CN219921108U - Surgical instrument device and surgical robot - Google Patents

Abstract

The utility model discloses a surgical instrument device and a surgical robot, wherein the surgical instrument device comprises: the driving part is used for driving the mechanical head to act and is provided with a locking assembly; the mechanical head is detachably connected to the driving part and is provided with a locking matching piece, and the locking matching piece is in locking matching with the locking component so as to limit the axial movement of the mechanical head relative to the driving part. In the process of using the surgical instrument device provided by the utility model, after the surgery is finished or when the mechanical head needs to be maintained and replaced, the mechanical head and the driving part are detachably connected, so that only the mechanical head can be replaced, and the cost and maintenance cost of the robot surgery are reduced; in addition, in the use, through the locking cooperation between locking subassembly and the locking cooperation piece, can ensure that the mechanical head is fixed for the drive portion in axial position to guarantee the normal clear of robot operation.

Description

Surgical instrument device and surgical robot

Technical Field

The utility model relates to the technical field of medical equipment, in particular to a surgical instrument device. In addition, the utility model also relates to a surgical robot comprising the surgical instrument device.

Background

With the rapid development of current technology, surgical robots are increasingly used. Generally, a doctor controls the surgical robot through the control end, and the process enables the doctor to operate as a normal operation, but the control realizes more accurate execution action compared with the normal operation.

In the prior art, for a surgical robot, certain mechanisms need to be scrapped after each operation, particularly an instrument head, and the instrument head is driven by an instrument driving seat, so that the instrument driving seat needs to be scrapped accordingly, and the operation cost of the robot is high.

In summary, how to reduce the cost of the robotic surgery is a problem to be solved by those skilled in the art.

Disclosure of Invention

Therefore, the present utility model is directed to a surgical instrument device, in which the driving portion is detachably connected to the mechanical head, and the mechanical head is limited to move in the axial direction relative to the driving portion by the cooperation of the locking assembly and the locking fitting member, so that the surgery can be performed normally, and therefore, only the mechanical head can be scrapped and replaced, and the cost of the robotic surgery can be reduced.

Another object of the present utility model is to provide a surgical robot comprising the surgical instrument device described above.

In order to achieve the above object, the present utility model provides the following technical solutions:

a surgical instrument device, comprising:

the driving part is used for driving the mechanical head to act and is provided with a locking assembly;

the mechanical head is detachably connected to the driving part, and the mechanical head is provided with a locking matching piece, and the locking matching piece is in locking matching with the locking assembly so as to limit the axial movement of the mechanical head relative to the driving part.

Optionally, the locking assembly comprises an axially movable locking hook, and an end of the locking hook facing the machine head is provided with an openable or closable clamping jaw, so that the locking fitting is disengaged from or locked by the clamping jaw.

Optionally, the inner side of the clamping jaw is provided with a recess for receiving the locking fitting.

Optionally, the groove is an arc groove, and the locking fitting piece is a spherical structure fitting with the groove.

Optionally, the driving part is provided with a shell, a first accommodating space and a second accommodating space which are mutually communicated are axially arranged in the shell, the second accommodating space is arranged closer to the outermost end of the machine head than the first accommodating space, and the radial size of the second accommodating space is larger than that of the first accommodating space;

the clamping jaw is an elastic clamping jaw, and the clamping jaw can move to the first accommodating space and the second accommodating space along the axial direction.

Optionally, a locking cap which can slide along the axial direction of the shell is sleeved on the periphery of one end of the shell, which faces towards the machine head;

the locking cap is internally provided with a clamping part, and the machine head part is provided with a clamping groove which is matched with the clamping part for clamping or releasing.

Optionally, the clamping part is a plurality of locking steel balls arranged along the circumferential direction, the locking steel balls are positioned between the shell and the locking cap, and the shell is provided with a through hole for enabling the locking steel balls to partially extend out;

a third accommodating space and a fourth accommodating space for accommodating the locking steel ball are arranged between the locking cap and the shell, the fourth accommodating space is closer to the outer end of the machine head than the third accommodating space, and the radial size of the fourth accommodating space is larger than that of the third accommodating space;

the clamping groove comprises a plurality of concave parts distributed along the circumferential direction of the machine head.

Optionally, a fifth accommodating space is arranged in the locking cap, and the fifth accommodating space and the fourth accommodating space are respectively arranged at two axial ends of the third accommodating space;

and a reset spring is arranged in the fifth accommodating space, one end of the reset spring is connected with the shell, the other end of the reset spring is connected with the locking cap, and when the reset spring is compressed, the locking cap moves towards one end of the driving part far away from the mechanical head.

Optionally, the device further comprises a rotating part for driving the latch hook to move along the axial direction, and the rotating part is in threaded connection with the latch hook.

A surgical robot comprising a surgical instrument device according to any one of the preceding claims.

In the process of using the surgical instrument device provided by the utility model, after the surgery is finished or when the mechanical head needs to be maintained and replaced, the mechanical head is detachably connected with the driving part, so that only the mechanical head can be replaced, and the cost and maintenance cost of the robot surgery are reduced; in addition, in the use, through the locking cooperation between locking subassembly and the locking cooperation piece, can ensure that the mechanical head is fixed for the drive portion in axial position to guarantee the normal clear of robot operation.

In addition, the utility model also provides a surgical robot comprising the surgical instrument device.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a surgical instrument device according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a surgical instrument provided by the present utility model without a mechanical head;

fig. 3 is a schematic structural view of a locking cap in the surgical instrument provided by the utility model, wherein the locking cap is close to one end of the driving part, which is far away from the mechanical head, and the clamping jaw is positioned in the second accommodating space;

FIG. 4 is a schematic view of a surgical instrument provided by the present utility model, in which a mechanical head is inserted into a jaw and the jaw is located in a second accommodating space;

FIG. 5 is a schematic view of the structure of the surgical instrument provided by the present utility model after the mechanical head is installed;

FIG. 6 is a schematic structural view of an embodiment of a locking method of a clamping jaw and a locking fitting according to the present utility model;

fig. 7 is a schematic view of a partial structure of a machine head.

In fig. 1-7:

100 is a machine head, 101 is a locking fitting, 102 is a clamping groove, 103 is a rod, 200 is a driving part, 201 is a rotating part, 202 is a clamping jaw, 203 is a locking cap, 204 is a return spring, 205 is a locking steel ball, 206 is a locking hook, 207 is a groove, 301 is a first accommodating space, 302 is a second accommodating space, 303 is a third accommodating space, 304 is a fourth accommodating space, 305 is a fifth accommodating space, 400 is a shell, 401 is a main body part, 402 is an extending part, and 403 is a through hole.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The core of the utility model is to provide a surgical instrument device, wherein a driving part is detachably connected with a mechanical head, and the mechanical head can be limited to move in the axial direction relative to the driving part through the cooperation of a locking assembly and a locking matching piece, so that the operation can be normally performed, and therefore, only the mechanical head can be scrapped and replaced, and the cost of the robotic operation is reduced. Another core of the present utility model is to provide a surgical robot including the above surgical instrument device.

Please refer to fig. 1-7.

The embodiment discloses a surgical instrument device, comprising:

a driving part 200 for driving the mechanical head 100 to act, the driving part 200 being provided with a locking assembly;

the machine head 100 is detachably connected to the driving part 200, and the machine head 100 is provided with a locking fitting member 101, and the locking fitting member 101 is locked and fitted with a locking assembly to limit axial movement of the machine head 100 relative to the driving part 200.

In the actual use process, the driving unit 200 is required to drive the mechanical head 100 to perform operations such as opening, closing, rotation, and deflection, so as to perform surgical operations such as cutting and suturing; the driving part 200 and the machine head 100 are generally configured as an integral structure that is not separately detachable in the prior art, so as to facilitate control.

The driving part 200 in this embodiment is provided separately from the machine head part 100, and both are detachably connected. In the process of using the surgical instrument device provided in this embodiment, after the surgery is completed, or when the mechanical head 100 needs to be maintained and replaced, only the mechanical head 100 can be replaced because of the detachable connection between the mechanical head 100 and the driving part 200, so as to reduce the cost and maintenance cost of the robot surgery; in addition, during the use, through the locking cooperation between the locking assembly and the locking cooperation piece 101, the mechanical head 100 can be ensured to be fixed relative to the driving part 200 in the axial direction, so that the normal operation of the robot operation is ensured.

In one embodiment, the locking assembly includes an axially movable locking hook 206, with an openable or closable jaw 202 disposed at an end of the locking hook 206 facing the machine head 100 to disengage the locking fitting 101 from the jaw 202 or to lock it by the jaw 202.

During actual use, jaw 202 may be controlled to open or close by controlling shackle 206 to move axially, as shown in fig. 2, a rod-like structure may be attached to one end of shackle 206 to facilitate connection control. In the open state of clamping jaw 202, locking fitting 101 of machine head 100 may be extended into clamping jaw 202, and clamping jaw 202 may then be controlled to close such that locking fitting 101 is clamped by clamping jaw 202 to limit movement of machine head 100 in the axial direction relative to drive portion 200.

Preferably, as shown in fig. 6, a corresponding groove 207 for accommodating the locking matching member 101 may be provided in the claw portion of the clamping jaw 202, so that the locking matching member 101 is smoothly clamped, and the locking matching member 101 is prevented from being accidentally separated from the clamping jaw 202 under the action of external force, thereby improving the reliability of the surgical instrument device.

Further, the groove 207 may be an arc groove 207, and the locking fitting 101 may be a spherical structure, so that in the practical use process, the spherical structure is beneficial to realizing the rotation of the mechanical head 100, and facilitates the realization of the motion of the mechanical head 100 in the operation process.

In this embodiment, by arranging the clamping jaw 202 to cooperate with the locking cooperation member 101, the structure of the surgical apparatus is further simplified, and the locking cooperation member 101 can be effectively clamped, so as to ensure the action quality in the surgical process.

In a specific embodiment, the driving portion 200 is provided with a housing 400, a first accommodating space 301 and a second accommodating space 302 which are mutually communicated are axially arranged in the housing 400, the second accommodating space 302 is arranged closer to the outermost end of the machine head 100 than the first accommodating space 301, and the radial dimension of the second accommodating space 302 is larger than the radial dimension of the first accommodating space 301;

the clamping jaw 202 is an elastic clamping jaw 202, and the clamping jaw 202 is axially movable to a first accommodating space 301 and a second accommodating space 302.

As shown in fig. 2, the clamping jaw 202 is located in the first accommodating space 301, and the clamping jaw 202 is in a closed state due to the smaller diameter of the first accommodating space 301; as shown in fig. 3, the clamping jaw 202 is located in the second accommodating space 302, and due to the larger diameter of the second accommodating space 302, the clamping jaw 202 can be opened under the support of the locking fitting 101, and clamp the locking fitting 101 under the action of self-elastic force.

Preferably, a chamfer may be provided at the end of the clamping jaw 202 to facilitate access to the locking fitting 101.

In this embodiment, by controlling the latch hook 206 to move in the axial direction and making the clamping jaw 202 move in the first accommodating space 301 and the second accommodating space 302, the clamping jaw 202 clamps the locking matching piece 101 under its own elasticity, and further locks the locking matching piece 101 by means of the first accommodating space 301; the opening and closing of the clamping jaw 202 are conveniently controlled, and no additional parts for controlling the opening and closing of the clamping jaw 202 are needed, so that the structure of the surgical instrument device is further simplified.

In one embodiment, the outer circumference of the end of the housing 400 facing the machine head 100 is provided with a locking cap 203 slidable along the axial direction thereof;

the locking cap 203 is provided with a locking portion, and the machine head 100 is provided with a locking groove 102 for locking or unlocking the locking portion.

In the use process, after the locking accessory stretches into the clamping jaw 202, the locking hook 206 is controlled to move towards one end deviating from the machine head 100, the clamping jaw 202 clamped with the locking matching piece 101 is driven to enter the first accommodating space 301, the locking matching piece 101 is in locking matching with the clamping jaw 202, then the machine head 100 is slightly rotated, the clamping part is matched and clamped with the clamping groove 102, and the locking matching piece 101 is further limited to move in the axial direction and rotate in the circumferential direction.

In this embodiment, the arrangement of the clamping portion and the clamping groove 102 makes the installation of the mechanical head 100 more reliable, and improves the reliability of the surgical instrument device.

In a specific embodiment, the clamping part is a plurality of locking steel balls 205 arranged along the circumferential direction, the locking steel balls 205 are positioned between the shell 400 and the locking cap 203, and the shell 400 is provided with a through hole 403 for enabling the locking steel balls 205 to partially extend out;

a third accommodating space 303 and a fourth accommodating space 304 for accommodating the locking steel ball 205 are arranged between the locking cap 203 and the shell 400, the fourth accommodating space 304 is closer to the outer end of the machine head 100 than the third accommodating space 303, and the radial dimension of the fourth accommodating space 304 is larger than that of the third accommodating space 303; as shown in fig. 7, the machine head 100 includes a shaft 103 and a locking fitting 101 at an end of the shaft 103, and a clip groove 102 is provided in the shaft 103, the clip groove 102 including a plurality of recesses distributed along a circumferential direction of the machine head 100.

A fifth accommodating space 305 is arranged in the locking cap 203, and the fifth accommodating space 305 and the fourth accommodating space 304 are respectively arranged at two axial ends of the third accommodating space 303;

the fifth accommodating space 305 is provided with a return spring 204, one end of the return spring 204 is connected to the housing 400, and the other end is connected to the locking cap 203, so that the locking cap 203 moves toward the end of the driving part 200 away from the machine head 100 when the return spring 204 is compressed.

It should be noted that, the fifth accommodating space 305 is mainly configured to install the return spring 204, and thus the diameter of the fifth accommodating space 305 needs to be determined according to the size of the return spring 204.

As shown in fig. 2, in a natural state, the locking cap 203 is positioned at one end of the driving part 200 near the outside of the machine head 100 under the elastic force of the return spring 204; at this time, the locking steel ball 205 is located in the third accommodating space 303, the housing 400 includes a main body 401 and an extension portion 402, the locking cap 203 is sleeved on the outer periphery of the extension portion 402, and the extension portion 402 is provided with a tapered through hole 403 due to the smaller diameter of the third accommodating space 303, so that part of the locking steel ball 205 can extend out of the through hole 403 and cannot fall out of the through hole 403.

As shown in fig. 3, a force is applied to the locking cap 203 toward the end of the driving part 200 away from the machine head 100, compressing the return spring 204, and moving the locking cap 203 toward the end of the driving part 200 away from the machine head 100, at this time, the locking steel ball 205 enters the fourth accommodating space 304 from the third accommodating space 303, and since the diameter of the fourth accommodating space 304 is larger than that of the third accommodating space 303, at this time, the volume of the steel ball extending out of the through hole 403 when the steel ball is pressed by the machine head 100 can be reduced.

As shown in fig. 4, the machine head 100 sequentially passes through the fourth accommodating space 304, the third accommodating space 303 and the fifth accommodating space 305 to enter the clamping jaw 202 located in the second accommodating space 302, and during the process of entering the machine head 100, the locking steel ball 205 is pushed outwards.

As shown in fig. 5, when the locking cap 203 is released and the locking cap 203 moves toward the outer end of the machine head 100 under the action of the elastic force of the return spring 204, the locking steel ball 205 will have a fourth accommodating space 304 into the third accommodating space 303 during the movement, and the locking steel ball 205 will be extruded due to the smaller diameter of the third accommodating space 303, so that the volume of the locking steel ball 205 extending out of the through hole 403 increases, and the machine head 100 is slightly rotated, so that the locking steel ball 205 and the clamping slot 102 can be engaged.

In a specific embodiment, as shown in fig. 1, the device further comprises a rotating part 201 for driving the latch hook 206 to move along the axial direction, and the rotating part 201 is in threaded connection with the latch hook 206; of course, other connection manners between the rotating portion 201 and the latch hook 206 are also possible, and the connection manner is specifically determined according to practical situations.

In the process of using the surgical instrument shown in fig. 1 and 2, first, the rotating portion 201 needs to be rotated to drive the latch hook 206 to enter the second accommodating space 302 from the first accommodating space 301 until the position of the clamping jaw 202 is shown in fig. 3; then compressing the return spring 204 to push the locking cap 203 to the position shown in fig. 3, so that the locking steel ball 205 is positioned in the fourth accommodating space 304; then, the mechanical head 100 enters the clamping jaw 202 positioned in the second accommodating space 302 from the front end of the driving part 200 through the fourth accommodating space 304, the third accommodating space 303 and the fifth accommodating space 305 in sequence, and the clamping jaw 202 clamps the locking matching piece 101 through self elasticity; then, the locking cap 203 is released, the locking cap 203 moves to the front end of the driving part 200 under the action of the return spring 204, and at this time, the locking steel ball 205 enters the third accommodating space 303, and the displacement in the radial direction is relatively small; then, the rotating part 201 is reversely rotated to drive the lock hook 206 to move towards the rear end of the driving part 200 until the clamping jaw 202 enters the first accommodating space 301, and the clamping jaw 202 cannot be opened under the limitation of the first accommodating space 301; the machine head 100 may be rotated slightly during this process to engage the locking balls 205 with the detents 102, as shown in fig. 5.

It should be noted that, in the present disclosure, the front end of the driving portion 200 is an end facing the machine head 100, and the rear end of the driving portion 200 is an end facing away from the machine head 100.

In addition to the surgical instrument device, the present utility model further provides a surgical robot including the surgical instrument device disclosed in the foregoing embodiments, and the structure of each other portion of the surgical robot is referred to the prior art, which is not described herein again.

The references to "first", "second", "third", "fourth" and "fifth" in the first accommodation space 301, the second accommodation space 302, the third accommodation space 303, the fourth accommodation space 304 and the fifth accommodation space 305 in this document are merely for distinguishing the differences in positions, and are not sequential.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. Any combination of all the embodiments provided in the present utility model is within the protection scope of the present utility model, and will not be described herein.

The surgical instrument device and the surgical robot provided by the utility model are described in detail above. The principles and embodiments of the present utility model have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present utility model and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the utility model can be made without departing from the principles of the utility model and these modifications and adaptations are intended to be within the scope of the utility model as defined in the following claims.

Claims (10)

1. A surgical instrument device, comprising:

a driving part (200) for driving the mechanical head (100) to act, wherein the driving part (200) is provided with a locking assembly;

the mechanical head (100) is detachably connected to the driving part (200), and the mechanical head (100) is provided with a locking matching piece (101), and the locking matching piece (101) is in locking matching with the locking assembly so as to limit the axial movement of the mechanical head (100) relative to the driving part (200).

2. A surgical instrument device according to claim 1, characterized in that the locking assembly comprises an axially movable locking hook (206), which locking hook (206) is provided with an openable or closable clamping jaw (202) towards one end of the machine head (100) for disengaging the locking fitting (101) from the clamping jaw (202) or locking by the clamping jaw (202).

3. Surgical instrument device according to claim 2, characterized in that the inner side of the clamping jaw (202) is provided with a recess (207) for receiving the locking fitting (101).

4. A surgical instrument device according to claim 3, wherein the recess (207) is an arcuate recess (207) and the locking engagement member (101) is of a spherical configuration engaging the recess (207).

5. A surgical instrument device according to any one of claims 2-4, wherein the driving part (200) is provided with a housing (400), a first accommodating space (301) and a second accommodating space (302) which are mutually communicated are axially arranged in the housing (400), the second accommodating space (302) is arranged closer to the outermost end of the mechanical head (100) than the first accommodating space (301), and the radial dimension of the second accommodating space (302) is larger than the radial dimension of the first accommodating space (301);

the clamping jaw (202) is an elastic clamping jaw (202), and the clamping jaw (202) can move to the first accommodating space (301) and the second accommodating space (302) along the axial direction.

6. The surgical instrument device according to claim 5, wherein a locking cap (203) slidable in an axial direction thereof is fitted around an outer periphery of an end of the housing (400) facing the machine head (100);

the locking cap (203) is internally provided with a clamping part, and the machine head (100) is provided with a clamping groove (102) which is matched with the clamping part for clamping or releasing.

7. The surgical instrument device according to claim 6, wherein the clamping portion is a plurality of locking steel balls (205) arranged along a circumferential direction, the locking steel balls (205) are located between the housing (400) and the locking cap (203), and the housing (400) is provided with a through hole (403) for partially extending the locking steel balls (205);

a third accommodating space (303) and a fourth accommodating space (304) for accommodating the locking steel ball (205) are arranged between the locking cap (203) and the shell (400), the fourth accommodating space (304) is closer to the outer end of the machine head (100) than the third accommodating space (303), and the radial size of the fourth accommodating space (304) is larger than that of the third accommodating space (303);

the clamping groove (102) comprises a plurality of concave parts distributed along the circumferential direction of the machine head (100).

8. The surgical instrument device according to claim 7, wherein a fifth accommodating space (305) is provided in the locking cap (203), and the fifth accommodating space (305) and the fourth accommodating space (304) are provided at both ends of the third accommodating space (303) in the axial direction, respectively;

a return spring (204) is arranged in the fifth accommodating space (305), one end of the return spring (204) is connected with the shell (400), and the other end of the return spring is connected with the locking cap (203), so that when the return spring (204) is compressed, the locking cap (203) moves towards one end, far away from the mechanical head (100), of the driving part (200).

9. A surgical instrument device according to claim 5, further comprising a rotating part (201) for driving the locking hook (206) to move in an axial direction, the rotating part (201) being in threaded connection with the locking hook (206).

10. A surgical robot comprising a surgical instrument device according to any one of claims 1-9.