CN218960929U

CN218960929U - Detection mechanism for surgical robot

Info

Publication number: CN218960929U
Application number: CN202222779464.XU
Authority: CN
Inventors: 请求不公布姓名; 彭程; 徐敏
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Priority date: 2022-10-21
Filing date: 2022-10-21
Publication date: 2023-05-05
Anticipated expiration: 2032-10-21

Abstract

The utility model relates to a detection mechanism for a surgical robot, which comprises a power box with a power box top plate, a sterile isolation plate and an instrument box with an instrument box bottom plate, wherein the instrument box is detachably clamped with the power box through the sterile isolation plate, the detection mechanism comprises a plurality of pressing units arranged on the power box top plate or/and the instrument box bottom plate, each pressing unit comprises an opposite-shooting switch, an axially movable pressing piece and a return spring, each opposite-shooting switch comprises a light source emitter and a light source receiver which are arranged opposite to each other, the pressing piece is provided with a first position at least partially protruding axially relative to the power box or the instrument box and separated from the opposite-shooting switch, and a second position which is completely accommodated in the power box or the instrument box and at least partially positioned between the light source emitter and the light source receiver, and the composite spring is abutted against the pressing piece and provides a acting force towards the first position for the pressing piece. The detection mechanism can detect the clamping state among the power box, the sterile isolation plate and the instrument box.

Description

Detection mechanism for surgical robot

Technical Field

The utility model relates to the field of medical instruments, in particular to a detection mechanism for a surgical robot.

Background

Surgical robotic systems are a research hotspot in the field of medical instruments in recent years, can assist doctors in performing minimally invasive surgical operations, and have been widely accepted in the market due to the advantages of small surgical wounds, low bleeding volume, accurate surgical operations, quick recovery of patients, and the like. The surgical robot system comprises a main control end for a doctor to send out instructions, a plurality of mechanical arms arranged at the slave end, and an instrument assembly carried on the mechanical arms. The doctor controls the mechanical arm and the instrument assembly to act through the main control end so as to complete operations such as excision, suture and the like under different surgical positions.

The mechanical arm of the surgical robot is provided with a movable power box, the instrument assembly comprises an instrument box capable of carrying surgical instruments, and the instrument box is detachably clamped on the power box through a sterile isolation plate. The power box is internally provided with power equipment for providing power, and the surgical instrument box arranged on the instrument box is in traditional connection with the power equipment so as to perform various surgical actions under the drive of the power equipment.

However, if the engagement between the power box, the aseptic isolation plate, and the instrument box is not firm, vibration is likely to occur during operation. After the vibration is transmitted to the tail end of the surgical instrument, the tail end of the surgical instrument can be greatly deflected, so that the accuracy of the operation is reduced, and even a certain operation risk is generated.

Disclosure of Invention

In view of the above-mentioned related technical problems, an object of the present utility model is to provide a novel detection mechanism for a surgical robot, which can monitor the clamping state among a power box, a sterile isolation board and an instrument box.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a detection mechanism for surgical robot, surgical robot include power box, aseptic division board and the instrument box that has the instrument box bottom plate that has the power box roof, the instrument box pass through aseptic division board detachably joint the power box, detection mechanism include a plurality of set up in the power box roof or/and the pressing element of instrument box bottom plate, each pressing element all include opposite switch, but axial movable's presser and reset spring, opposite switch include opposite setting's light source transmitter and light source receiver, the presser have at least part relative power box or instrument box axial protrusion and break away from opposite switch's first position and fully accomodate in power box or instrument box and at least part is located in the second position between light source transmitter and the receiver, compound spring butt the presser and for the presser provide one towards the effort of first position.

In the above technical solution, preferably, the detection mechanism further includes a PCB board fixedly disposed in the power box top plate or the instrument box bottom plate and provided with a plurality of first through holes, each of the correlation switches is fixedly disposed on a same side surface of the PCB board and disposed at each of the first through holes, and the light source emitter and the light source receiver are respectively located at two sides of the corresponding first through hole.

In the above preferred solution, it is further preferred that the pressing member includes a main shaft portion that forms a shaft hole with the corresponding first through hole, and when the pressing member is located at the second position, a lower portion of the main shaft portion penetrates the corresponding first through hole and extends between the light source emitter and the light source receiver. Still further preferably, the pressing member further includes a cap peak with a diameter larger than that of the main shaft, the outer edge of the cap peak extends axially and forms a ring-shaped semi-closed chamber with the main shaft, one end of the return spring abuts against the PCB, and the other end of the return spring is located in the semi-closed chamber.

In the above preferred solution, it is further preferred that the bottom of the top plate of the power box is recessed inward and forms a groove, and the PCB board is fixedly disposed in the top plate of the power box and located at the groove.

In the above preferred solution, it is further preferred that the light source emitter and the light source receiver are electrically connected to the PCB, and the light source receiver is a photoresistor.

In the above technical solution, preferably, the power box top plate or the instrument box bottom plate is provided with a plurality of third through holes, and each pressing piece is disposed at each third through hole and includes a cap peak portion capable of forming shaft hole matching with the corresponding third through hole, so as to limit the moving direction of the pressing piece.

In the above technical solution, preferably, the power box top plate or the instrument box bottom plate is provided with a plurality of second through holes exposed outwards, each pressing piece is disposed at each second through hole and includes a pressing boss capable of forming shaft hole matching with the corresponding second through hole, and when the pressing piece is located at the first position, the pressing boss is exposed outwards.

In the above technical solution, preferably, the detecting mechanism is disposed on the top plate of the power box and includes a pair of first pressing units that are far away from each other, and when the aseptic isolation board is clamped on the top plate of the power box, the pressing members of the first pressing units are all located at the second position. Still further preferably, the detecting mechanism further includes a pair of second pressing units far away from each other, a pair of transfer rods capable of moving axially are disposed on the sterile partition plate, and when the power box top plate, the sterile partition plate and the instrument box bottom plate are sequentially clamped, the pair of transfer rods respectively abut against the pair of pressing pieces of the second pressing units, and the pair of pressing pieces of the second pressing units are all located at the second position.

Compared with the prior art, the detection mechanism provided by the technical scheme of the utility model is provided with the pressing unit which can be arranged on the top plate of the power box or/and the bottom plate of the instrument box, the pressing piece of the pressing unit can be maintained at the first position in a natural state and separated from the correlation switch, and is limited to the second position in the clamping state and blocks the light rays between the light source emitter and the light source receiver, so that the clamping state between the corresponding parts can be judged by whether the correlation switch is in an activated state or not.

Drawings

FIG. 1 is a schematic perspective view of a power box, a sterile isolation plate and an instrument box provided by the utility model;

FIG. 2 is a schematic view of the power pack top plate, sterile barrier and instrument pack bottom plate of FIG. 1 removed;

FIG. 3 is a partial top plan view of the power pack top plate of FIG. 1;

FIG. 4 is a side cross-sectional view 1 at A-A of FIG. 3; wherein the pressing piece is positioned at a first position;

FIG. 5 is a side cross-sectional view 2 at A-A of FIG. 3; wherein the pressing piece is positioned at the second position;

fig. 6 is a schematic perspective view 1 of a detection mechanism according to the present utility model;

FIG. 7 is a schematic perspective view of the detection mechanism shown in FIG. 6; wherein the pressing member is in the second position.

The drawing is marked:

10. a power box, 20, a sterile isolation board; 30. an instrument box;

1. a power box top plate; 11. a groove; 12. a second through hole; 13. a third through hole;

2. a bottom plate of the instrument box;

3. a PCB board;

41. a light source emitter; 42. a light source receiver;

5. a pressing member; 51. a main shaft portion; 52. a cap peak; 53. pressing the boss;

6. a return spring; 7. a transfer lever.

Detailed Description

In order to describe the technical content, constructional features, objects and effects of the utility model in detail, the technical solutions of the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a detailed description of various exemplary embodiments or modes of practice of the utility model. However, various exemplary embodiments may be practiced without these specific details or with one or more equivalent arrangements. Furthermore, the various exemplary embodiments may be different, but are not necessarily exclusive. For example, the specific shapes, configurations, and characteristics of the exemplary embodiments may be used or implemented in another exemplary embodiment without departing from the inventive concept.

Furthermore, spatially relative terms such as "under … …," "under … …," "under … …," "lower," "above … …," "upper," "above … …," "higher," "side" (e.g., as in "sidewall") and the like are used herein to describe one element's relationship to another element(s) as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "below … …" may include both upper and lower orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The surgical robot comprises a patient control platform and a doctor control platform, wherein the patient control platform comprises a patient trolley, a plurality of mechanical arms mounted on the trolley changing trolley and an instrument assembly. Referring to fig. 1-2, a movable power box 10 is configured on the mechanical arm, and the instrument assembly comprises an instrument box 30 capable of carrying various surgical instruments (such as a thin rod clamp, a cutter, a puncture outfit and the like), wherein the instrument box 30 is detachably clamped on the power box 10 through a sterile isolation plate 20. The doctor sits in front of the doctor control platform and remotely operates the mechanical arm and the instrument assembly to complete various operation actions.

Wherein, the power box 10 is used for outputting power for the operation of the surgical instrument and is provided with a top power box top plate 1 positioned at the top; the cartridge 30 is in driving connection with the power cartridge 10 and has a cartridge floor 2 at the bottom; the sterile isolation plate 20 is used to isolate the power box 10 from the instrument box 30 to avoid contamination of the instrument box 30 by the power box 10 and/or surgical instruments mounted on the instrument box 30. During installation, the sterile isolation plate 20 is clamped on the top plate 1 of the power box, and then the bottom plate 2 of the instrument box is clamped on the sterile isolation plate 20; and the disassembly is the reverse.

The detection mechanism provided by the utility model is used for monitoring the clamping state of the power box top plate 1, the sterile isolation plate 20 and the instrument box bottom plate 2. As shown in fig. 6 to 7, the detection mechanism includes a PCB 3 and a plurality of pressing units mounted on the PCB 3. First through holes (not shown in the figure) which are consistent with the number of the pressing units and correspond to each other one by one are formed in the PCB 3, and each pressing unit comprises a correlation switch fixedly arranged at the corresponding first through hole, a pressing piece 5 which is matched with the corresponding first through hole to form a shaft hole and a reset spring 6.

The opposite-shooting switch comprises a light source emitter 41 and a light source receiver 42 which are respectively arranged at two sides of the first through hole and are oppositely arranged, and the light source emitter 41 and the light source receiver 42 are electrically connected with the PCB 3. The light source receiver 42 is a photoresistor, it can be understood that when the light source receiver 42 receives the light from the light source emitter 41, the resistance of the light source receiver 42 is low, and the light source receiver 42 can be regarded as a conducting state in a circuit, the correlation switch is in an activated state, and the PCB 3 outputs a first electric signal; when the light between the light source emitter 41 and the light source receiver 42 is blocked, the resistance of the light source receiver 42 is high, which can be regarded as an open state in the circuit, the correlation switch is in a blocking state, and the PCB board 3 outputs a second electrical signal. Therefore, whether the correlation switch is in an activated state can be judged by identifying the signal sent by the PCB 3.

The pressing member 5 includes a main shaft portion 51 fitted in the shaft hole formed in the first through hole, a cap peak portion 52 extending in the outer edge axial direction, and a pressing boss 53 located on the upper side of the main shaft portion 51, and the cap peak portion 52, the main shaft portion 51, and the pressing boss 53 are integrally formed and sequentially reduced in diameter. The main body portion of the pressing piece 5 and the opposite switches are disposed on both sides of the PCB board 3, respectively. The pressing member 5 is configured to be movable in the axial direction with respect to the first through hole, and has a first position where it is disengaged from the opposite-shot switch and a second position where at least a part of the main shaft portion 51 extends between the light source emitter 41 and the light source receiver 42. As can be appreciated, when the pressing member 5 is located at the first position, the correlation switch is in an excited state, and the PCB 3 sends out a first signal to the outside; when the pressing piece 5 is in the second position, the correlation switch is in a blocking state, and the PCB 3 sends out a second signal.

The cap peak 52 and the main shaft 52 define an annular semi-closed chamber (not shown in the figure), the reset spring 6 has a first end and a second end which are far away from each other, and the first end abuts against the surface of the PCB 3, which is far away from the opposite switch; the second end of which is located at the semi-closed chamber and abuts the pressing member 5 to provide a force to the pressing member 5 towards the first position.

The detection mechanism can be arranged on the power box top plate 1 or/and the instrument box bottom plate 2 so as to achieve the purpose of monitoring the clamping state between the corresponding parts. The present embodiment is described with the detection mechanism provided on the power roof 1. Referring to fig. 3-5, the power box top plate 1 is provided with a groove 11 at the bottom, a plurality of second through holes 12 at the top, and a plurality of third through holes 13 between the groove 11 and the second through holes 12. The number of the second through holes and the third through holes is the same as that of the mounting units and corresponds to the pressing units one by one, and the second through holes 12, the corresponding third through holes 13 and the grooves 11 are sequentially communicated and penetrate through the power box top plate 1 along the axial direction.

The PCB 3 is fixedly arranged at the bottom of the top plate 1 of the power box, and the PCB 3 and the correlation switch are both accommodated in the groove 11 so as to reduce the total space of the PCB and the correlation switch; the second through hole 12 is matched with the pressing boss 53 of the pressing piece 5 and forms shaft hole matching, and when the pressing piece 5 is in the first position, at least part of the pressing boss 53 axially protrudes relative to the upper surface of the top plate 1 of the power box; the third through hole 13 is fitted with the cap peak 52 of the pressing piece 5 and forms a shaft hole fit to restrict the pressing piece 5 from moving in the vertical direction.

Taking the clamping of the power box top plate 1 and the aseptic isolation plate 20 as an example, referring to fig. 3-5, when the power box top plate 1 and the aseptic isolation plate 20 are not clamped, the pressing piece 5 is maintained at the first position under the action of the reset spring 6, the correlation switch is in an activated state, and the PCB 3 sends out a first signal outwards; when the aseptic isolation board 20 is clamped on the power box top board 1, the pressing piece 5 is pressed down to a second position by the aseptic isolation board 20, the correlation switch is in a blocking state, and the PCB 3 sends out a second signal outwards. Because the stroke of the pressing member 5 is shorter, when the aseptic isolation plate 20 is not clamped on the top plate 1 of the power box or the two are firmly clamped, the pressing member 5 is not pressed down and is in the first position. Therefore, the clamping state between the sterile isolation board 20 and the power box top board 1 can be judged through the signal sent by the PCB board 3. In addition, the pressing unit adopts the correlation switch, and compared with the traditional mechanical trigger switch, the pressing unit has the advantages of sensitive reaction and small occupied space, and can further improve the reliability of the detection mechanism and simplify the internal structure of the detection mechanism.

Further, referring to fig. 2 and fig. 6-7, the detection mechanism provided in this embodiment is configured with a pair of first pressing units far away from each other and a pair of second pressing units far away from each other, and the aseptic isolation plate 20 is provided with a pair of axially movable transfer rods 7, where the pair of transfer rods 7 can respectively contact the pressing members 5 of the pair of second pressing units. When the aseptic isolation plate 20 is clamped on the power box top plate 1, the pressing piece 5 of each first pressing unit is limited to a position; when the power cartridge top plate 1, the aseptic isolation plate 20, and the instrument cartridge bottom plate 2 are sequentially engaged, the pressing pieces 5 of the pair of second pressing units are respectively brought into contact with the pair of transfer levers 7 and are restricted to the second positions. The setting mode can reduce the whole volume required by the detection mechanism and avoid the situation that one side of the clamping part is not firm when the corresponding clamping part is omitted. It will be appreciated that in other embodiments, the PCB board may be omitted and a separate portion of the pressing units on the power pack top plate and/or the instrument pack bottom plate may be used to monitor the status of the snap-fit between the respective components.

The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the foregoing embodiments, which have been described in the foregoing embodiments and description merely illustrates the principles of the utility model, and various changes and modifications may be made therein without departing from the spirit and scope of the utility model, the scope of which is defined in the appended claims, specification and their equivalents.

Claims

1. The utility model provides a detection mechanism for surgical robot, surgical robot include power box, aseptic division board and the instrument box that has the instrument box bottom plate that has the power box roof, the instrument box pass through aseptic division board detachably joint the power box, its characterized in that, detection mechanism include a plurality of set up in power box roof or/and the instrument box bottom plate press down the unit, each press down the unit all include opposite switch, but axial movable's presser and reset spring, opposite switch include opposite light source transmitter and the light source receiver that sets up, the presser have at least part relative power box or instrument box axial protrusion and break away from opposite switch's first position and fully accomodate in power box or instrument box and at least part is located in the second position between light source transmitter and the receiver, reset spring butt press down the presser and provide one towards the effort of first position.

2. The detection mechanism according to claim 1, further comprising a PCB board fixedly disposed in the power box top plate or the instrument box bottom plate and provided with a plurality of first through holes, wherein each of the correlation switches is fixedly disposed on the same side surface of the PCB board and is respectively disposed at each of the first through holes, and the light source emitter and the light source receiver are respectively located at two sides of the corresponding first through hole.

3. The detecting mechanism according to claim 2, wherein said pressing member includes a main shaft portion which is fitted in the shaft hole formed in the corresponding first through hole, and when said pressing member is located at said second position, a lower portion of said main shaft portion passes out of the corresponding first through hole and extends between said light source emitter and said light source receiver.

4. The detecting mechanism as claimed in claim 3, wherein the pressing member further comprises a cap peak with a diameter larger than that of the main shaft portion, an outer edge of the cap peak extends axially and forms an annular semi-closed chamber with the main shaft portion, one end of the return spring abuts against the PCB board, and the other end of the return spring is located in the semi-closed chamber.

5. The detecting mechanism according to claim 2, wherein the bottom of the top plate of the power box is recessed inward and forms a groove, and the PCB board is fixedly disposed in the top plate of the power box and located at the groove.

6. The inspection mechanism of claim 2 wherein said light source emitter and said light source receiver are electrically connected to said PCB, said light source receiver being a photoresistor.

7. The detecting mechanism according to claim 1, wherein a plurality of third through holes are formed in the top plate of the power box or the bottom plate of the instrument box, and each pressing member is disposed at each of the third through holes and includes a cap peak portion capable of forming shaft hole matching with the corresponding third through hole so as to define the moving direction of the pressing member.

8. The detecting mechanism according to claim 1, wherein the power box top plate or the instrument box bottom plate is provided with a plurality of second through holes exposed to the outside, and each pressing member is disposed at each of the second through holes and includes a pressing boss capable of forming shaft hole matching with the corresponding second through hole, and when the pressing member is located at the first position, the pressing boss is exposed to the outside.

9. The inspection mechanism of claim 1, wherein said inspection mechanism is disposed on said power box top plate and includes a pair of first pressing units spaced apart from each other, said pressing members of each of said first pressing units being in said second position when said sterile barrier is snapped onto said power box top plate.

10. The detecting mechanism according to claim 9, further comprising a pair of second pressing units spaced apart from each other, wherein a pair of axially movable transfer rods are disposed on the sterile barrier, and when the power box top plate, the sterile barrier and the instrument box bottom plate are sequentially engaged, the pair of transfer rods respectively abut against the pair of pressing members of the second pressing units, and the pair of pressing members of the second pressing units are all in the second position.