliding direction is the direction in which the buckle extends out of or retracts into the opening.

8. The medical quick-assembly and quick-disassembly actuating mechanism as claimed in claim 1, wherein the fixing portion is disposed at a first axial end of the fixing base, the second axial end of the fixing base is received in the mounting groove, and the receiving groove is disposed on a side wall of the fixing base.

9. The medical quick-assembly and quick-disassembly actuating mechanism as claimed in claim 2, wherein the connecting member is connected to the disassembling member, the sliding groove is an axial through hole formed in the disassembling member, and the sliding groove portion of the locking block on the side away from the fixing seat is used for accommodating the surgical tool and cooperating with the connecting member to clamp and fix the surgical tool.

10. The medical quick-mounting and quick-release actuating mechanism as claimed in claim 9, wherein the dismounting member is provided with a threaded hole communicating with the sliding groove on a side wall of the locking block away from the fixed seat, the connecting member is provided with a threaded rod, the threaded rod is in threaded connection with the threaded hole, and two ends of the threaded rod extend out of the threaded hole, wherein one end of the threaded rod extending into the sliding groove is used for being in threaded connection with a mounting hole on the surgical tool, and the threaded rod is matched with the sliding groove to clamp and fix the surgical tool.

11. The medical quick-assembly and quick-disassembly actuating mechanism as claimed in claim 10, wherein the connecting member comprises the threaded rod and a handle, the handle is fixedly connected to an end of the threaded rod extending out of the disassembling member.

12. The medical quick assembly and disassembly actuator of claim 9 wherein the cross-section of the slide slot is non-circular.

13. A surgical robot, characterized in that the front end of the mechanical arm of the surgical robot is connected to the medical quick-assembling and quick-disassembling actuator according to any one of claims 1 to 12.