WO2020125734A1 - Structure d'installation destinée à un trocart - Google Patents

Structure d'installation destinée à un trocart Download PDF

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Publication number
WO2020125734A1
WO2020125734A1 PCT/CN2019/126782 CN2019126782W WO2020125734A1 WO 2020125734 A1 WO2020125734 A1 WO 2020125734A1 CN 2019126782 W CN2019126782 W CN 2019126782W WO 2020125734 A1 WO2020125734 A1 WO 2020125734A1
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WO
WIPO (PCT)
Prior art keywords
locking
knob
groove
installation
installation structure
Prior art date
Application number
PCT/CN2019/126782
Other languages
English (en)
Chinese (zh)
Inventor
王建辰
王雪生
高元倩
Original Assignee
深圳市精锋医疗科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市精锋医疗科技有限公司 filed Critical 深圳市精锋医疗科技有限公司
Publication of WO2020125734A1 publication Critical patent/WO2020125734A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the invention relates to a stamping card structure, in particular to a stamping card installation structure.
  • Poke card is a common tool used by surgical robots in performing abdominal surgery.
  • the role of the poke card is to guide the operating instrument to the operating area in the abdominal cavity during the operation; it needs to be poked before the operation.
  • the card is quickly installed on the robot operating arm, and after the operation or when the stamp card needs to be replaced, it must be able to be removed from the operating arm quickly and easily.
  • the invention provides a mounting structure of a stamping card, including a connecting arm provided on a side wall of the stamping card, a mounting seat connected to the operating arm, and a locking mechanism provided on the mounting seat, wherein the locking
  • the mechanism includes a driving disc and a locking tongue.
  • a spiral groove is provided on the lower end surface of the driving disc, a connecting post is provided on the locking tongue, the connecting post is inserted into the spiral groove, and a connecting arm is provided Card slot; rotate the drive disk to drive the locking tongue into the card slot to lock the connecting arm.
  • the two locking tongues are provided, and the two locking tongues are oppositely arranged.
  • the locking tongues are respectively arranged on the left and right sides of the axis of the drive disk, and the space between the two locking tongues forms a bayonet ,
  • the two opposite sides of the connecting arm are provided with the clamping slot; the connecting arm extends into the bayonet, and rotates the drive plate to drive the two locking tongues to be close to each other and snap into the clamping slot, respectively.
  • the connecting arm is locked.
  • the spiral groove is an Archimedes spiral groove.
  • the locking mechanism further includes a knob, and the knob and the drive disk are fixedly connected by a rotating shaft.
  • the cross-sectional shape of the slot is "V" shaped.
  • the clamping slot is composed of an inclined wall and a horizontal wall.
  • the mounting seat is provided with an installation cavity
  • the drive disk and the lock tongue are both provided in the installation cavity
  • the knob is provided outside the installation cavity
  • the installation cavity is provided with A guide groove restricting the movement of the lock tongue along a straight line.
  • the bottom of the installation cavity is provided with an opening, and the top of the installation cavity is provided with a top wall; the bayonet is located directly above the opening, and the top wall is provided with a shaft hole, The knob is disposed outside the top wall, and the rotation shaft passes through the rotation shaft hole to connect the driving disk and the knob.
  • a bolt installation plate is provided in the installation cavity, the bolt installation plate is located below the drive plate, the guide groove is provided on the bolt installation plate, and the lock
  • the tongue includes a guide portion, a connecting portion and a locking claw, the connecting portion is connected between the guide portion and the locking claw, the connecting post is provided on the upper end surface of the guide portion, and the guide portion is slidingly fitted to the guide Inside the slot.
  • a back cover is provided at the bottom of the installation cavity, the back cover is provided with an accommodating cavity, an escape hole is also provided on the lock tongue mounting plate, and the connecting portion passes through the escape hole A hole, and the connecting part of the locking tongue and the locking claw are provided in the accommodating cavity, and the opening is provided at the bottom of the accommodating cavity.
  • a locking mechanism for locking the knob of the locking mechanism is also included; the locking mechanism includes a locking groove, a locking member, and an elastic member, and the elastic member locks the locking member The piece is pressed into the locking groove to lock the knob.
  • the elastic member and the locking member are both disposed in a mounting groove
  • the locking member includes a toggle portion and an abutment portion
  • the toggle portion extends from the upper end of the mounting groove Out
  • the contact portion extends from the front end of the mounting groove and engages with the locking groove
  • the mounting groove is provided on the knob, the mounting seat is provided with a clamping seat at a position on one side of the knob, and the locking groove is provided on the clamping seat on.
  • the locking groove is provided on the side wall of the knob
  • the mounting seat is provided with a support seat at a position on one side of the knob
  • the mounting groove is provided on the support Seat.
  • the knob is provided with a first mark, and a second mark is provided at a position of the mounting base near the side of the knob.
  • the installation structure of the stamping card of the present invention when installing the stamping card, only need to extend the connecting arm into the bayonet, and then rotate the driving disk, the spiral groove of the driving disk toggle the connecting column, so that the two locking tongues are close to each other and snap It is inserted into the card slots on the two side walls of the connecting arm, which realizes the quick positioning and installation of the stamping card.
  • FIG. 1 is an exploded schematic view of an installation structure of a stamp card according to an embodiment of the invention.
  • FIG. 2 is a schematic structural diagram of a driving disk of a stamp card installation structure according to an embodiment of the invention
  • FIG. 3 is a schematic structural view of an installation base of an installation structure of a stamp card according to an embodiment of the invention.
  • FIG. 4 is a schematic structural view of a lock tongue of an installation structure of a stamp card according to an embodiment of the invention.
  • FIG. 5 is a schematic structural view of a lock tongue mounting plate of an installation structure of a stamp card according to an embodiment of the invention
  • FIG. 6 is a schematic structural diagram of a back cover of an installation structure of a stamp card according to an embodiment of the invention.
  • FIG. 7 is an enlarged view at position A of the installation structure of the stamp shown in FIG. 1;
  • FIG. 8 is a partial schematic view of the top of the mounting structure of the stamp card according to an embodiment of the invention.
  • distal and proximal are used as position words, which is a common term in the field of interventional medical devices, where “distal” means the end away from the operator during the operation, and “proximal” means the operation The end near the operator during the process.
  • a mounting structure of a stamping card according to a preferred embodiment of the present invention is schematically shown, which includes a connecting arm 1, a mounting base 2 and a locking mechanism 3 provided on the mounting base 2; wherein,
  • the connecting arm 1 is generally provided on the side wall of the stamping card.
  • the connecting arm 1 may be provided on the side wall of the lower housing of the sealing assembly of the stamping card 100.
  • the mounting base 2 is generally connected to the operating arm of the robot.
  • the bottom is provided with a base 20, through which the detachable connection or permanent connection with the operating arm can be realized, for example, a plurality of bolt holes 201 are provided on the base 20, and the detachable connection with the operating arm is achieved through bolts, or The operation arm is welded to achieve permanent connection.
  • the locking mechanism 3 includes a driving disk 31 and a locking tongue 32.
  • the lower end surface of the driving disk 31 is provided with a spiral groove 311 that expands from the center of the driving disk 31 to the periphery.
  • the locking tongue 32 is provided with a connecting post 321 and a connecting arm 1 is provided with a clamping slot 11.
  • the connecting post 321 is inserted into the spiral slot 311.
  • the spiral slot 311 can convert the rotary motion of the drive disk 31 into the linear motion of the lock tongue 32. If the drive disk 31 is rotated in the forward direction, When the locking tongue 32 is inserted into the locking slot 11, the connecting arm 1 can be locked. If the driving disk 31 is rotated in the reverse direction to disengage the locking tongue 32 from the locking slot 11, the connecting arm 1 can be released.
  • the number of the locking tongues 32 can be two, and two connecting bolts 32 are each provided with a connecting post 321, and the locking tongues 32 are respectively arranged on the left and right sides of the axis of the drive disk 31, and the opposite sides of the connecting arm 1 are provided with
  • the connecting post 321 is inserted into the spiral slot 311 so that the space between the two locking tongues 32 forms the bayonet 4.
  • the spiral groove 311 of the driving disk 31 turns the connecting post 321, so that the two locking tongues 32 move away from each other and withdraw from the locking grooves 11 on both side walls of the connecting arm 1
  • the card 100 can be quickly detached from the mounting base 2; the whole operation is convenient and quick, and the working efficiency of the operation is improved.
  • the two locking tongues 32 do not have to be oppositely arranged on the left and right sides of the axis of the drive disk 31.
  • the two locking tongues 32 have a certain angle (acute or obtuse angle) with each other, and the corresponding locking slots 11 are connected.
  • the side wall of the arm 1 can also be set to have a certain included angle (acute or obtuse angle) with each other to match the positions of the two locking tongues 32; in addition, the number of the locking tongues 32 and the locking slots 11 can also be set to one; In the two examples, the locking tongue 32 and the locking slot 11 may need to be supported and constrained by other structures (such as the inner wall of the mounting cavity 21 of the mounting base 2) to lock the connecting arm 1 The purpose of the connection arm 1 locking.
  • the spiral groove 311 is configured as an Archimedes spiral groove.
  • the advantage of the Archimedes spiral groove is that the strokes of the two lock tongues 32 can be kept in sync, so that the bayonet 4 will not occur. The displacement ensures the accuracy of the locking position of the bayonet 4.
  • the locking mechanism 3 further includes a knob 33, which is fixedly connected to the driving disk 31 through a rotating shaft 5, and the driving disk 31 can be relatively easily rotated by turning the knob 33 for easy control
  • the mounting base 2 is provided with an installation cavity 21, the drive disk 31 and the lock tongue 32 are both provided in the installation cavity 21, the knob 33 is provided outside the installation cavity 21, and a bottom of the installation cavity 21 is provided Opening 23 (refer to FIG.
  • the top wall of the installation cavity 21 is provided with a top wall 24, the bayonet 4 is located directly above the opening 23, and the connecting arm 1 can extend into the bayonet 4 through the opening 23 Or withdraw from the bayonet 4, the top wall 24 is provided with a rotating shaft hole 25, the knob 33 is provided outside the top wall 24, the rotating shaft 5 passes through the rotating shaft hole 25 to fixedly connect the drive disk 31 and the knob 33, this design layout is more It conforms to the operator's operation posture, which improves the convenience of the stamp card 100 assembly and disassembly operation.
  • a guide groove 22 is provided in the installation cavity 21, and the guide groove 22 guides the movement of the lock tongue 32, so that the lock tongue 32 can always move along a straight line, preventing the lock tongue 32 from swinging during the movement process, and causing jamming to cause the lock The tongue 32 moves more smoothly.
  • the mounting cavity 21 is provided with a bolt mounting plate 6, the bolt mounting plate 6 is located below the drive plate 31, and the guide groove 22 is provided on the bolt mounting plate 6
  • the lock tongue 32 includes a guide portion 322, a connecting portion 323, and a locking claw 322.
  • the connecting portion 323 is connected between the guide portion 322 and the locking claw 324.
  • the guide portion 322 and the connecting portion 323 generally form a "7" shape.
  • the locking claw 324 is provided at the end of the connecting portion 323 to leave a clamping space for clamping and locking the connecting arm 1, the guiding portion 322 may be perpendicular to the connecting portion 323, the two may also form an acute angle, and the connecting post 321 is disposed above the guiding portion 322 At the end surface, the guide portion 322 is slidingly fitted into the guide groove 22.
  • the bottom of the installation cavity 21 is provided with a rear cover 7, the rear cover 7 is provided with an accommodating cavity 71, and the bolt mounting plate 6 is further provided with an escape hole 61 and a connecting portion 323 Through the escape hole 61, the connecting portion 323 of the locking tongue 32 and the locking claw 324 are provided in the accommodating cavity 71, and the opening 23 is provided at the bottom of the accommodating cavity 71.
  • This arrangement can improve the compactness of the structure.
  • the cross-sectional shape of the locking slot 11 is a “V” shape.
  • the connecting arm 1 is locked tighter In order to avoid the possibility that the locking tongue 32 will be shaken after the installation of the stamp card 10 due to the gap between the locking slot 11 and the locking tongue 32 after the locking tongue 32 is inserted into the locking slot 11.
  • the "V" shaped slot 11 is composed of an inclined wall 11a and a horizontal wall 11b.
  • the advantage of the splicing method is that when the locking tongue 32 is snapped into the slot 11, the guiding effect of the inclined wall 11a causes the connecting arm 1 to move into the installation cavity 21, so that the top wall of the connecting arm 1 is close to the lower end surface of the drive plate 31, The horizontal wall 11a is pressed against the lock tongue 32, so that the connecting arm 1 is held tighter, which further improves the stability of the installation of the stamp card 100; the other is that the inclined wall 11a is placed below and the horizontal wall 11b is placed above.
  • the advantage of splicing is that when the guiding effect of the inclined wall 11a makes the horizontal wall 11b abut against the upper end surface of the latch 32, the connecting arm 1 will be more difficult to pull out from the bayonet 4.
  • the installation structure of the stamping card further includes a locking mechanism 8.
  • the purpose of setting the locking mechanism 8 is to prevent the locking mechanism 3 from locking in place and causing loosening during the operation of the stamping card 100.
  • the locking mechanism 8 includes a locking groove 81, a locking member 82 and an elastic member 83, the elastic member 83 presses the locking member 82 into the locking groove 81 to lock the knob 33, because the knob 33 is through the shaft 5 and If the drive disk 31 is fixedly connected, locking the knob 33 is equivalent to locking the drive disk 31, which can effectively solve the problem of the loosening of the stamped card 100 after locking, and because the knob 33 is an exposed piece, the locking mechanism 8 can be reduced The difficulty of design simplifies the structure of the locking mechanism 8.
  • the locking member 82 and the elastic member 83 are both disposed in a mounting groove 84.
  • the locking member 82 includes a dial portion 82a and a contact portion 82b, wherein the dial portion 82a extends from the upper end of the mounting groove 84,
  • the abutting portion extends from the front end of the mounting groove 84, and is locked into the locking under the action of the elastic member 83 Lock the knob in the slot.
  • the mounting groove 84 may be provided on the knob 33, and the clamping seat 85 may be provided at a position of the mounting base 2 near the knob 33, and the locking groove 81 may be provided on the clamping seat 85. In this way, the knob 33 can be unlocked or locked with one-hand operation.
  • the locking groove 81 may be provided on the side wall of the knob 33, and a supporting seat (not shown) is provided at a position of the mounting seat near the knob 33, and the mounting groove 84 is provided on the supporting seat.
  • a plurality of locking grooves 81 can be provided in the circumferential direction of the knob 33, so that the degree of tightness of the locking mechanism 3 to lock the stamp 100 can be continuously adjusted.
  • a first mark 9a can be set on the knob 33
  • a second mark 9b can be set on the position of the mounting base 2 near the side of the knob 33.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Toys (AREA)
  • Connection Of Plates (AREA)

Abstract

La présente invention concerne une structure d'installation destinée à un trocart (100), consistant en un bras de liaison (1) disposé sur une paroi latérale du trocart (100), en une base de montage (2) reliée à un bras d'actionnement et en un mécanisme de verrouillage (3) disposé sur la base de montage (2). Le mécanisme de verrouillage (3) consiste en un disque d'entraînement (31) et en deux boulons à ressort agencés de manière opposée (32), une surface d'extrémité inférieure du disque d'entraînement (31) est pourvue d'une rainure hélicoïdale (311), chacun des deux boulons à ressort (32) est pourvu d'une broche d'articulation (321) ; les boulons à ressort (32) sont respectivement disposés sur le côté gauche et le côté droit de l'axe du disque d'entraînement (31), la broche d'articulation (321) est insérée dans la rainure hélicoïdale (311), l'espace entre les deux boulons à ressort (32) forme une baïonnette (4) et chacun des deux côtés opposés du bras de liaison (1) est pourvu d'une rainure d'encliquetage (11). Pour l'installation, le trocart (100) peut être rapidement positionné et installé en collant le bras de liaison (1) dans la baïonnette (4) puis en faisant tourner le disque d'entraînement (31) pour amener les deux boulons à ressort (32) à se rapprocher l'un de l'autre et s'encliqueter dans les rainures d'encliquetage (11) dans les deux parois latérales du bras de liaison (1). Pour le retrait, le trocart (100) peut être rapidement retiré de la base de montage (2) en faisant tourner le disque d'entraînement (31) dans la direction opposée pour amener les deux boulons à ressort (32) à s'éloigner l'un de l'autre et sortir des rainures d'encliquetage (11) dans les deux parois latérales du bras de liaison (1).
PCT/CN2019/126782 2018-12-20 2019-12-19 Structure d'installation destinée à un trocart WO2020125734A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201822150167.2 2018-12-20
CN201822150167.2U CN209645061U (zh) 2018-12-20 2018-12-20 戳卡的安装结构

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WO2020125734A1 true WO2020125734A1 (fr) 2020-06-25

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110772321A (zh) * 2018-12-20 2020-02-11 深圳市精锋医疗科技有限公司 戳卡的安装结构
CN209645061U (zh) * 2018-12-20 2019-11-19 深圳市精锋医疗科技有限公司 戳卡的安装结构

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2654812Y (zh) * 2003-09-16 2004-11-10 柳伍胜 锁定装置
CN107690318A (zh) * 2015-06-08 2018-02-13 柯惠Lp公司 用于手术系统的安装装置和使用方法
CN107693058A (zh) * 2017-09-29 2018-02-16 重庆金山医疗器械有限公司 手术机器人戳卡锁定机构
US20180168689A1 (en) * 2016-12-15 2018-06-21 Ethicon Llc Trocar Support
CN209645061U (zh) * 2018-12-20 2019-11-19 深圳市精锋医疗科技有限公司 戳卡的安装结构
CN110772321A (zh) * 2018-12-20 2020-02-11 深圳市精锋医疗科技有限公司 戳卡的安装结构

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2654812Y (zh) * 2003-09-16 2004-11-10 柳伍胜 锁定装置
CN107690318A (zh) * 2015-06-08 2018-02-13 柯惠Lp公司 用于手术系统的安装装置和使用方法
US20180168689A1 (en) * 2016-12-15 2018-06-21 Ethicon Llc Trocar Support
CN107693058A (zh) * 2017-09-29 2018-02-16 重庆金山医疗器械有限公司 手术机器人戳卡锁定机构
CN209645061U (zh) * 2018-12-20 2019-11-19 深圳市精锋医疗科技有限公司 戳卡的安装结构
CN110772321A (zh) * 2018-12-20 2020-02-11 深圳市精锋医疗科技有限公司 戳卡的安装结构

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