CN219289686U

CN219289686U - Aseptic plate connection structure for surgical robot

Info

Publication number: CN219289686U
Application number: CN202223445438.XU
Authority: CN
Inventors: 苏士程; 桂凯; 张赟; 徐德慧
Original assignee: Tuodao Medical Technology Co Ltd
Current assignee: Tuodao Medical Technology Co Ltd
Priority date: 2022-12-22
Filing date: 2022-12-22
Publication date: 2023-07-04
Anticipated expiration: 2032-12-22

Abstract

The utility model discloses a sterile plate connecting structure for a surgical robot, which comprises a mechanical arm motor seat, a sterile plate and an instrument seat which are sequentially connected, wherein a connecting plate is arranged on the sterile plate, and two ends of the connecting plate are detachably connected with the mechanical arm motor seat and the instrument seat respectively. On one hand, the utility model realizes the rapid disassembly and connection among the mechanical arm motor seat, the sterile plate and the instrument seat through the connecting plates with the two ends in a buckling way, and has the advantages of simple structure, lower cost, convenient disassembly and the like; on the other hand, the opening of the buckle is mutually limited by the reaction force of the mechanical arm motor seat and the instrument seat to the connecting plate, so that the reliability of connection is ensured. In addition, through the installation of the connecting plate is realized to first mounting groove, second mounting groove and the third mounting groove that communicate in proper order, can effectively play the mistake and prevent touching the effect.

Description

Aseptic plate connection structure for surgical robot

Technical Field

The utility model relates to a sterile plate connecting structure for a surgical robot, and belongs to the technical field of medical equipment.

Background

In recent years, with the application of the minimally invasive surgery robot system in the clinical medical field, the surgery operation of doctors is more accurate, and the comfort level is improved. The surgeon operates the operation robot master control console to control the movement of the mechanical arm and the surgical instrument to operate on the patient, and the surgical instrument is easy to pollute the focus of the patient during operation, so that the surgical instrument needs to be disinfected and sterilized for multiple times for reuse. The mechanical arm is large in size, and a plurality of parts which are unfavorable for sterilization and disinfection, such as a circuit board, an encoder, a sensor and the like are contained in the mechanical arm, so that the mechanical arm is prevented from being polluted, and a sterile plate is needed to be used for isolating surgical instruments and the mechanical arm.

The connecting structure of the existing sterile plate, the mechanical arm motor seat and the surgical instrument seat is complex, complex in operation, low in reliability and easy to be opened by false touch, and needs to be further improved.

Disclosure of Invention

The utility model aims to: aiming at the problems existing in the prior art, the utility model provides the sterile plate connecting structure for the surgical robot, which is used for realizing quick disassembly and connection among the mechanical arm motor seat, the sterile plate and the instrument seat, has a simple structure and reliable connection, can mutually limit the opening of the buckle after the mechanical arm motor seat, the sterile plate and the instrument seat are connected, ensures the reliability of connection, and simultaneously effectively plays a role in preventing false touch.

The technical scheme is as follows: in order to achieve the above purpose, the utility model provides a sterile plate connecting structure for a surgical robot, which comprises a mechanical arm motor seat, a sterile plate and an instrument seat which are sequentially connected, wherein a connecting plate is arranged on the sterile plate, and two ends of the connecting plate are detachably connected with the mechanical arm motor seat and the instrument seat respectively.

Further, be equipped with first mounting groove, second mounting groove and the third mounting groove that communicate in proper order on arm motor cabinet, aseptic board and the apparatus seat respectively, the connecting plate articulates in the second mounting groove, and the both ends of connecting plate are connected with the same side slot wall buckle in first mounting groove and third mounting groove respectively. The three can restrict the opening of buckle each other after connecting, and the connecting plate is located the mounting groove, and the staff is difficult to directly touch the connecting plate, has both guaranteed the reliability that the three is connected like this, effectively plays simultaneously and prevents the mistake and touches the effect.

Further, the same side cell walls of the first mounting groove and the third mounting groove are respectively provided with a boss, two ends of the connecting plate are respectively provided with a clamping groove matched with the bosses, and the bosses are provided with guide inclined planes for guiding the clamping grooves. In addition, the clamping hook and clamping groove matching structure can be adopted to realize the clamping connection.

Further, a first elastic element is arranged between the second mounting groove and the connecting plate and used for realizing the buckling limit of the connecting plate and the first mounting groove/the third mounting groove. The locking plate and the mechanical arm motor seat/instrument seat can be released from the buckle by pressing one end of the connecting plate, which is far away from the first mounting groove/third mounting groove, and overcoming the action of the first elastic element.

Further, the mechanical arm motor seat/instrument seat is provided with a key (or other similar driving structures), one end of the connecting plate is pushed to be separated from the groove wall of the first mounting groove/the groove wall of the third mounting groove by pressing the key, and therefore the clamping buckle can be released, and the mechanical arm motor seat/instrument seat is convenient to detach.

Further, a second elastic element is arranged between the key and the mechanical arm motor seat/instrument seat and used for realizing the pressing reset of the key.

Further, the key is movably connected with the mechanical arm motor seat/instrument seat through a transmission block, such as sliding connection or hinging.

Further, the connection plates are preferably arranged in pairs on opposite sides of the sterile plate to improve the stability of the connection.

The beneficial effects are that: according to the sterile plate connecting structure for the surgical robot, on one hand, the mechanical arm motor seat, the sterile plate and the instrument seat are quickly disassembled and connected through the connecting plates with the two ends in a buckled mode, and the sterile plate connecting structure has the advantages of being simple in structure, low in cost, convenient to disassemble and the like; on the other hand, the opening of the buckle is mutually limited by the reaction force of the mechanical arm motor seat and the instrument seat to the connecting plate, so that the reliability of connection is ensured. In addition, through the installation of the connecting plate is realized to first mounting groove, second mounting groove and the third mounting groove that communicate in proper order, can effectively play the mistake and prevent touching the effect.

Drawings

FIG. 1 is a schematic view of the whole structure of a connection structure of a sterile plate according to an embodiment of the present utility model;

FIG. 2 is an exploded view of an aseptic plate connection structure according to an embodiment of the present utility model;

fig. 3 is a schematic structural diagram of a motor base of a mechanical arm in an embodiment of the present utility model;

FIG. 4 is a schematic view of the structure of a sterile plate according to an embodiment of the present utility model;

FIG. 5 is a cross-sectional view of a sterility plate in accordance with an embodiment of the present utility model;

FIG. 6 is a schematic view of a latch plate according to an embodiment of the present utility model;

FIG. 7 is a schematic view of a surgical instrument holder according to an embodiment of the present utility model;

FIG. 8 is a schematic view of a base of an instrument seat according to an embodiment of the present utility model;

FIG. 9 is a schematic diagram illustrating connection between a sterile plate and a motor mount of a mechanical arm in an embodiment of the present utility model;

FIG. 10 is a schematic diagram illustrating the connection of a robotic arm motor mount, a sterile plate, and a surgical instrument mount in accordance with an embodiment of the present utility model;

FIG. 11 is a schematic diagram of a connection structure between a push block and a key in an embodiment of the present utility model;

the drawings include: 1-a mechanical arm motor base; 2-sterile plates; 3-a surgical instrument holder;

11-an upper cover of the motor base; 1101-first mounting groove; 1102-a first boss;

21-a back plate; 22-a bottom plate; 23-buckling plates; 24-a first spring;

2301-a swivel shaft; 2302-upper card slot; 2303-lower card slot; 2304-spring grooves;

31-a base; 32-key; 33-pushing blocks; 34-a second spring;

3101-a third mounting groove; 3102-a second boss; 3201-posts; 3202-receiving slot.

Detailed Description

The following description of the preferred embodiments of the present utility model will be made with reference to the accompanying drawings, to more clearly and completely illustrate the technical aspects of the present utility model.

Fig. 1 and 2 show a connection structure of an aseptic plate for a surgical robot according to this embodiment, which includes a mechanical arm motor base 1, an aseptic plate 2 and a surgical instrument base 3.

As shown in fig. 3, the mechanical arm motor base 1 includes a motor base upper cover 11, two sides of the motor base upper cover 11 are provided with a first mounting groove 1101, an inner sidewall of the first mounting groove 1101 is provided with a first boss 1102, and an upper surface of the first boss 1102 is an inclined plane (in the figure, the first boss 1102 is a trapezoid).

As shown in fig. 4, the aseptic plate 2 includes a back plate 21 and a bottom plate 22 stacked up and down, two sides of the aseptic plate 2 are respectively provided with a second mounting groove (penetrating the back plate 21 and the bottom plate 22), the inner wall of the second mounting groove is provided with a first spring 24, and a buckling plate 23 is penetrated in the second mounting groove. As shown in fig. 6, the latch plate 23 is provided with a hollow upper latch groove 2302 and a hollow lower latch groove 2303, and a spring groove 2304 for fixing the first spring 24 is formed on the inward side wall of the latch plate 23; a rotary boss is arranged between the spring groove 2304 and the lower clamping groove 2303, and a rotary shaft 2301 is inserted in the rotary boss. As shown in fig. 5, the clasp plate 23 is hinged to the lower portion of the sterility plate 2 by a pivot shaft 2301. In the initial state, the lower clamping groove 2303 is in a vertical state under the elastic force of the first spring 24 by the clamping plate 23.

As shown in fig. 7 and 8, the surgical instrument holder 3 includes a housing and a base 31, wherein both sides of the base 31 are provided with third mounting grooves 3101, the shapes and positions of the first mounting groove 1101, the second mounting groove and the third mounting groove 3101 are adapted, a second boss 3102 is provided on an inner side wall of the third mounting groove 3101, and a lower surface of the second boss 3102 is an inclined surface (in the figure, the second boss 3102 is a trapezoid).

Further, keys 32 are disposed on two sides of the housing, and the keys 32 are located above the third mounting groove 3101. As shown in fig. 10 and 11, push blocks 33 integrally connected with the keys 32 on both sides are also arranged in the shell, the push blocks 33 on both sides are staggered up and down, are mutually supported and can slide relatively; one end of the push block 33 is connected with the key 32, the other end extends towards the direction of the opposite side key 32, and the tail is close to or props against the top of the buckle plate 23 in the buckle state. The inward side of the key 32 is provided with a protruding column 3201, a housing is provided with a receiving groove 3202 corresponding to the protruding column 3201, and the protruding column 3201 is elastically connected with the receiving groove 3202 through a second spring (not shown in the figure), so that the key 32 is pressed and reset. In addition, a circle of lockstitching is arranged on the key 32 and used for realizing limit fit between the key 32 and the shell so as to prevent the key 32 from falling out of the shell.

The specific implementation manner of this embodiment is as follows:

as shown in fig. 9, when the aseptic plate 2 is mounted on the mechanical arm motor base 1, the lower portion of the buckle plate 23 is inserted into the first mounting groove 1101, during the insertion process, the lower edge of the buckle plate 23 is firstly contacted with the upper surface of the first boss 1102, the buckle plate 2 rotates around the rotating shaft 2301 under the action of the inclined plane to enable the lower clamping groove 2303 to be outwards opened, when the aseptic plate is mounted in place, the lower portion of the buckle plate 23 completely enters the mechanical arm motor base 1, the lower clamping groove 23 is retracted inwards again under the action of the first spring 24 and is clamped and limited with the first boss 1102, and therefore the assembly connection of the aseptic plate 2 and the mechanical arm motor base 1 is achieved. At this time, the upper parts of the two sides of the clamping plates 23 are pressed inwards, so that the clamping plates 23 rotate, the lower clamping grooves 2303 are opened outwards and separated from the first boss 1102, and then the aseptic plate 2 is pulled out, so that the aseptic plate 2 and the mechanical arm motor base 1 can be separated.

As shown in fig. 10, after the assembly of the aseptic plate 2 and the mechanical arm motor base 1 is completed, the surgical instrument base 3 is mounted on the aseptic plate 2, that is, the upper part of the clamping plate 23 is inserted into the third mounting groove 3101, during the insertion process, the upper edge of the clamping plate 23 first contacts the lower surface of the second boss 3102, the clamping plate 2 rotates around the rotating shaft 2301 under the action of the inclined plane to make the upper clamping groove 2302 open outwards, when the surgical instrument base 3 is mounted in place, the upper part of the clamping plate 23 completely enters the surgical instrument base 3, and the upper clamping groove 2302 is retracted inwards again and clamped with the second boss 3102, thereby realizing the assembly connection of the aseptic plate 2 and the surgical instrument base 3. At this time, the two side keys 32 are pressed inwards, so that the protruding columns 3201 overcome the acting force of the second spring, the two side pushing blocks 33 slide to opposite sides respectively, the tail parts of the sliding middle pushing blocks 33 push the tops of the buckling plates 23 to drive the top of the buckling plates to rotate, the upper clamping grooves 2302 are opened outwards and separated from the second boss 3102, and then the surgical instrument seat 3 is pulled out, so that the surgical instrument seat 3 and the sterile plate 2 can be separated.

The rotating shaft 2301 in the embodiment is not limited to the fixed side of the fastening plate 23, and the first boss 1102 on the motor base upper cover 11 and the lower fastening groove 2303 on the fastening plate 23 can also have an interchangeable structure, and can also be fastened to realize the connection between the mechanical arm motor base 1 and the aseptic plate 2; similarly, the upper card groove 2302 and the second boss 3102 may be interchanged. The first spring 24 and the second spring are not limited to compression springs, and different elastic members (such as torsion springs, tension springs, etc.) may be selected.

The above detailed description is merely illustrative of the preferred embodiments of the present utility model and is not intended to limit the scope of the present utility model. Various modifications, substitutions and improvements of the technical scheme of the present utility model will be apparent to those skilled in the art from the description and drawings provided herein without departing from the spirit and scope of the utility model.

Claims

1. The utility model provides a surgical robot is with aseptic board connection structure, its characterized in that, including arm motor cabinet, aseptic board and the apparatus seat that connects gradually, be equipped with the connecting plate on the aseptic board, and the both ends of connecting plate can dismantle with arm motor cabinet and apparatus seat respectively and be connected.

2. The aseptic plate connection structure for surgical robots according to claim 1, wherein the mechanical arm motor base, the aseptic plate and the instrument base are respectively provided with a first installation groove, a second installation groove and a third installation groove which are respectively communicated with each other in sequence, the connecting plate is hinged in the second installation groove, and two ends of the connecting plate are respectively connected with the same side groove wall buckles of the first installation groove and the third installation groove.

3. The aseptic plate connecting structure for surgical robots according to claim 2, wherein the same side groove walls of the first installation groove and the third installation groove are respectively provided with a boss, two ends of the connecting plate are respectively provided with a clamping groove matched with the boss, and the boss is provided with a guide inclined plane.

4. The aseptic plate connection structure for a surgical robot according to claim 2, wherein a first elastic element is provided between the second mounting groove and the connection plate, for realizing snap-locking limitation of the connection plate and the first/third mounting groove.

5. The aseptic plate connection structure for surgical robots according to claim 2, wherein a key is provided on the mechanical arm motor base/instrument base, and one end of the connection plate is pushed to be separated from the wall of the first/third installation grooves by pressing the key.

6. The sterile plate connection structure for a surgical robot according to claim 5, wherein a second elastic member is provided between the key and the arm motor mount/instrument mount for realizing the press reset of the key.

7. The surgical robot sterile plate connection structure according to claim 5, wherein the key is movably connected with the mechanical arm motor base/instrument base through a transmission block.

8. The connection structure of sterile plates for surgical robots according to claim 1, wherein the connection plates are distributed in pairs on opposite sides of the sterile plates.