CN219374925U - Detachable connecting device, handle assembly and surgical robot - Google Patents

Abstract

The application discloses can dismantle connecting device, handle subassembly and surgical robot, wherein, a can dismantle connecting device, including setting up connecting portion on first part and the interface convex part of setting on the second part, in this application embodiment, adopt foretell can dismantle connecting device, handle subassembly and surgical robot, stretch into spacing arc groove through spacing portion and realize the lug boss and control box's lug boss radius, simultaneously the arc end degree of depth of spacing arc groove is not less than spacing portion's spheroid radius, make it can carry out effective spacing to spacing portion along interface convex part axial, thereby can transmit axial force steadily between messenger's operation handle and the control box, realize the quick break away from of operation handle and the control box through the relative rotation of connecting portion and interface convex part simultaneously, avoid the operation handle to take place to cut off adverse event such as rub or hook medical personnel's clothing or other cables, improve operational environment's security.

Description

Detachable connecting device, handle assembly and surgical robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a detachable connecting device, a handle assembly and a surgical robot.

Background

Minimally invasive surgery refers to a surgery mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related equipment, and has the advantages of small wound, light pain, quick recovery and the like compared with the traditional surgery mode. However, in the minimally invasive surgery, as the minimally invasive instrument is limited by the size of the incision, the operation difficulty is greatly increased, and actions of fatigue, tremble and the like of doctors in the long-time surgery process are amplified, which becomes a key factor for restricting the development of the minimally invasive surgery technology, and along with the development of the robot technology, a new technology in the minimally invasive medical field, namely the minimally invasive surgery robot technology, which can overcome the defects and inherit the advantages, is generated.

A common minimally invasive surgical robot consists of a physician console, a patient side cart, and a display device, where the surgeon operates an input device and communicates input to the patient side cart that is connected to a teleoperated surgical instrument. The surgeon remotely manipulates the surgical instruments through the surgeon's console to operate on the patient, thereby creating a master-slave control relationship between the surgeon's console and the surgical instruments. Hospitals often cannot be equipped with multiple minimally invasive surgical robots due to floor space and equipment costs, and therefore patient side carts often need to be moved from one location to another (doctor consoles also need to be moved, display equipment sometimes needs to be moved, but is relatively easy, so focus is on patient side carts). For example, a patient side cart is moved from one location in an operating room to another location in the same operating room, or a patient side cart is moved from one operating room to another operating room. Therefore, the cart handle structure of the patient side cart is important, and the convenience of moving and using the minimally invasive surgery robot is directly affected.

Chinese patent application CN110772336a discloses a handle for a mobile cart of a surgical robot, a handle fixing member is embedded and mounted on the mobile cart of the surgical robot, a limit assembly is mounted on a handle shaft, and the handle fixing member is plugged at different positions on the handle shaft to realize three states of standby, forward pushing and backward pushing.

However, the above solution has at least the following technical drawbacks:

the scheme can realize forward and backward pushing and standby of the handle when the handle is not moved, and reduces occupied space. However, the continuous forward and backward movement of the operation robot is always accompanied, especially when the space environment of the operation room is complex, but the operation is complex because the handle needs to be pulled out for reinstallation when the operation robot is converted in the forward and backward directions. In addition, the handle is retracted close to the robot body in the standby state, but there is a risk of hooking up clothing or other cables of the medical staff.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a detachable connecting device, a handle assembly and a surgical robot, which are convenient to install and high in limiting stability.

In order to achieve the above object, the present utility model is achieved by the following technical scheme.

First, the present application provides a detachable connection device including a connection portion provided on a first member and an interface protrusion provided on a second member;

the outer circular surface of the interface convex part is provided with a limiting part which can elastically stretch and retract, the connecting part is provided with a containing cavity for containing the interface convex part, and the inner wall of the containing cavity is provided with a limiting arc groove along the circumferential direction;

the two sides of the limiting arc groove relative to the arc bottom gradually transition to the inner wall of the accommodating cavity along the circumferential direction of the accommodating cavity, so that the groove depth of the limiting arc groove is gradually reduced, and the limiting part can extend into the limiting arc groove under the action of elasticity.

Further limited, the detachable connecting device, wherein the outer circumferential surface of the interface convex part is radially provided with a mounting hole along the interface convex part, the limiting part is slidably arranged in the mounting hole, and an elastic piece is arranged between the bottom of the limiting part and the bottom wall of the mounting hole.

Further limited, the above detachable connection device, wherein the limit portion is a sphere, a cylinder or a prism, and the elastic member is a spring, a rubber or a shrapnel.

Further limited, in the detachable connection device, the limiting portion is specifically configured as a sphere, and a distance between the arc bottom of the limiting arc groove and the inner wall of the accommodating cavity along the radial direction of the accommodating cavity is not smaller than a radius of the sphere.

Further limited, the above steel wire locking device, wherein a rotation damping mechanism is arranged between the interface protrusion and the inner wall of the accommodating cavity.

Further limited, in the above steel wire locking device, the rotation damping mechanism is specifically that the interface protrusion and the inner wall of the accommodating cavity are in interference fit.

Further limited, in the above steel wire locking device, the rotation damping mechanism is specifically a friction damping member disposed on an outer circumferential surface of the interface protrusion and/or an inner wall of the accommodating cavity.

Further limited, in the above steel wire locking device, a first indicating portion is disposed on the outer surface of the connecting portion at a position corresponding to the arc bottom of the limiting arc groove, and a second indicating portion is disposed on the outer circumferential surface of the interface protrusion at a position corresponding to the limiting portion.

Secondly, the application provides a handle assembly, which comprises an operation handle and a control box, wherein the operation handle and the control box are connected by adopting the detachable connecting device;

wherein the first component is in particular the operating handle and the second component is in particular the control box.

Finally, the present application provides a surgical robot comprising a handle assembly as described above.

The utility model has at least the following beneficial effects:

1. when the interface convex part stretches into the accommodating cavity and the limiting part stretches into the limiting arc groove under the action of elasticity, the relative displacement of the interface convex part and the connecting part along the axial direction of the interface convex part is limited, so that the quick connection of the first part and the second part is realized, the axial force can be stably transferred between the two parts, when a user operates the connecting part to rotate relative to the interface convex part, the limiting part gradually moves to one side of the arc bottom in the limiting arc groove until the limiting arc groove is moved out, and at the moment, the axial displacement limitation of the interface convex part and the connecting part is released, so that the quick separation of the first part and the second part can be realized, and the installation efficiency of the first part and the second part is greatly improved;

2. the limiting part adopts a sphere structure, reduces friction among parts, is beneficial to prolonging the service life of the detachable connecting device, has a simple structure, does not need to be fixed, and is convenient to assemble;

3. the depth of the arc bottom of the limiting arc groove is not smaller than the radius of the sphere of the limiting part, so that the interference force of the limiting arc groove to the limiting part along the two inner walls of the axial direction of the accommodating cavity is parallel to the axis of the interface convex part, and when the interface convex part has a movement trend along the axial direction of the accommodating cavity in the accommodating cavity, the limiting arc groove can effectively limit the limiting part along the two inner walls of the axial direction of the accommodating cavity;

4. when the first component and the second component are installed, the first indication part and the second indication part are aligned, so that the limit part can accurately extend into the arc bottom position of the limit arc groove when the interface convex part extends into the accommodating cavity, and the installation efficiency of the first component and the second component is further improved;

5. the operation handle is connected with the control box through the detachable connecting device, so that the operation handle can be installed on the control box when needed, the operation handle can be detached after the operation robot is moved, the operation handle is convenient to store, occupied space is reduced, adverse events such as scratch and the like are prevented, clothes or other cables hooked to medical staff are avoided, and the safety of an operation environment is improved;

6. through the size fit relation of the limiting part and the limiting arc groove and the setting of the rotary damping mechanism between the connecting part and the interface convex part, the limiting reliability between the operation handle and the control box can be greatly improved, thereby ensuring the working stability of the handle assembly.

Drawings

FIG. 1 is a schematic illustration of a specific construction of a handle assembly according to an embodiment of the present application;

FIG. 2 is an enlarged schematic view of the handle assembly of the present embodiment;

FIG. 3 is a schematic diagram showing a specific structure of an "interface protrusion 230" part of the detachable connection device according to the embodiment of the present application;

FIG. 4 is a schematic view of the structure of the "operating handle 100" of the handle assembly according to the embodiment of the present application;

FIG. 5 is a cross-sectional view of a portion of the "connection 130" of the detachable connection device of the present embodiment;

FIG. 6 is a cross-sectional view of a portion of the "connection 130" of the detachable connection device of the present embodiment;

FIG. 7 is a cross-sectional view of a handle assembly of an embodiment of the present application with respect to a detachable attachment portion;

fig. 8 is an enlarged schematic view of the structure of the "limit portion 232" of the detachable connection device according to the embodiment of the present application;

FIG. 9 is a cross-sectional view of a handle assembly according to an embodiment of the present application;

FIG. 10 is a cross-sectional view of a portion of a "stop 232" of a detachable connection device according to an embodiment of the present application;

FIG. 11 is a cross-sectional view of a portion of a "shutter assembly" of a removable attachment apparatus according to an embodiment of the present application;

FIG. 12 is a cross-sectional view of a portion of a "shutter assembly" of a removable attachment apparatus according to an embodiment of the present application;

FIG. 13 is an enlarged schematic view of the structure of the "shielding door 710" part of the detachable connection device according to the embodiment of the present application;

FIG. 14 is a cross-sectional view of a portion of a "guide chute 750" of a detachable connection device according to an embodiment of the present application;

fig. 15 is a schematic structural view of a surgical robot according to an embodiment of the present application.

Reference numerals

The operation handle-100, the holding part-110, the handle bar-120, the connecting part-130, the first indicating part-131, the accommodating cavity-132, the limiting arc groove-133, the control box-200, the display-210, the control button-220, the interface convex part-230, the elastic piece-231, the limiting part-232, the mounting hole-233, the second indicating part-234, the base-300, the upright column-400, the mechanical arm-500, the instrument moving table-600, the shielding door-710, the door body-711, the first limiting part-712, the second limiting part-713, the sliding cavity-720, the blocking piece-721, the fitting cavity-730, the elastic pull rope-740 and the guiding chute-750.

Detailed Description

Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The detachable connection device, the handle assembly and the surgical robot provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings by means of specific embodiments and application scenarios thereof.

The embodiment of the application provides a surgical robot, as shown in fig. 15, which comprises a doctor main control console (not shown in the figure) and a slave operation device, wherein the doctor main control console is a control center of the minimally invasive surgical robot, a surgeon sits on a doctor control platform, and the slave operation device is controlled by eyes, hands and feet through two master hands and pedals.

The slave operation device is an execution part of a minimally invasive surgery robot and is used for converting a doctor instruction into an operation action of a surgical instrument, the surgical instrument comprises a base 300, a stand column 400 and a handle assembly are arranged on one side, away from the bottom surface, of the base 300, a movable mechanical arm 500 is arranged on the stand column 400, an instrument connection part is arranged at one end, away from the lifting stand column 400, of the mechanical arm 500, and the instrument connection part comprises an instrument motion table 600 and the surgical instrument arranged on the instrument motion table 600.

As shown in fig. 1 and 2, the embodiment of the present application provides a handle assembly including an operation handle 100 and a control box 200, wherein the operation handle 100 is provided with two and is detachably mounted on the control box 200 through a detachable connection device.

The control box 200 is provided with a display 210 and control buttons 220, wherein the control buttons 220 are used for inputting control instructions, and the display 210 is used for providing a control interaction interface for a user.

The operating handle 100 includes a handle bar 120, and a grip portion 110 and a connection portion 130 fixedly disposed at both ends of the handle bar 120, respectively, wherein the grip portion 110 is for an operator to manually grip, and the connection portion 130 is for detachable connection with the control box 200.

In this embodiment of the application, adopt foretell handle subassembly, connect through dismantling connecting device between operating handle 100 and the control box 200 to can install operating handle 100 on control box 200 when needs, operating handle 100 can be dismantled after the surgical robot removal is accomplished, avoided colluding medical personnel's clothing or other cables, improve operating environment's security.

As shown in fig. 1 to 10, the embodiment of the application provides a detachable connection device, including the interface convex part 230 of fixed setting on control box 200, be equipped with the spacing portion 232 that can elastically stretch out and draw back on the outer disc of interface convex part 230, be equipped with the holding chamber 132 of opening to keeping away from handle pole 120 one side on connecting portion 130, be provided with spacing arc groove 133 along circumference on the holding chamber 132 inner wall, spacing arc groove 133 is along holding chamber 132 circumference gradually to holding chamber 132 inner wall smooth transition about the both sides at the bottom of the arc, holding chamber 132 internal diameter and interface convex part 230 external diameter match, interface convex part 230 can stretch into in the holding chamber 132, and spacing portion 232 can elastically stretch into in the spacing arc groove 133.

In this embodiment, the above-mentioned detachable connection device is adopted, when the interface protrusion 230 stretches into the accommodating cavity 132 and the limiting portion 232 stretches into the limiting arc groove 133, the limiting arc groove 133 is abutted against the limiting portion 232 with respect to the two side inner walls of the axial direction of the accommodating cavity 132, so as to limit the displacement of the limiting portion 232 along the axial direction of the accommodating cavity 132, namely, the positioning between the interface protrusion 230 and the connection portion 130 is realized, and further the installation of the operating handle 100 on the control box 200 is realized.

Meanwhile, the rotation of the limiting portion 232 along the circumferential direction of the accommodating cavity 132 is not limited, when the user manually rotates the operating handle 100, the limiting portion 232 gradually moves to one side of the arc bottom in the limiting arc groove 133 until the limiting arc groove 133 is moved out, at this time, the limiting portion 232 is abutted against the inner wall of the accommodating cavity 132, the axial displacement limitation of the interface convex portion 230 in the accommodating cavity 132 is released, and at this time, the operating handle 100 can be detached from the control box 200 by axially pulling the operating handle 100 along the interface convex portion 230.

In a preferred embodiment, as shown in fig. 2 and fig. 7 to 10, a mounting hole 233 is radially formed along the interface protrusion 230 on the outer circumferential surface of the interface protrusion 230, a limiting portion 232 is slidably disposed in the mounting hole 233, an elastic member 231 is fixedly disposed between the bottom of the limiting portion 232 and the bottom wall of the mounting hole 233, and the limiting portion 232 protrudes out of the mounting hole 233 under the elastic force of the elastic member 231.

In this embodiment, with the above detachable connection device, when the operation handle 100 is mounted on the control box 200, the limiting portion 232 is manually pressed to retract into the mounting hole 233, and at this time, the elastic member 231 accumulates elastic potential energy, and when the interface protrusion 230 is inserted into the accommodating cavity 132 and the limiting portion 232 resets under the elastic force of the elastic member 231 to extend into the limiting arc groove 133, the axial limiting of the connection portion 130 and the interface protrusion 230 can be realized.

It can be understood that a plurality of limiting portions 232 can be disposed on the interface protrusion 230, and the positions and the number of the limiting arc grooves 133 need to be adaptively adjusted.

In a preferred embodiment, as shown in fig. 2 and fig. 7 to 10, the limiting portion 232 is specifically a sphere, the elastic member 231 is specifically a spring, it is to be understood that the limiting portion 232 can also be configured as a cylinder or a prism, and the elastic member 231 can be configured as other elastic structures such as rubber, a spring sheet, and the like, so long as the pushing of the elastic member 231 on the limiting portion 232 and the abutting relationship between the limiting portion 232 and the limiting arc groove 133 can be realized, and the specific structure and the form thereof are not limited.

In a preferred embodiment, as shown in fig. 2 and fig. 7 to 10, the limiting portion 232 is a sphere, a distance between the arc bottom of the limiting arc groove 133 and the inner wall of the accommodating cavity 132 along the radial direction of the accommodating cavity 132 is not smaller than a sphere radius of the limiting portion 232, and a distance between the two inner walls of the limiting arc groove 133 along the axial direction of the accommodating cavity 132 is matched with the sphere diameter of the limiting portion 232.

In this embodiment, adopt foretell detachable connection device, when spacing portion 232 stretches into spacing arc inslot 133 and be located spacing arc inslot 133 arc bottom position under the elasticity effect of elastic component 231, because spacing arc inslot 133's arc bottom degree of depth is not less than spacing portion 232's spheroid radius, thereby make spacing arc inslot 133 along holding chamber 132 axial two inner walls to spacing portion 232's conflict power and holding chamber 132's axis parallel, when interface convex part 230 has in holding chamber 132 along holding chamber 132 axial motion trend, spacing arc inslot 133 can carry out effective spacing to spacing portion 232 along holding chamber 132 axial two inner walls.

It can be understood that if the depth of the arc bottom of the limiting arc groove 133 is smaller than the sphere radius of the limiting portion 232, when the interface protrusion 230 moves axially along the accommodating cavity 132, the limiting arc groove 133 generates a pushing force to the limiting portion 232 along the axial direction of the accommodating cavity 132, and further generates a component force that the limiting portion 232 slides to one side of the elastic member 231, when the limiting portion 232 is pushed down by the two axial walls of the limiting arc groove 133 along the accommodating cavity 132 to retract into the mounting hole 233, the limiting arc groove 133 cannot effectively limit the axial displacement of the limiting portion 232 along the accommodating cavity 132, i.e. the axial direction of the interface protrusion 230 between the connecting portion 130 and the interface protrusion 230 cannot play a limiting role.

Of course, if the limiting portion 232 is cylindrical, the above requirement is not met, however, the limiting portion 232 adopts a spherical structure because the rolling property is best, friction between components can be reduced, the service life of the detachable connecting device is prolonged, and the detachable connecting device is simple in structure, free of fixation and convenient to assemble.

In a preferred embodiment, as shown in fig. 2 and 3, a first indicating portion 131 is disposed on the outer surface of the connecting portion 130 at a position corresponding to the arc bottom of the limiting arc groove 133, and a second indicating portion 234 is disposed on the outer surface of the interface protrusion 230 at a position corresponding to the limiting portion 232.

In this embodiment of the application, adopt foretell detachable connection device, when operation handle 100 and control box 200 installation, only need with first indicator 131 and second indicator 234 align can guarantee that spacing portion 232 can accurately stretch into the arc bottom position of spacing arc groove 133 when interface convex part 230 stretches into holding intracavity 132 to realize that operation handle 100 and control box 200's installation is spacing once, improve the installation effectiveness between the two.

It can be appreciated that if the limiting portion 232 is not aligned with the arc bottom of the limiting arc groove 133 during the installation process of the operating handle 100, there may be a problem that the limiting portion 232 cannot smoothly extend into the limiting arc groove 133 to achieve the limiting effect or the depth of the limiting portion 232 in the limiting arc groove 133 is insufficient, so that the limiting effect cannot be ensured in the axial direction of the interface protrusion 230, at this time, the position of the limiting portion 232 in the limiting arc groove 133 needs to be manually adjusted, and the first and second indication portions 131 and 234 are used for adjusting and referencing when the position between the connecting portion 130 and the interface protrusion 230 is used.

In a preferred embodiment, in order to prevent the operation handle 100 from rotating under the action of gravity after being mounted on the control box 200, the limiting portion 232 rotates to disengage from the limiting arc groove 133 to release the limitation between the operation handle 100 and the control box 200, and a rotation damping mechanism is disposed between the interface protrusion 230 and the inner wall of the accommodating cavity 132.

In a preferred embodiment, the rotary damping mechanism specifically includes a conical structure of the accommodating cavity 132, that is, the radius of the inner wall of the accommodating cavity 132 gradually decreases in the direction from the opening to the bottom wall, so that the interface protrusion 230 forms a certain interference fit with the inner wall of the accommodating cavity 132 after the limiting portion 232 extends into the limiting arc groove 133.

Of course, the interference fit should not be excessive, so long as it counteracts the gravity effect of the operating handle 100, otherwise the operator would be laborious to rotate the operating handle 100.

In a preferred embodiment, the rotational damping mechanism is specifically an uneven rough structure disposed on the outer circumferential surface of the interface protrusion 230 and/or the inner wall of the accommodating cavity 132, so as to increase the friction force therebetween, and also reduce the interference fit between the connecting portion 130 and the inner wall of the accommodating cavity 132.

In a preferred embodiment, the rotation damping mechanism is specifically an anti-slip rubber sleeve disposed on the outer circumferential surface of the interface protrusion 230 and/or the inner wall of the accommodating cavity 132.

In this embodiment of the application, adopt foretell handle subassembly, through adopting foretell detachable connection device, realized the quick assembly disassembly of operation handle 100 and control box 200, through the size cooperation relation of spacing portion 232 and spacing arc groove 133 and the rotation damping mechanism setting between connecting portion 130 and the interface convex part 230 simultaneously, can improve the spacing reliability between operation handle 100 and the control box 200 greatly to guarantee its job stabilization nature.

In a preferred embodiment, as shown in fig. 11 to 13, the shielding assembly further includes a shielding component for limiting the limiting portion 232 in the non-connected state, the shielding component includes a sliding cavity 720 disposed on an end surface of the control box 200 corresponding to the interface protrusion 230, and a shielding door 710 capable of covering the opening of the mounting hole 233 is slidably disposed in the sliding cavity 720.

As shown in fig. 13, the shielding door 710 includes a door body 711, and a first limiting portion 712 and a second limiting portion 713 disposed on an end surface of the door body 711 away from the interface protrusion 230, where the first limiting portion 712 and the second limiting portion 713 are respectively located at two ends of the door body 711, the second limiting portion 713 is located in the sliding cavity 720, and a blocking member 721 capable of abutting against the second limiting portion 713 is disposed on an inner wall of an opening of the sliding cavity 720.

As shown in fig. 12, an engaging cavity 730 for accommodating the first limiting part 712 is formed on an end surface of the connecting part 130, which is far away from the handle bar 120, when the connecting part 130 and the interface protrusion 230 are in a non-connected state, the elastic member 231 is in a compressed state, the limiting part 232 is located in the mounting hole 233, the door body 711 covers an opening of the mounting hole 233, and the limiting part 232 abuts against the door body 711 under the elastic force of the elastic member 231; when the interface convex part 230 is inserted into the accommodating cavity 132, the first limiting part 712 moves into the engaging cavity 730, the shielding door 710 is abutted against the inner wall of the engaging cavity 730 to move towards the side close to the control box 200, when the shielding door 710 releases the cover of the mounting hole 233, the limiting part 232 just abuts against the inner wall of the accommodating cavity 132 under the elastic force of the elastic member 231, so that the transition from the shielding door 710 to the accommodating cavity 132 of the limiting part 232 is realized, and when the connecting part 130 abuts against the end surface of the corresponding side of the control box 200, the limiting part 232 moves into the limiting arc groove 133 under the elastic force of the elastic member 231 to realize the connection between the connecting part 130 and the interface convex part 230.

In this embodiment, adopt foretell handle subassembly, realized hiding spacing portion 232 under connecting portion 130, interface convex part 230 non-connection state through shielding the subassembly, operating personnel need not to manually press spacing portion 232 to mounting hole 233 when connecting portion 130 and interface convex part 230, can automatic the stretching out of spacing portion 232 realize the joint in spacing arc groove 133 at the in-process that connecting portion 130 inserted holding chamber 132, not only the structure is pleasing to the eye, has reduced operating personnel's operation degree of difficulty moreover, has improved the installation effectiveness of operating handle 100 on control box 200.

In a preferred embodiment, as shown in fig. 11 to 13, the shielding assembly further includes an elastic pull rope 740 fixedly disposed between the blocking member 721 and the second limiting portion 713, when the shielding door 710 covers the opening of the mounting hole 233, the elastic pull rope 740 does not accumulate elastic potential energy, when the shielding door 710 retracts into the sliding cavity 720 under the interference of the engaging cavity 730, the elastic pull rope 740 accumulates elastic potential energy, and when the connecting portion 130 is separated from the interface protrusion 230, the shielding door 710 can cover the opening of the mounting hole 233 again under the elastic force of the elastic pull rope 740 to limit the limiting portion 232.

In this embodiment of the present application, the above-mentioned handle assembly is adopted, and the shielding door 710 is elastically stretched in the sliding cavity 720, so that the limiting portion 232 can be limited by seamless engagement when the connecting portion 130 is separated from the interface protrusion 230, that is, the full-automatic shielding of the limiting portion 232 is realized, and the manual adjustment workload of an operator is further reduced.

It can be appreciated that, due to the arrangement of the blocking member 721, the shielding door 710 may have difficulty in installing in the sliding cavity 720, and the second limiting portion 713 may be a flexible member made of plastic, but the arrangement also has the problems of inconvenient installation of the elastic pull rope 740 and unstable limiting effect, at this time, the blocking member 721 and the control box 200 may be fixedly connected in a split type, i.e. the blocking member 721 is arranged as an independent member, and when the second limiting portion 713 is located in the sliding cavity 720, the blocking member 721 and the inner wall of the sliding cavity 720 are fixedly connected in an adhesive manner, a welding manner, etc. are fixedly connected in advance, and by adopting this connection manner, the installation difficulty of the elastic pull rope 740 and the shielding door 710 is greatly reduced, and meanwhile, the overall processing difficulty of the control box 200 is reduced.

Of course, the elastic member between the stopper 721 and the second limiting portion 713 is not limited to one type of elastic cord 740, and an elastic member such as a spring or a spring sheet may be used, so long as the elastic expansion and contraction of the shielding door 710 in the sliding cavity 720 can be realized.

In a preferred embodiment, as shown in fig. 14, a guiding chute 750 is disposed on the end surface of the side of the connecting portion 130 away from the handle bar 120 at a position corresponding to the limiting arc groove 133, and the inner wall of the side of the guiding chute 750 away from the accommodating cavity 132 gradually and smoothly transitions from the connecting portion 130 to the inner wall of the accommodating cavity 132 until the distance between the inner wall and the inner wall of the accommodating cavity 132 is reduced to zero.

It can be appreciated that the depth of the guiding chute 750 away from the side end of the limiting arc chute 133 is matched with the position of the upper hemisphere of the limiting portion 232 under the condition that the elastic member 231 does not accumulate elastic potential energy, so that the limiting portion 232 can directly slide into the guiding chute 750.

In this embodiment, adopt foretell handle subassembly, when interface convex part 230 inserts in holding chamber 132, spacing portion 232 is in elastic component 231 elasticity effect down with direction chute 750 diapire butt, along with the insertion of interface convex part 230, spacing portion 232 moves gradually along direction chute 750 diapire orbit to being close to elastic component 231 one side, just contradict with holding chamber 132 inner wall when spacing portion 232 shifts out in from direction chute 750, in the above-mentioned process, the rotation restriction to operating handle 100 after having realized interface convex part 230 inserts in holding chamber 132, namely connecting portion 130 can not take place the axial subtle rotation with interface convex part 230 installation, guaranteed the positioning accuracy of spacing portion 232 and spacing arc groove 133, simultaneously, the setting of direction chute 750 is convenient for the location of mounting hole 233 and spacing arc groove 133 for first indicator 131 and second indicator 234 can be corresponding to give up.

It can be appreciated that the guiding chute 750 can be set to be in transition fit with the limiting arc groove 133, at this time, the limiting portion 232 and the guiding chute 750 are separated from each other and then directly enter into the limiting arc groove 133, so that the whole limiting process of the guiding chute 750 to the limiting portion 232 is ensured, but in order to ensure the overall strength of the connecting portion 130, the occupation proportion of the guiding chute 750 on the connecting portion 130 is comprehensively considered, so that the problems of deformation of the connecting portion 130 caused by overlarge occupation proportion of the guiding chute 750 and overlarge strength of the connecting portion 130 are prevented.

It can be appreciated that, if the shielding component or the guiding chute 750 is not provided, since the radial distance between the bottom of the arc of the limiting arc groove 133 and the inner wall of the accommodating cavity 132 along the accommodating cavity 132 is not smaller than the sphere radius of the limiting portion 232, when the connecting portion 130 is connected with the interface protrusion 230, the user must manually press the limiting portion 232 into the mounting hole 233, otherwise, the interface protrusion 230 cannot be inserted into the accommodating cavity 132, in order to solve the above-mentioned problem, the shielding component and the guiding chute 750 may be alternatively used or combined together, and when the shielding component and the guiding chute 750 are combined together, structural combination of the engaging cavity 730 and the guiding chute 750 is required, at this time, not only the limiting of the shielding component on the limiting portion 232 in the mounting hole 233 can be realized, but also the rotational limiting of the limiting portion 232 during the insertion of the interface protrusion 230 into the accommodating cavity 132 can be realized, and the overall aesthetic property of the interface protrusion 230 and the connection stability when connected with the connecting portion 130 are improved.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

Claims (10)

1. A detachable connection device, characterized by comprising a connection part arranged on a first component and an interface convex part arranged on a second component;

the outer circular surface of the interface convex part is provided with a limiting part which can elastically stretch and retract, the connecting part is provided with a containing cavity for containing the interface convex part, and the inner wall of the containing cavity is provided with a limiting arc groove along the circumferential direction;

the two sides of the limiting arc groove relative to the arc bottom gradually transition to the inner wall of the accommodating cavity along the circumferential direction of the accommodating cavity, so that the groove depth of the limiting arc groove is gradually reduced, and the limiting part can extend into the limiting arc groove under the action of elasticity.

2. The detachable connection device according to claim 1, wherein an installation hole is radially formed in the outer circumferential surface of the interface protrusion along the interface protrusion, the limiting portion is slidably disposed in the installation hole, and an elastic member is disposed between the bottom of the limiting portion and the bottom wall of the installation hole.

3. The detachable connection device according to claim 2, wherein the limit portion is provided as a sphere, a cylinder or a prism, and the elastic member is provided as a spring, a rubber or a shrapnel.

4. A detachable connection device according to claim 3, wherein the limiting portion is specifically configured as a sphere, and a distance between the arc bottom of the limiting arc groove and the inner wall of the accommodating cavity along the radial direction of the accommodating cavity is not smaller than a radius of the sphere.

5. The detachable connection device of claim 1, wherein a rotational damping mechanism is disposed between the interface boss and the inner wall of the receiving cavity.

6. The detachable connection device of claim 5, wherein the rotational damping mechanism is specifically an interference fit between the interface protrusion and the inner wall of the receiving cavity.

7. The detachable connection device according to claim 5, wherein the rotational damping mechanism is specifically a friction damping member provided on the outer circumferential surface of the interface protrusion and/or the inner wall of the accommodating chamber.

8. The detachable connection device according to any one of claims 1 to 7, wherein a first indication portion is provided on an outer surface of the connection portion at a position corresponding to an arc bottom of the limit arc groove, and a second indication portion is provided on an outer circumferential surface of the interface protrusion at a position corresponding to the limit portion.

9. A handle assembly comprising an operating handle, a control box, said operating handle, control box being connected using a detachable connection device according to any one of the preceding claims 1 to 8;

wherein the first component is in particular the operating handle and the second component is in particular the control box.

10. A surgical robot comprising a handle assembly as claimed in claim 9.