CN219048765U

CN219048765U - Surgical puncture cannula adapter and surgical robot

Info

Publication number: CN219048765U
Application number: CN202320295040.8U
Authority: CN
Inventors: 李扬; 彭程; 徐敏
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Priority date: 2023-02-23
Filing date: 2023-02-23
Publication date: 2023-05-23
Anticipated expiration: 2033-02-23

Abstract

The application relates to the field of medical equipment, in particular to a surgical puncture cannula adapter and a surgical robot, which comprise: the adapter comprises an adapter main body and a pair of clamping jaws, wherein a crank sliding seat mechanism is arranged in the adapter main body and comprises a sliding rail, a sliding seat, an unlocking handle and a pair of cranks, first ends of the cranks are respectively and rotatably connected to the sliding seat, second ends of the cranks are respectively and rotatably connected to the clamping jaws, the crank sliding seat mechanism has a dead point position, and at the moment, the second ends and the first ends are all positioned in the same straight line; when the slide seat is in the first position, the first ends of the pair of cranks respectively pass through the dead point position of the crank slide seat mechanism and are close to the rear part of the adapter main body, and the pair of clamping jaws are in a locking state; when the slide is in the second position, the first ends of the pair of cranks are adjacent the front of the adapter body and the pair of jaws are in an unlocked state. The novel high-performance high-voltage power supply has the advantages of being simple in structure, easy to process, easy to assemble and stable and reliable in performance.

Description

Surgical puncture cannula adapter and surgical robot

Technical Field

The application relates to the field of medical instruments, in particular to an adapter for fixing a puncture cannula in a surgical operation and a surgical robot.

Background

The surgical robot system can assist doctors in minimally invasive surgery and has the advantages of small surgical wound, low bleeding amount, accurate surgical operation, 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.

Prior to surgery, a surgical cannula is required to be used to open and create a passageway in the patient's abdominal cavity. The puncture sleeve is clamped on the mechanical arm through an adapter arranged on the mechanical arm of the surgical robot, and because tools such as surgical instruments and cameras enter a human body through the puncture sleeve, the puncture sleeve and the surgical instruments must be ensured to be stable in the surgical process, the connection between the puncture sleeve and the adapter is required to be very reliable, and meanwhile, the puncture sleeve and the adapter can be rapidly installed or detached.

Disclosure of Invention

The utility model provides an object provides a puncture cannula adapter and surgical robot that can realize puncture ware and arm quick installation and dismantlement, improves the reliability of puncture ware installation.

In order to achieve the above object, the present application provides the following first technical solution: a surgical cannula adapter comprising: the surgical robot comprises an adapter main body arranged at the tail end of a mechanical arm of the surgical robot and a pair of clamping jaws movably arranged at the front end of the adapter main body, wherein a crank sliding seat mechanism is arranged in the adapter main body and comprises a sliding rail extending along the front-rear direction, a sliding seat connected in the sliding rail in a sliding fit manner, an unlocking handle rotatably connected to the sliding seat and a pair of cranks, first ends of the pair of cranks are respectively and rotatably connected to the sliding seat, second ends of the pair of cranks are respectively and rotatably connected to the pair of clamping jaws, the crank sliding seat mechanism is provided with a dead point position, and the second ends of the pair of cranks and the first ends of the pair of cranks are positioned in the same straight line in the dead point position; the slide seat is provided with a first position and a second position, when the slide seat is in the first position, the first ends of the pair of cranks respectively pass through the dead point position of the crank slide seat mechanism and are close to the rear part of the adapter main body, and the pair of clamping jaws are in a locking state; when the slide carriage is in the second position, the first ends of the pair of cranks are adjacent the front of the adapter body and the pair of jaws are in an unlocked state.

In the first aspect, preferably, when the slider is in the first position, the rear end portion of the slider abuts against the inner wall surface of the adapter body.

In the above first technical solution, preferably, a return spring is further disposed in the adapter body, one end of the return spring is connected to the adapter body, the other end of the return spring is connected to the slide, and when the pair of clamping jaws are in the unlocked state, the return spring is in the deformed state.

In the first technical solution, in order to accurately detect whether the puncture cannula is reliably mounted, a proximity switch is further disposed in the adapter body, and a front end portion of the proximity switch is close to a front end face of the adapter body.

In the first aspect of the present utility model, preferably, the proximity switch is an inductive proximity switch.

In the first technical solution, preferably, a slot is formed in an upper portion of the adapter main body, and a lower end portion of the unlocking handle is rotatably connected to the slide base through the slot.

In the first technical solution, preferably, the slide base is provided with a notch extending up and down, and the lower end of the unlocking handle is slidably inserted into the notch.

In the first aspect, preferably, the middle parts of the pair of clamping jaws are respectively connected to the front ends of the adapter body in a rotating manner, and the rear parts of the pair of clamping jaws are respectively connected to the second ends of the pair of cranks in a rotating manner.

In the first technical solution, preferably, the sliding rail is provided with a T-shaped groove, and the sliding seat is at least partially connected in the T-shaped groove in a sliding fit manner.

Another technical scheme of the application is as follows: the surgical robot comprises a mechanical arm and the surgical puncture cannula adapter, wherein the surgical puncture cannula adapter can be inserted into the tail end of the mechanical arm.

Compared with the prior art, the puncture cannula can be installed or dismantled fast, simultaneously crank slide mechanism have the characteristic of dead point, realize a pair of clamping jaw auto-lock to improve the stability of centre gripping, make puncture cannula can be by reliable and stable fixed, consequently, this application has simple structure, easy processing, easy equipment, stable performance's advantage.

Drawings

FIG. 1 is a schematic illustration of an adapter coupled to a cannula according to one embodiment of the present utility model;

FIG. 2 is an exploded view of the adapter with the spike sheath and sterile bag barrier film in one embodiment of the utility model;

FIG. 3 is a perspective view of an adapter provided in one embodiment of the present utility model (with the jaws in an unlocked state);

FIG. 4 is a side view of an adapter provided in one embodiment of the present utility model (with the jaws in an unlocked state);

FIG. 5 is a front view of an adapter provided in one embodiment of the present utility model (with the jaws holding the puncture cannula in a locked condition);

FIG. 6 is a front cross-sectional view of FIG. 5;

FIG. 7 is a cross-sectional view taken along line A-A of FIG. 5;

FIG. 8 is a front cross-sectional view of an adapter provided in one embodiment of the present utility model (schematic view of the jaws in an unlocked state);

FIG. 9 is a cross-sectional view taken along line B-B of FIG. 8;

FIG. 10 is a cross-sectional view taken along line C-C of FIG. 8;

the marks in the figure: 1. a puncture cannula; 2. a sterile bag isolation film; 3. an adapter body; 31. a slot hole; 4. unlocking the handle; 401. a shaft sleeve; 5. a slide; 501. a notch; 6. a clamping jaw; 7. a crank; 71. a first end; 72. a second end, 8, a return spring; 9. a slide rail; 10. and a proximity switch.

Detailed Description

In order to describe the technical content, constructional features, achieved objects and effects of the present application in detail, the technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. The front-rear positional relationship described in the present specification refers to the coordinate system in fig. 1.

Spatially relative terms, such as "under … …," "under … …," "under … …," "lower," "above … …," "upper," "above … …," "higher," "side" (e.g., as in "sidewall") and the like, may be 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.

Embodiments of the present application disclose a surgical robot including a robotic arm and a surgical cannula adapter removably attached to the robotic arm, and fig. 3 provides a perspective view of the adapter. As can be seen in the figures, the front of the adapter has a pair of jaws 6 and the rear of the adapter has a snap-in interface 11. In this application, the term "snap-fit" means that the two components are held directly or indirectly relatively fixed by a snap-fit mechanism. The pair of jaws 6 can be used to hold the surgical puncture cannula 1 (as shown in fig. 1) quickly and firmly, and the adapter can be mounted quickly at the distal end of the mechanical arm via the clip interface 11. Referring to fig. 2, before an operation, a sterile bag isolation film 2 is usually required to be mounted on the front side of the adapter in a sleeved manner, so as to isolate a pair of jaws and the adapter body 3 from the surgical puncture cannula 1.

1-6, a surgical penetration cannula adapter comprising: an adapter body 3 and a pair of relatively openable and closable clamping jaws 6 movably connected to the front end of the adapter body.

The inside of the adapter body 3 is provided with a crank slide mechanism including: a slide rail 9 extending in the front-rear direction, a slide carriage 5 slidably fitted in the slide rail 9, an unlocking handle 4 rotatably connected to the slide carriage 5, and a pair of cranks 7.

Referring to fig. 3 and 6, a slot hole 31 communicating with the inner cavity is formed at the upper part of the adapter main body 3, the lower end part of the unlocking handle 4 is rotatably connected to the slide seat 5 through the slot hole 31, a notch 501 extending up and down is formed on the slide seat 5, the lower end part of the unlocking handle 4 is slidably inserted into the notch 501, and the upper end part of the unlocking handle 4 is exposed at the outer side of the adapter main body 3 for a user to operate.

With continued reference to fig. 6, 7 and 10, the sliding rail 9 has a flat plate shape with a certain width in the left-right direction of the adapter body, and the sliding rail 9 is located at the lower portion of the adapter body 3 and extends in the front-rear direction. In order to reduce the shaking of the sliding seat 5 and improve the sliding stability, a T-shaped groove is formed in the sliding rail 9, and the lower part of the sliding seat 5 is inserted into the T-shaped groove in a sliding fit manner.

The middle parts of the pair of clamping jaws 6 are respectively and rotatably connected to the front end of the adapter body 3, the rear parts of the pair of clamping jaws 6 are respectively and rotatably connected to the second end parts 72 of the pair of cranks 7, and the first end parts 71 of the pair of cranks 7 are respectively and rotatably connected to the slide 5. The crank 7 has a generally V-shaped structure with a rearward opening, and a first end 71 and a second end 72 are located at the two upper ends of the V respectively.

The pair of first ends 71 are each connected to the carriage 5, so that a portion of the carriage 5 located between the pair of first ends 71 can be regarded as a link. When the crank is rotated to a certain angle, the line connecting the pair of second ends 72 and the line connecting the pair of first ends 71 are positioned on the same straight line, forming the dead point position of the crank slider mechanism. When the pair of first end portions 71 passes over the dead point position rearward, they can be stably held therein, forming self-locking.

When the user dials the unlocking handle 4 forwards or backwards, the unlocking handle 4 can drive the sliding seat 5 to slide backwards or forwards on the sliding rail 9, the sliding seat 5 then drives the pair of cranks 7 to move, and the cranks 7 simultaneously drive the pair of clamping jaws 6 to clamp or open, so that the puncture cannula 1 is mounted or dismounted.

Specifically, fig. 6 and 7 are sectional views of the pair of clamping jaws of the embodiment of the present application in a locked state, in which the unlocking handle 4 is pulled to the front side and is restricted from continuing to tilt forward by the slot hole 31 on the adapter body 3, at this time, the slide 5 is in the first position (also the rearmost position of the slide on the slide rail), the rear end portion of the slide 5 abuts against the inner wall surface of the adapter body 3, the first end portions 71 of the pair of cranks 7 respectively go beyond the dead point positions of the crank slide mechanism to the rear side of the connecting line between the pair of second end portions 72, and at this time, the pair of clamping jaws 6 will be stably in the locked state without an external force.

In a preferred embodiment of the present application, a return spring 8 may be further disposed in the adapter body 3, one end of the return spring 8 is connected to the adapter body 3, the other end is connected to the slide 5, and when the pair of clamping jaws are in a locked state, the return spring 8 still provides a backward tension to the slide 5, so that the pair of clamping jaws can be locked stably and reliably all the time, and an unexpected unlocking condition due to an external force or vibration can be avoided.

Referring to fig. 8, 9 and 10, when the unlocking key 4 is pushed rearward to the position shown in fig. 8, the slotted hole 31 in the adapter body 3 restricts it from continuing to topple rearward. At this time, the slide 5 is moved forward to the second position (also the foremost position of the slide on the slide rail), the first end portions 71 of the pair of cranks are moved forward, the second end portions 72 are moved backward, and the pair of first end portions 71 are located at the front sides of the pair of second end portions 72, at this time, the pair of jaws 6 are unlocked and opened, the puncture cannula 1 can be removed, the return spring 8 is in a tensile deformation state, the unlocking wrench 4 is released, and the pair of jaws can be returned to a locked state promptly under the action of the return spring 8.

In order to accurately determine whether the puncture cannula 1 is reliably attached, a proximity switch 10 is further provided in the adapter body 3, and the tip end portion of the proximity switch 10 is located on the tip end surface of the adapter body 3. In this embodiment, the proximity switch is an inductive proximity switch.

The puncture cannula can be quickly installed or detached, clamping is firm and stable, the puncture cannula has a self-locking function, and meanwhile whether the puncture cannula is correctly installed or not can be reliably detected.

The foregoing embodiments are merely illustrative of the technical concept and features of the present application, and are intended to enable those skilled in the art to understand the content of the present application and implement the same according to the content of the present application, not to limit the protection scope of the present application. All equivalent changes or modifications made in accordance with the spirit of the present application are intended to be included within the scope of the present application.

Claims

1. A surgical cannula adapter comprising: the surgical robot comprises an adapter main body arranged at the tail end of a mechanical arm of the surgical robot and a pair of clamping jaws movably arranged at the front end of the adapter main body, and is characterized in that a crank sliding seat mechanism is arranged in the adapter main body, the crank sliding seat mechanism comprises a sliding rail extending along the front-back direction, a sliding seat connected in the sliding rail in a sliding fit manner, an unlocking handle rotatably connected to the sliding seat and a pair of cranks, the first ends of the pair of cranks are respectively and rotatably connected to the sliding seat, the second ends of the pair of cranks are respectively and rotatably connected to the pair of clamping jaws, the crank sliding seat mechanism has a dead point position, and the second ends of the pair of cranks and the first ends of the pair of cranks are all positioned in the same straight line in the dead point position; the slide seat is provided with a first position and a second position, when the slide seat is in the first position, the first ends of the pair of cranks respectively pass through the dead point position of the crank slide seat mechanism and are close to the rear part of the adapter main body, and the pair of clamping jaws are in a locking state; when the slide carriage is in the second position, the first ends of the pair of cranks are adjacent the front of the adapter body and the pair of jaws are in an unlocked state.

2. The surgical cannula adapter of claim 1, wherein the rear end of the carriage abuts the inner wall surface of the adapter body when the carriage is in the first position.

3. The surgical cannula adapter of claim 2 wherein said adapter body further comprises a return spring, one end of said return spring being connected to said adapter body and the other end being connected to said slide, said return spring being in a deformed state when said pair of jaws are in an unlocked state.

4. The surgical cannula adapter of claim 1, wherein a proximity switch is further disposed within the adapter body and wherein a front end of the proximity switch is proximate a front face of the adapter body.

5. The surgical cannula adapter of claim 4, wherein the proximity switch is an inductive proximity switch.

6. The surgical cannula adapter of claim 1, wherein the upper portion of the adapter body is slotted and the lower end of the unlocking handle is rotatably coupled to the slide through the slotted hole.

7. The surgical cannula adapter of claim 1, wherein: the sliding seat is provided with a notch extending up and down, and the lower end part of the unlocking handle is slidably inserted into the notch.

8. The surgical cannula adapter of claim 1 wherein the central portions of a pair of said jaws are pivotally connected to the forward end of said adapter body, and the rear portions of a pair of said jaws are pivotally connected to the second ends of a pair of said cranks, respectively.

9. The surgical cannula adapter of claim 1, wherein the slide rail has a T-shaped slot formed therein, and wherein the slide is at least partially slidably coupled within the T-shaped slot.

10. A surgical robot comprising a robotic arm and a surgical cannula adaptor according to any one of claims 1-9, said surgical cannula adaptor being insertable into a distal end of said robotic arm.