Installation mechanism and surgical robot

Abstract

The present invention relates to the technical field of surgical robots, and discloses a mounting mechanism and a surgical robot. The mounting mechanism is used to install a poking mechanism, and a mounting part is protruding from the poking mechanism. The mounting mechanism includes a mechanism body, an adapter, and a movable part. One end of the mechanism body is used to connect with the mechanical arm, and the other end is provided with a mounting channel; the adapter includes a receiving part, the receiving part is placed in the mounting channel and can be separated from the mounting channel through the opening of the mounting channel, one end of the receiving part is open, and the mounting part can enter or separate from the inner cavity of the receiving part through the opening of the receiving part, and a clamping part is movably provided on the side wall of the receiving part; the movable part is placed in the mounting channel and movably connected to the mechanism body, and when the mounting part is in the inner cavity of the receiving part, the movable part can push the clamping part to move toward the inner cavity of the receiving part to press against the mounting part. The present invention improves the structural reliability of the adapter, ensures surgical safety, reduces the processing and assembly requirements of the mounting mechanism, and reduces production costs.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a mounting mechanism and a surgical robot. Background Art

[0002] Surgical robots are widely used in the medical field. They consist of a surgeon's control unit and a patient's operating unit. The patient's operating unit includes a gripping arm for mounting surgical instruments. During surgery, the surgeon controls the instruments using the input handle on the surgeon's control unit. One end of the gripping arm is connected to a trolley, while the other end is equipped with a poking mechanism via a mounting mechanism. This mechanism passes through the patient's abdomen, allowing surgical instruments to be inserted into the abdominal cavity.

[0003] According to Chinese patent CN117179905A, "Surgical Cannula Mounting Structure and Surgical Robot System," a sterile isolation plate is installed between the surgical cannula and the main body. The sterile isolation plate comprises a plastic plate and a positioning plate portion, which is used to directly position the surgical cannula. A protruding portion on the surgical cannula inserts into the plastic plate, which deforms inward with the action of a locking buckle to clamp the surgical cannula. That is to say, in order to clamp the surgical cannula, the plastic plate needs to undergo corresponding elastic deformation, which reduces the structural reliability and the reliability of the sterile isolation plate during use, increases the risk of damage to the sterile isolation plate, thereby affecting the role of the sterile isolation plate in isolating bacteria and affecting the safety of the operation; when the sterile isolation plate is damaged, it also needs to be replaced, affecting the efficiency of preoperative preparation and increasing the fatigue of medical staff; in addition, a lock is provided on the above-mentioned protrusion, and a matching card convex is provided on the plastic plate, and a groove structure is formed on the back of the card convex, and the lock is placed in the groove structure. Since the plastic plate is made of elastic material, the locking contact surface must be in contact with the locking inclined surface to achieve clamping of the surgical cannula, which limits the contact range between the lock and the plastic plate, increases the processing and assembly requirements of the surgical cannula installation structure, and increases the production cost.

[0004] Based on this, there is an urgent need for an installation mechanism and a surgical robot to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of the present invention is to provide a mounting mechanism and a surgical robot that do not require elastic deformation of the accommodating parts, thereby ensuring the structural reliability of the adapter and the safety of the operation, while also avoiding limiting the contact range between the movable parts and the clamping parts, reducing the processing and assembly requirements of the mounting mechanism, and reducing production costs.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] The mounting mechanism is used to mount the card punching mechanism, and the card punching mechanism is provided with a mounting member protruding thereon, including:

[0008] The main body of the mechanism has one end for connecting to the holding arm and the other end has a mounting channel;

[0009] The adapter includes a receiving member, the receiving member being placed in the mounting channel and capable of being removed from the mounting channel through an opening of the mounting channel. The receiving member is hollow and has one end open toward the outside of the mounting channel. The mounting member can enter or remove from the inner cavity of the receiving member through the opening of the receiving member. A clamping member is movably provided on a side wall of the inner cavity of the receiving member.

[0010] A movable part is placed in the installation channel and located on the outside of the accommodating part. The movable part is movably connected to the mechanism body. When the installation part is configured to be in the inner cavity of the accommodating part, the movable part can move away from the clamping part or push the clamping part toward the inner cavity of the accommodating part to loosen or tighten the installation part.

[0011] As an optional technical solution for the installation mechanism, the clamping member is provided with an inclined side wall, and the side wall of the installation member is provided with a matching inclined surface. When the clamping member is configured to be pressed against the installation member, the inclined side wall is in contact with the matching inclined surface, and the inclined side wall and the matching inclined surface are both inclined toward the inner wall of the accommodating member along the direction from the outside to the inside of the installation channel.

[0012] As an optional technical solution for the installation mechanism, a guide hole is opened through the inner cavity side wall of the accommodating member, and the clamping member is movably inserted into the guide hole. The guide hole can guide the clamping member to switch between a clamping position against the installation member and an avoidance position away from the installation member.

[0013] As an optional technical solution for the installation mechanism, the installation mechanism also includes an elastic isolation member, which is attached to the outer wall of the accommodating member and completely covers the clamping member to seal the gap formed between the clamping member and the side wall of the guide hole.

[0014] As an optional technical solution for the installation mechanism, the elastic isolation member includes a middle portion and a connecting ring portion, the edge of the middle portion is circumferentially connected to the inner edge of the connecting ring portion, the end face of the connecting ring portion is fittedly connected to the outer wall of the accommodating member, the middle portion completely covers the clamping member, and the elasticity of the middle portion is greater than the elasticity of the connecting ring portion.

[0015] As an optional technical solution for the installation mechanism, the side wall of the guide hole is circumferentially fitted with the side wall of the clamping member, and the installation mechanism also includes an elastic connecting member, one end of which is connected to the outer wall of the accommodating member, and the other end is connected to the end face of the clamping member for abutting against the movable member.

[0016] As an optional technical solution of the mounting mechanism, a first accommodating groove is provided on the outer side wall of the accommodating member, the first accommodating groove passes through the side wall of the guide hole, and the elastic connecting member is placed in the first accommodating groove; and / or,

[0017] A second accommodating groove is provided on the end surface of the clamping member, and the elastic connecting member is placed in the second accommodating groove.

[0018] As an optional technical solution for the installation mechanism, the movable part is provided with a contact end for contacting the clamping part, and an elastic part is provided in the installation channel, and the elastic part can push the clamping part toward the inner cavity of the accommodating part through the contact end.

[0019] As an optional technical solution for the mounting mechanism, a guide hole is formed through the side wall of the inner cavity of the accommodating member, the clamping member is movably inserted into the guide hole, a groove is formed on the side wall of the guide hole, a stop surface is formed between the groove and the side wall of the guide hole, a protrusion is provided on the side wall of the clamping member, the protrusion is placed in the groove, and the stop surface is located on the side of the protrusion facing the inner cavity of the accommodating member, and the stop surface is capable of stopping the protrusion;

[0020] When the clamping member is configured to press against the mounting member, the stop surface and the protruding portion are in contact with or spaced apart from each other;

[0021] When the mounting member is configured to be separated from the inner cavity of the receiving member, the stop surface abuts against the protrusion.

[0022] As an optional technical solution for the installation mechanism, a sliding groove is provided on the outer wall of the accommodating member, and the extension direction of the sliding groove is the same as the extension direction of the installation channel. The sliding groove is located on the side of the guide hole opposite to the opening end of the installation channel and passes through the side wall of the guide hole. When the protrusion is configured to fit into the stop surface, the edge of the bottom surface of the sliding groove and the end surface of the protrusion opposite to the stop surface are located in the same plane.

[0023] As an optional technical solution for the mounting mechanism, the mounting mechanism further includes a first connecting structure and a second connecting structure, the first connecting structure is arranged on the adapter, the second connecting structure is arranged on the mechanism body, and the first connecting structure and the second connecting structure are detachably connected.

[0024] A surgical robot comprises a poking mechanism and the mounting mechanism as described above, wherein the mounting mechanism is capable of clamping or releasing a mounting piece on the poking mechanism.

[0025] Beneficial effects of the present invention:

[0026] The present invention provides a mounting mechanism comprising a main body, an adapter, and a movable member. The adapter's clamping member is movably disposed on the side wall of a receiving member. When a mounting member is placed in the inner cavity of the receiving member, the movable member pushes the clamping member toward the inner cavity of the receiving member. The clamping member presses against the mounting member, thereby clamping the mounting member and engaging the poking mechanism. The movable member can also move away from the clamping member, removing the clamping force exerted by the clamping member on the mounting member, thereby releasing the poking mechanism. The mounting mechanism provided by the present invention utilizes a clamping member that is movably provided on the side wall of the accommodating member, and does not require the accommodating member to undergo elastic deformation, thereby ensuring the structural reliability of the adapter, and thus ensuring the reliability of the adapter during use, reducing the risk of damage to the adapter, thereby ensuring the adapter's function of isolating bacteria and surgical safety, avoiding the need to replace the adapter, improving the efficiency of preoperative preparation, and helping to alleviate the fatigue of medical staff; in addition, in order to achieve clamping of the mounting member, the movable member and the clamping member can be in contact at any position of the end face opposite to the inner cavity of the accommodating member to push the clamping member toward the inner cavity of the accommodating member, avoiding limiting the contact range between the movable member and the clamping member, reducing the processing and assembly requirements of the mounting mechanism, and reducing production costs.

[0027] The surgical robot provided by the present invention includes the aforementioned mounting mechanism and poking mechanism. By utilizing a movable member to move away from or push against a clamping member that is movable and extends through the side wall of a receiving member, the mounting mechanism clamps or releases the poking mechanism. This eliminates the need for elastic deformation of the receiving member, ensuring the reliability of the adapter during use and reducing the risk of adapter damage. This ensures the adapter's ability to isolate bacteria and maintain surgical safety, avoids adapter replacement, improves the efficiency of preoperative preparation, and helps alleviate medical staff fatigue. Furthermore, it avoids limiting the contact range between the movable member and the clamping member, reduces processing and assembly requirements for the mounting mechanism, and reduces production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 1 is a schematic structural diagram of a robotic arm provided by an embodiment of the present invention;

[0029] Figure 2 is a cross-sectional view in a first direction of the card poking mechanism provided by an embodiment of the present invention when it is installed on the mounting mechanism;

[0030] Figure 3 yes Figure 2 A partial enlarged view of point A in the middle;

[0031] Figure 4is a cross-sectional view taken along a second direction when the card poking mechanism provided by an embodiment of the present invention is installed on the mounting mechanism;

[0032] Figure 5 is a cross-sectional view of a mounting mechanism provided by an embodiment of the present invention;

[0033] Figure 6 yes Figure 5 A partial enlarged view of point B in the middle;

[0034] Figure 7 is a schematic structural diagram of an adapter provided by an embodiment of the present invention;

[0035] Figure 8 is a schematic structural diagram of an adapter and an elastic isolation member provided in an embodiment of the present invention;

[0036] Figure 9 is a cross-sectional view of an elastic isolation member provided in an embodiment of the present invention.

[0037] In the picture:

[0038] 10. Punching mechanism; 101. Mounting seat; 1011. Mounting piece; 1012. Matching groove; 1013. Matching inclined surface; 102. Punching mechanism; 20. Arm;

[0039] 1. Mechanism body; 11. Installation channel;

[0040] 2. Adapter; 21. Accommodating member; 211. Guide hole; 212. First accommodating groove; 213. Slide groove; 214. Stop surface; 22. Positioning member; 23. Clamping member; 231. Inclined side wall; 232. Protrusion; 233. Second accommodating groove;

[0041] 3. Moving parts; 31. Contact end; 32. Operating parts;

[0042] 4. Elastic isolating member; 41. Intermediate portion; 42. Connecting ring portion; 5. Elastic connecting member;

[0043] 61. First connection structure; 62. Second connection structure;

[0044] 7. Elastic part; 8. Detection part; 9. Sealing part; 91. Arc-shaped part. DETAILED DESCRIPTION

[0045] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0046] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0047] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0048] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0049] This embodiment provides a surgical robot. The surgical robot includes a doctor's console and a patient's surgical end. The doctor's console is provided with a control handle, and the patient's surgical end includes Figure 1 The illustrated mechanical arm 20 has surgical instruments mounted thereon. During surgery, the surgeon can control the surgical instruments on the mechanical arm 20 via a control handle to perform surgery.

[0050] The patient surgical site also includes a mounting mechanism and a poking mechanism 10. The mounting mechanism is used to mount the poking mechanism 10. The poking mechanism 10 includes a poking card 102 and a mounting base 101, with the poking card 102 mounted on the mounting base 101. One end of the robotic arm 20 is connected to the trolley at the patient surgical site, while the other end of the robotic arm 20 is connected to the poking mechanism 10 via the mounting mechanism.

[0051] The card punching mechanism 10 is provided with a protruding Figure 2-Figure 4 The mounting member 1011 shown is capable of clamping or releasing the mounting member 1011 on the card punching mechanism 10 .

[0052] like Figures 1-9As shown, the mounting mechanism includes a main body 1, an adapter 2, and a movable member 3. One end of the main body 1 is used to connect to the arm 20, and the other end is provided with a mounting channel 11. The adapter 2 includes a receiving member 21, which is placed within the mounting channel 11 and can be removed from the mounting channel 11 through an opening in the mounting channel 11. The interior of the receiving member 21 is hollow, with one end opening toward the outside of the mounting channel 11. The mounting member 1011 can enter or exit the inner cavity of the receiving member 21 through the opening in the receiving member 21. A clamping member 23 is movably provided on the side wall of the inner cavity of the receiving member 21. The movable member 3 is placed within the mounting channel 11 and is located outside the receiving member 21, with at least a portion of the movable member 3 being arranged opposite the clamping member 23. The movable member 3 is movably connected to the main body 1. When the mounting member 1011 is in the inner cavity of the accommodating member 21, the movable member 3 can move away from the clamping member 23 to loosen the mounting member 1011, thereby enabling the mounting mechanism to release the mounting member 1011 on the poking mechanism 10; the movable member 3 can also push the clamping member 23 to move toward the inner cavity of the accommodating member 21 to press against the mounting member 1011, thereby enabling the mounting mechanism to clamp the mounting member 1011 on the poking mechanism 10.

[0053] This embodiment provides an installation mechanism, which includes a mechanism body 1, an adapter 2, and a movable member 3. The clamping member 23 of the adapter 2 is movably disposed on the side wall of the receiving member 21. When the mounting member 1011 is placed in the inner cavity of the receiving member 21, the movable member 3 pushes the clamping member 23 toward the inner cavity of the receiving member 21. The clamping member 23 can press against the mounting member 1011, thereby clamping the poking mechanism 10. The movable member 3 can also move away from the clamping member 23, removing the clamping force of the clamping member 23 on the mounting member 1011, thereby releasing the poking mechanism 10. The installation mechanism provided in this embodiment utilizes a clamping member 23 that is movably provided on the side wall of the accommodating member 21. There is no need for the accommodating member 21 to undergo elastic deformation, thereby ensuring the structural reliability of the adapter 2, and also ensuring the reliability of the adapter 2 during use, reducing the risk of damage to the adapter 2, thereby ensuring the role of the adapter 2 in isolating bacteria and the safety of the operation, and avoiding the replacement of the adapter 2, thereby improving the efficiency of preoperative preparation and alleviating the fatigue of medical staff; in addition, in order to achieve the clamping installation member 1011, the movable member 3 and the clamping member 23 can be in contact at any position of the end face opposite to the inner cavity of the accommodating member 21 to push the clamping member 23 to move toward the inner cavity of the accommodating member 21, avoiding limiting the contact range between the movable member 3 and the clamping member 23, reducing the processing and assembly requirements of the installation mechanism, and reducing production costs.

[0054] The surgical robot provided in this embodiment includes the aforementioned mounting mechanism and poking mechanism 10. The mounting mechanism clamps or releases the poking mechanism 10 by utilizing the movable member 3 to move away from or push against the clamping member 23, which is movably provided on the side wall of the receiving member 21. This eliminates the need for elastic deformation of the receiving member 21, thereby ensuring the reliability of the adapter 2 during use and reducing the risk of damage to the adapter 2. This ensures the adapter 2's ability to isolate bacteria and maintain surgical safety, avoids replacing the adapter 2, improves the efficiency of preoperative preparation, and helps alleviate fatigue for medical staff. Furthermore, it avoids limiting the contact range between the movable member 3 and the clamping member 23, reduces the processing and assembly requirements of the mounting mechanism, and reduces production costs.

[0055] In this embodiment, two clamping members 23 and two movable members 3 are provided. The two clamping members 23 are respectively located on opposite sides of the receiving member 21 along the first direction. The receiving member 21 is located between the two movable members 3.

[0056] A guide hole 211 is formed on the inner wall of the receiving member 21, and the clamping member 23 is movably inserted into the guide hole 211. The guide hole 211 can guide the clamping member 23 to move along a first direction, so that the clamping member 23 switches between a clamping position against the mounting member 1011 and a avoiding position away from the mounting member 1011. In this embodiment, the first direction is perpendicular to the extension direction of the mounting channel 11. Figure 2 In the embodiment, the first direction is the left-right direction, and the extending direction of the installation channel 11 is the up-down direction.

[0057] Preferably, the sidewalls of the guide hole 211 circumferentially fit with the sidewalls of the clamping member 23 to guide the guide hole 211 to the clamping member 23. In other embodiments, the guide hole 211 guides the clamping member 23 using guide grooves or other structures.

[0058] As a preferred solution, mating grooves 1012 are respectively formed on the side walls on opposite sides of the mounting member 1011. When the mounting member 1011 is in the inner cavity of the receiving member 21, the clamping member 23 can extend into the mating grooves 1012, ensuring that the mounting member 1011 and the card punching mechanism 10 can be securely clamped by the clamping member 23.

[0059] The clamping member 23 is provided with an inclined sidewall 231, and the sidewall of the matching groove 1012 includes a matching slope 1013. When the mounting member 1011 is located in the inner cavity of the accommodating member 21 and the clamping member 23 is pressed against the mounting member 1011, the inclined sidewall 231 and the matching slope 1013 are in contact. When the clamping member 23 is pressed against the mounting member 1011, the inclined sidewall 231 and the matching slope 1013 are both inclined toward the inner wall of the accommodating member 21 from the outside to the inside of the mounting channel 11. The arrangement of the inclined sidewall 231 and the matching slope 1013 provides a larger contact area between the clamping member 23 and the mounting member 1011, and the inclined direction of the inclined sidewall 231 and the matching slope 1013 ensures that the clamping member 23 can clamp the mounting member 1011.

[0060] In this embodiment, the "direction from outside to inside of the mounting channel 11" refers to the extension direction of the mounting channel 11. The accommodating member 21 extends into the mounting channel 11 along this extension direction, and the mounting member 1011 extends into the inner cavity of the accommodating member 21 along this extension direction. When the mounting member 1011 is within the inner cavity of the accommodating member 21 and the clamping member 23 abuts the mounting member 1011, the two mating inclined surfaces 1013 form an "eight" shape, with the ends of the mating inclined surfaces 1013 facing away from the opening of the mounting channel 11 tilting away from each other. The inclination direction of the two inclined sidewalls 231 is the same as that of the mating inclined surfaces 1013, and will not be further described here.

[0061] Furthermore, the groove side wall of the mating groove 1012 also includes a first inclined surface arranged opposite to the mating inclined surface 1013 and in an inclination direction opposite to the mating inclined surface 1013. The clamping member 23 is provided with a second inclined surface arranged back to back with the inclined side wall 231 and in an inclination direction opposite to the inclined side wall 231. When the clamping member 23 is in the clamping position, the first inclined surface and the second inclined surface are arranged in a fit fit.

[0062] As a preferred embodiment, the movable member 3 is provided with a contact end 31 for contacting the clamping member 23. An elastic member 7 is provided within the mounting channel 11. The elastic member 7 is capable of pushing the clamping member 23 toward the inner cavity of the accommodating member 21 via the contact end 31. The provision of the elastic member 7 enables the clamping member 23 to automatically move toward the inner cavity of the accommodating member 21 to clamp the mounting member 1011, eliminating the need for manual pushing of the movable member 3 and improving operational convenience. In this embodiment, when the clamping member 23 is in the clamping position, the force applied by the elastic member 7 to the clamping member 23 via the movable member 3 is greater than zero. This allows the elastic member 7 to not only push the clamping member 23 to the clamping position but also apply a clamping force to the clamping member 23 for clamping the mounting member 1011. This eliminates the need for additional structures for applying the clamping force to the clamping member 23. This reduces the number of parts in the mounting mechanism, simplifies the structure of the mounting mechanism, and reduces the size of the mounting mechanism and the robotic arm 20, thereby improving the flexibility of the surgical robot.

[0063] Furthermore, the movable part 3 is rotatably arranged in the installation channel 11, and a contact end 31 for contacting the clamping part 23 is provided at one end of the movable part 3 facing the open end of the installation channel 11, and the elastic part 7 is placed on the side of the contact end 31 opposite to the clamping part 23, and the elastic part 7 abuts against the contact end 31.

[0064] In this embodiment, the elastic member 7 is configured as a metal spring, and one end of the elastic member 7 is fixedly connected to the inner wall of the installation channel 11 .

[0065] Specifically, the rotation axis of the movable member 3 is perpendicular to both the first direction and the extension direction of the mounting channel 11. An operating member 32 is movably provided on the side wall of the mechanism body 1 and is movable relative to the mechanism body 1 in the first direction. The end of the operating member 32, which extends into the mounting channel 11, contacts the end of the movable member 3 that is distal to the clamping member 23. An operator can push the operating member 32 into the mounting channel 11, causing the movable member 3 to rotate, causing the contact end 31 to face away from the clamping member 23, thereby enabling the clamping member 23 to move from a clamping position to a free position.

[0066] Since the size of the mounting mechanism is small, the moving distance of the operating member 32 is short. In this embodiment, the operating member 32 and the clamping member 23 are respectively arranged on both sides of the rotation axis of the movable member 3, so that the rotation angle of the movable member 3 is small, thereby achieving a small moving distance of the contact end 31 and avoiding interference between the movable member 3 and other structures.

[0067] Furthermore, a torsion spring may be provided on the movable member 3. One end of the torsion spring is fixedly connected to the mechanism body 1, and the other end is fixedly connected to the movable member 3. The torsion spring enables the movable member 3 to push the clamping member 23 toward the inner cavity of the receiving member 21, thereby ensuring that the clamping member 23 remains in the clamped position. In this embodiment, the torsion spring and the elastic member 7 work together to not only quickly push the clamping member 23 to the clamped position, but also exert a strong clamping force on the clamping member 23 to clamp the mounting member 1011, further ensuring that the clamping member 23 can reliably clamp the mounting member 1011.

[0068] In this embodiment, two operating members 32 are provided. The two operating members 32 are respectively provided in one-to-one correspondence with the two movable members 3 . The two operating members 32 are provided on opposite sides of the mechanism body 1 along the first direction.

[0069] As a preferred embodiment, a groove is formed on the side wall of the guide hole 211, and a stop surface 214 is formed between the groove and the side wall of the guide hole 211. A protrusion 232 is protruded from the side wall of the clamping member 23, and the protrusion 232 is placed in the groove. The stop surface 214 is located on the side of the protrusion 232 close to the inner cavity of the accommodating member 21, and the stop surface 214 can stop the protrusion 232. When the clamping member 23 is pressed against the mounting member 1011, the stop surface 214 and the protrusion 232 are spaced apart. When the adapter 2 is installed on the mechanism body 1 and the mounting member 1011 is separated from the inner cavity of the accommodating member 21, the stop surface 214 and the protrusion 232 are in contact with each other, so that the stop surface 214 can stop the protrusion 232.

[0070] Due to the provision of the elastic member 7, when the adapter 2 is mounted to the mechanism body 1 and the mounting member 1011 is disengaged from the inner cavity of the receiving member 21, the elastic member 7, through the movable member 3, pushes the clamping member 23 to continue moving into the inner cavity of the receiving member 21. At this time, the depth to which the clamping member 23 enters the inner cavity of the receiving member 21 is greater than the depth to which the clamping member 23 enters the inner cavity of the receiving member 21 when in the clamping position. The provision of the stop surface 214 ensures that the clamping member 23 is always within the guide hole 211, preventing it from disengaging from the guide hole 211, and facilitating the subsequent reinstallation of the punching mechanism 10. Furthermore, when the clamping member 23 abuts the mounting member 1011, the stop surface 214 is spaced apart from the protrusion 232, ensuring that the elastic member 7 can apply a clamping force to the mounting member 1011 through the clamping member 23, preventing the stop surface 214 from obstructing the clamping member 23 from clamping the mounting member 1011.

[0071] In this embodiment, the protrusion 232 is provided along the circumference of the clamping member 23 . The protrusion 232 may be in a ring shape or a strip shape, which is not limited here.

[0072] In some other embodiments, when the clamping member 23 is pressed against the mounting member 1011 , the stop surface 214 is disposed in close contact with the protruding portion 232 , which is not limited herein.

[0073] In this embodiment, the groove extends through the outer wall of the container 21. In other embodiments, the groove may be spaced apart from the outer wall of the container 21, so that another stopper is formed between the groove and the side wall of the guide hole 211. The stopper is located on the side of the protrusion 232 facing away from the inner cavity of the container 21. The stopper can stop the protrusion 232, preventing the clamping member 23 from separating from the container 21.

[0074] Preferably, a slide groove 213 is defined on the outer wall of the accommodating member 21. The slide groove 213 extends along the extension direction of the installation channel 11. The slide groove 213 is located on the side of the guide hole 211 opposite the open end of the installation channel 11 and extends through the side wall of the guide hole 211. When the protrusion 232 is in contact with the stop surface 214, the edge of the bottom surface of the slide groove 213 and the end surface of the protrusion 232 opposite the stop surface 214 are coplanar. In other words, the edge formed between the bottom surface of the slide groove 213 and the side wall of the guide hole 211 and the end surface of the protrusion 232 opposite the stop surface 214 are coplanar. The provision of the slide groove 213 prevents the edge formed between the guide hole 211 and the outer wall of the accommodating member 21 from obstructing the relative movement between the adapter 2 and the movable member 3, facilitating removal of the adapter 2 from the mechanism body 1 and improving post-operative maintenance efficiency. In this embodiment, the axis of the guide hole 211 extends along the first direction.

[0075] In this embodiment, the accommodating member 21 is a prism structure, and the small end of the accommodating member 21 faces the inside of the installation channel 11 , that is, the outer wall of the accommodating member 21 with the guide hole 211 is inclined to the extension direction of the installation channel 11 .

[0076] A slide groove 213 is defined on the outer side walls of the receiving member 21 on both sides along the first direction. The two slide grooves 213 are respectively provided to correspond to the two movable members 3. Preferably, the bottom surfaces of the two slide grooves 213 are arranged along the extension direction of the mounting channel 11. In some embodiments, the bottom surfaces of the two slide grooves 213 are inclined from the direction away from the open end of the mounting channel 11 toward the direction toward each other. This arrangement prevents the bottom surfaces of the slide grooves 213 from obstructing the relative movement between the adapter 2 and the movable member 3, facilitates removal of the adapter 2 from the main body 1, and improves the efficiency of postoperative maintenance.

[0077] In this embodiment, the width of the slide groove 213 along the second direction is smaller than the width of the guide hole 211 along the second direction. The second direction, the first direction, and the extension direction of the installation channel 11 are arranged perpendicular to each other. That is, the rotation axis of the movable member 3 extends along the second direction.

[0078] As a preferred embodiment, the mounting mechanism further includes an elastic connector 5, one end of which is connected to the outer wall of the receiving member 21, and the other end is connected to the end surface of the clamping member 23 for contact with the movable member 3. The provision of the elastic connector 5 further ensures that the clamping member 23 is always located within the guide hole 211, preventing it from being separated from the guide hole 211, facilitating subsequent reinstallation of the punching mechanism 10. Furthermore, before the adapter 2 is mounted on the mechanism body 1, the connection between the clamping member 23 and the receiving member 21 is ensured, facilitating subsequent installation of the adapter 2. In this embodiment, the elastic connector 5 is strip-shaped and made of a material such as a spring or rubber. The elastic connector 5 is bonded to both the clamping member 23 and the receiving member 21 using an adhesive.

[0079] As a preferred solution, a first accommodating groove 212 is opened on the outer wall of the accommodating member 21, and the first accommodating groove 212 passes through the side wall of the guide hole 211. The elastic connecting member 5 is placed in the first accommodating groove 212, which improves the structural compactness of the adapter 2, reduces the volume of the adapter 2 and the installation mechanism, and improves the compactness of the holding arm 20.

[0080] Furthermore, a second receiving groove 233 is formed on the end surface of the clamping member 23, and the elastic connecting member 5 is placed in the second receiving groove 233, which further improves the structural compactness of the adapter 2 and reduces the volume of the adapter 2 and the installation mechanism.

[0081] Specifically, a first receiving groove 212 is formed on the bottom surface of the slide groove 213, and the end surface of the elastic connector 5 exposed in the first receiving groove 212 is flush with the bottom surface of the slide groove 213. The above arrangement further improves the structural compactness of the adapter 2 and reduces the volume of the adapter 2 and the mounting mechanism.

[0082] As a preferred embodiment, the mounting mechanism further includes an elastic spacer 4. This spacer 4 is attached to the outer wall of the receiving member 21 and completely covers the clamping member 23, thereby sealing the gap between the clamping member 23 and the sidewall of the guide hole 211. This arrangement prevents bacteria within the mounting channel 11 from entering the sterile environment through the gap, further ensuring the sterile function of the adapter 2, reducing the risk of infection for the patient and improving surgical safety.

[0083] In this embodiment, the elastic isolation member 4 can be an elastic-plastic film such as a silicone rubber film, a PE film, or a TPU film, and is bonded to the outer wall of the container 21 by an adhesive.

[0084] Preferably, the elastic isolator 4 includes a middle portion 41 and a connecting ring portion 42. The edge of the middle portion 41 is circumferentially connected to the inner edge of the connecting ring portion 42. The end face of the connecting ring portion 42 is in close contact with the outer wall of the accommodating member 21. The middle portion 41 completely covers the clamping member 23. The elasticity of the middle portion 41 is greater than that of the connecting ring portion 42. This arrangement ensures that the movable member 3 can smoothly push against the clamping member 23. When the adapter 2 is separated from the mechanism body 1, the movable member 3 can smoothly slide along the slide groove 213, ensuring smooth removal of the adapter 2. In addition, the relatively low elasticity of the connecting ring portion 42 also ensures that the connecting ring portion 42 can be reliably connected to the accommodating member 21, ensuring the bacterial isolation function of the elastic isolator 4. Furthermore, the middle portion 41 can completely cover the guide hole 211.

[0085] Furthermore, the middle portion 41 completely covers the clamping member 23 and the slide groove 213, that is, the connection between the slide groove 213 and the outer wall of the accommodating member 21 is covered by the middle portion 41. The setting of the slide groove 213 and the first accommodating groove 212 causes the outer wall structure of the accommodating member 21 to be more complicated. The above setting covers the above complex structure within the range of the middle portion 41, avoiding the connection ring portion 42 from being attached along the side walls of the slide groove 213 and the first accommodating groove 212, thereby ensuring the bacteria isolation effect of the adapter 2.

[0086] Here, "the elasticity of the middle portion 41 is greater than the elasticity of the connecting ring portion 42" means that the middle portion 41 is more easily deformed than the connecting ring portion 42. The middle portion 41 can be fixedly connected to the clamping member 23 or can be unconnected to the clamping member 23, which is not limited here.

[0087] Preferably, the middle portion 41 and the connecting ring portion 42 of the elastic isolator 4 are integrally formed, and the thickness of the middle portion 41 is smaller than the thickness of the connecting ring portion 42, so that the elasticity of the middle portion 41 is greater than the elasticity of the connecting ring portion 42. The middle portion 41 and the connecting ring portion 42 of the elastic isolator 4 can also be bonded with an adhesive, and the middle portion 41 and the connecting ring portion 42 can be made of the same material or different materials.

[0088] In some embodiments, only the elastic isolation member 4 or the elastic connection member 5 may be provided, which is not limited here.

[0089] The installation process of the card punching mechanism 10 provided in this embodiment is roughly as follows: first, rotate the movable part 3 until the contact end 31 is away from the clamping part 23; second, install the adapter 2 on the mechanism body 1, specifically place the accommodating part 21 in the installation channel 11; then, install the card punching mechanism 10, specifically extend the mounting part 1011 into the inner cavity of the accommodating part 21; finally, relax the movable part 3, and the movable part 3 pushes the clamping part 23 under the action of the elastic part 7 to clamp the mounting part 1011.

[0090] Preferably, the adapter 2 is detachably connected to the mechanism body 1. Furthermore, the accommodating member 21 is detachably connected to the mechanism body 1. When the adapter 2 is installed and the poking mechanism 10 is not installed, the above arrangement ensures a reliable connection between the adapter 2 and the bracket of the mechanism body 1, avoids the adapter 2 from being separated from the mechanism body 1, and avoids the need to manually fix the adapter 2 before installing the poking mechanism 10, thereby simplifying the preoperative preparation process and improving the efficiency of preoperative preparation. At the same time, after the poking mechanism 10 is installed, the movable member 3 and the detachable connection structure between the adapter 2 and the mechanism body 1 can both fix the adapter 2, further ensuring that the poking mechanism 10 can be reliably installed on the mechanism body 1, reducing the possibility of the poking mechanism 10 falling off, ensuring that the surgical instrument is maintained in the desired position, and avoiding the possibility of the adapter 2 falling off, thereby ensuring the maintenance of the sterile environment during the operation and improving the safety of the operation.

[0091] Specifically, the mounting mechanism also includes the above-mentioned detachable connecting structure, which includes a first connecting structure 61 and a second connecting structure 62. The first connecting structure 61 is arranged on the adapter 2, and the second connecting structure 62 is arranged on the mechanism body 1. The first connecting structure 61 and the second connecting structure 62 are detachably connected.

[0092] In this embodiment, the first connecting structure 61 is a slot, and the second connecting structure 62 is a hook. The second connecting structure 62 is rotatably connected to the mechanism body 1 via a rotating shaft. The first connecting structure 61 is formed on the outer wall of the accommodating member 21. One end of the second connecting structure 62 is provided with a latching protrusion and is located within the mounting channel 11. The other end of the second connecting structure 62 is located outside the mechanism body 1.

[0093] Specifically, two first connecting structures 61 and two second connecting structures 62 are provided. The two first connecting structures 61 are located on opposite sides of the receiving member 21, with the receiving member 21 positioned between the two second connecting structures 62. A latching protrusion is provided on the same side of the two second connecting structures 62. During the "installing the adapter 2 on the mechanism body 1" step, the adapter 2 is first installed by pressing the ends of the second connecting structures 62 to move the two latching protrusions away from each other, thereby opening the two second connecting structures 62. The receiving member 21 is then positioned between the two second connecting structures 62. The two second connecting structures 62 are then released, allowing the two latching protrusions to engage with the two first connecting structures 61, completing the installation of the adapter 2.

[0094] In other embodiments, the first connection structure 61 and the second connection structure 62 may also be bolts and nuts or other structures that can achieve detachable connection, which is not limited here.

[0095] In this embodiment, the two operating members 32 are disposed on opposite sides of the accommodating member 21 along the first direction, and the two second connecting structures 62 are disposed on opposite sides of the accommodating member 21 along the second direction. That is, the second connecting structures 62 and the operating members 32 are disposed on different sides of the mechanism body 1. When disassembly of the mounting mechanism is not required, the possibility of accidentally pressing one of the operating member 32 or the second connecting structure 62 while accidentally pressing the other is avoided. This ensures the reliable connection between the adapter 2 and the bracket of the mechanism body 1, prevents the adapter 2 from becoming detached from the mechanism body 1, ensures the maintenance of a sterile environment during surgery, and improves surgical safety.

[0096] In some embodiments, the second connection structure 62 and the operating member 32 may also be arranged on the side wall of the mechanism body 1 on the same side, which is not limited here.

[0097] Specifically, the adapter 2 further includes a positioning member 22. The opening end of the receiving member 21 is located outside the installation channel 11, and the outer wall extends outward to provide a positioning member 22, which abuts against the opening end of the installation channel 11 of the mechanism body 1 to position the adapter 2.

[0098] The end of the arm 20 is also provided with a detection member 8. When the adapter 2 is mounted on the mechanism body 1, the end of the detection member 8 penetrates the end surface of the receiving member 21 away from the open end and extends into the inner cavity of the receiving member 21. When the mounting member 1011 extends into the inner cavity of the receiving member 21, the mounting member 1011 can push the detection member 8 away from the mounting member 1011, thereby triggering the detection switch in the arm 20 to detect the installation status of the card poking mechanism 10.

[0099] The structure and triggering principle of the detection switch can be referred to the existing technology, which is not the focus of protection of this embodiment and will not be described in detail here.

[0100] The end of the detection member 8 that contacts the mounting member 1011 is curved. To avoid the detection member 8, a through-hole is provided on the end face of the container 21, away from the open end, allowing the end of the detection member 8 to pass through the through-hole and into the inner cavity of the container 21. Preferably, a blocking member 9 is provided on the inner sidewall of the container 21, and the blocking member 9 is provided with an arc-shaped portion 91 that arches toward the open end of the mounting channel 11. When the adapter 2 is installed and the card poking mechanism 10 is not installed, the end of the detection member 8 is placed within the arc-shaped portion 91. By providing the blocking member 9, the through hole can be blocked, thereby preventing bacteria on the inside of the installation channel 11 from entering the sterile environment through the through hole, further ensuring the bacteria-isolating effect of the adapter 2, reducing the risk of infection for the patient, and improving the safety of the operation; in addition, by providing the arched arc portion 91, the detection member 8 can be avoided. When the poking mechanism 10 is not installed at the end of the mechanical arm 20, the blocking member 9 is prevented from pushing the detection member 8 until the detection switch is triggered, thereby ensuring that the detection member 8 can accurately detect the installation status of the poking mechanism 10, thereby improving the safety of the operation.

[0101] Specifically, a spring is disposed within the mounting channel 11 to ensure that the end of the detection member 8 is positioned within the arcuate portion 91 when the adapter 2 is mounted but the poking mechanism 10 is not mounted. When the adapter 2 is mounted but the poking mechanism 10 is not mounted, the interaction force between the arcuate portion 91 and the detection member 8 is zero.

[0102] In this embodiment, the blocking member 9 is made of rubber and is integrally formed. The blocking member 9 is bonded to the adapter 2 via an adhesive layer.

[0103] In this embodiment, the first end of the detection member 8 can extend out of the holding arm 20. Preferably, the thickness of the arcuate portion 91 decreases from the middle to the periphery. When the detection member 8 contacts the poking mechanism 10, the center of the first end of the detection member 8 contacts the poking mechanism 10, so the center of the end of the detection member 8 exerts the greatest pressure on the arcuate portion 91. Setting the thickness of the arcuate portion 91 to decrease from the middle to the periphery reduces the possibility of damage to the arcuate portion 91, ensures the integrity of the arcuate portion 91, prevents bacteria from entering the sterile environment through the through hole on the receiving member 21, further ensures the antibacterial effect of the adapter 2, reduces the risk of infection for the patient, and improves the safety of the operation.

[0104] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. The mounting mechanism is used to install the card punching mechanism. The card punching mechanism is provided with a mounting piece protruding thereon, characterized in that: include: The main body of the mechanism has one end for connecting to the holding arm and the other end has a mounting channel; The adapter includes a receiving member, the receiving member being placed in the mounting channel and capable of being removed from the mounting channel through an opening of the mounting channel. The receiving member is hollow and has one end open toward the outside of the mounting channel. The mounting member can enter or remove from the inner cavity of the receiving member through the opening of the receiving member. A clamping member is movably provided on a side wall of the inner cavity of the receiving member. a movable member disposed in the mounting channel and located outside the receiving member, the movable member being movably connected to the mechanism body, and capable of moving away from the clamping member or pushing the clamping member toward the inner cavity of the receiving member when the mounting member is configured to be located in the inner cavity of the receiving member, so as to loosen or tighten the mounting member; A guide hole is formed on the inner cavity side wall of the accommodating member, the clamping member is movably inserted into the guide hole, and the guide hole can guide the clamping member to switch between a clamping position against the mounting member and a circumventing position away from the mounting member. A groove is formed on the hole side wall of the guide hole, and a stop surface is formed between the groove and the hole side wall of the guide hole. A protrusion is convexly provided on the side wall of the clamping member, and the protrusion is placed in the groove. The stop surface is located on the side of the protrusion facing the inner cavity of the accommodating member, and the stop surface can stop the protrusion; When the clamping member is configured to press against the mounting member, the stop surface and the protruding portion are in contact with or spaced apart from each other; When the mounting member is configured to be separated from the inner cavity of the receiving member, the stop surface abuts against the protrusion.

2. The mounting mechanism according to claim 1, wherein: The clamping member is provided with an inclined side wall, and the side wall of the mounting member is provided with a matching inclined surface. When the clamping member is configured to be pressed against the mounting member, the inclined side wall fits into the matching inclined surface, and the inclined side wall and the matching inclined surface are both inclined toward the inner wall of the accommodating member along the direction from the outside to the inside of the mounting channel.

3. The mounting mechanism according to claim 1, wherein: The mounting mechanism further includes an elastic isolating member, which is attached to the outer side wall of the accommodating member and completely covers the clamping member to block the gap formed between the clamping member and the side wall of the guide hole.

4. The mounting mechanism according to claim 3, wherein: The elastic isolation member includes a middle portion and a connecting ring portion, the edge of the middle portion is circumferentially connected to the inner edge of the connecting ring portion, the end face of the connecting ring portion is fitted and connected to the outer wall of the accommodating member, the middle portion completely covers the clamping member, and the elasticity of the middle portion is greater than the elasticity of the connecting ring portion.

5. The mounting mechanism according to claim 1, wherein: The side wall of the guide hole is circumferentially fitted with the side wall of the clamping member. The mounting mechanism also includes an elastic connecting member, one end of which is connected to the outer wall of the accommodating member, and the other end is connected to the end surface of the clamping member for abutting against the movable member.

6. The mounting mechanism according to claim 5, characterized in that: A first accommodating groove is formed on the outer side wall of the accommodating member, the first accommodating groove passes through the side wall of the guide hole, and the elastic connecting member is placed in the first accommodating groove; and / or, A second accommodating groove is provided on the end surface of the clamping member, and the elastic connecting member is placed in the second accommodating groove.

7. The mounting mechanism according to any one of claims 1 to 6, characterized in that: The movable member is provided with a contact end for contacting the clamping member, and an elastic member is provided in the installation channel. The elastic member can push the clamping member toward the inner cavity of the accommodating member through the contact end.

8. The mounting mechanism according to claim 1, wherein: A sliding groove is provided on the outer wall of the accommodating member, and the extension direction of the sliding groove is the same as the extension direction of the installation channel. The sliding groove is located on the side of the guide hole opposite to the opening end of the installation channel and passes through the side wall of the guide hole. When the protrusion is configured to fit into the stop surface, the edge of the bottom surface of the sliding groove and the end surface of the protrusion opposite to the stop surface are located in the same plane.

9. The mounting mechanism according to any one of claims 1 to 6, characterized in that: The mounting mechanism further includes a first connecting structure and a second connecting structure. The first connecting structure is arranged on the adapter, and the second connecting structure is arranged on the mechanism body. The first connecting structure and the second connecting structure are detachably connected.

10. A surgical robot, characterized in that: It comprises a poking mechanism and the mounting mechanism according to any one of claims 1 to 9, wherein the mounting mechanism can clamp or release the mounting piece on the poking mechanism.

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