A quick-changing mechanism for surgical instruments of a surgical robot

Abstract

The present invention discloses a quick-change mechanism for surgical instruments of a surgical robot, comprising a connecting base that can be fixed to the instrument and a transmission head that can be fixed to the robot body; the transmission head connection end of the connecting base is provided with an axial positioning hole and a top positioning step, and at least one connecting hole is provided radially, wherein a radial feed mechanism is provided; the transmission head is provided with a positioning boss that can cooperate with the positioning hole, and the positioning boss is provided with a countersunk hole that can cooperate with the radial feed mechanism. The present invention is applied to connect the surgical robot body and surgical instruments, and has stable connection, convenient and quick operation, precise positioning, and can ensure the integrity of all connected components, prevent them from falling, and is durable and not easily damaged.

Description

Technical Field

[0001] The present invention relates to a connection structure, in particular to a connection structure for a surgical robot and an instrument. Background Art

[0002] With the continuous improvement of medical technology, surgical robots have been actually applied in clinical medicine. Unlike traditional surgery, the use of surgical robots allows surgeons to stay away from the operating table and operate the robot to perform surgery, which brings great benefits to both doctors and patients. CN101106952A discloses a robotic surgery system. In the actual use of surgical robots, according to different clinical needs, the surgical robot needs to replace different types of surgical instruments, which requires the use of a connection structure that is easy to install and disassemble between the surgical instrument and the flange at the end of the surgical robot arm. In the existing technology, screws are mostly used for fixing, such as flange surface screw connection or cylindrical surface screw tightening connection, but screw fixing is inconvenient in both installation and disassembly operations. Not only is the action very cumbersome and time-consuming, but it is also difficult to control the tightening torque and cannot achieve the best effect. At the same time, screws or washers are also very easy to fall off, causing great trouble. In case of emergency, there is a very big hidden danger to the patient's health.

[0003] Therefore, those skilled in the art are committed to developing a quick-changing mechanism for surgical instruments of a surgical robot that is simple to operate and quick to install and disassemble. Summary of the Invention

[0004] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a surgical robot surgical instrument quick-changing mechanism that is simple to operate and quick to install and disassemble.

[0005] To achieve the above objectives, the present invention provides a surgical robot quick-change mechanism for surgical instruments, comprising a connecting base that can be fixed to the instrument and a transmission head that can be fixed to the robot body; the transmission head connecting end of the connecting base is provided with an axial positioning hole and a top positioning step, and at least one connecting hole is provided radially, and a radial feed mechanism is provided in the connecting hole;

[0006] The transmission head is provided with a positioning boss that can cooperate with the positioning hole, and the positioning boss is provided with a countersunk hole that can cooperate with the radial feeding mechanism.

[0007] Preferably, the positioning boss includes two opposite side planes and two opposite arc-shaped surfaces.

[0008] Preferably, the radial feeding mechanism includes a limiting screw, the head of the limiting screw extends out of the connecting seat, and the tail is fixedly connected to a pressure head that can extend into the countersunk hole;

[0009] The limiting screw is threadably matched with the hole wall of the connecting hole.

[0010] Preferably, the diameter of the connecting hole is larger than the diameter of the counterbore;

[0011] The pressure head includes a connecting hole fitting portion and a countersunk hole fitting portion; the connecting hole fitting portion and the countersunk hole fitting portion are connected to form an integral structure through a tapered locking portion; the connecting hole fitting portion is fixed to the limiting screw;

[0012] The countersunk hole is provided with an inclined wedge surface that cooperates with the locking portion.

[0013] Preferably, a spring seat is provided at one end of the pressure head close to the limiting screw; a spring is sleeved on the pressure head; one end of the spring abuts against the spring seat, and the other end abuts against the outer side of the hole wall of the axial positioning hole.

[0014] Preferably, two connecting holes are arranged opposite to each other on the connecting end of the transmission head.

[0015] Preferably, a bottom positioning step is provided at the lower portion of the axial positioning hole.

[0016] Preferably, the robot body and the transmission head are fixed via a flange at the end of the robot arm.

[0017] The beneficial effects of the present invention are: the present invention is used to connect the surgical robot body and surgical instruments, the connection is stable, the operation is convenient and fast, and the positioning is precise, and the integrity of all connected parts can be guaranteed, and they will not fall off, are durable, and are not easy to be damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a specific embodiment of the present invention.

[0019] Figure 2 yes Figure 1 Schematic diagram of the cross-sectional structure along the AA direction.

[0020] Figure 3 It is a structural schematic diagram of a transmission head according to a specific embodiment of the present invention.

[0021] Figure 4 It is a structural schematic diagram of the transmission head insertion in a specific embodiment of the present invention.

[0022] Figure 5 yes Figure 4 Schematic diagram of the cross-sectional structure along the BB direction.

[0023] Figure 6 yes Figure 5 Schematic diagram of the enlarged structure at point C in the middle. DETAILED DESCRIPTION

[0024] The present invention is further described below with reference to the accompanying drawings and embodiments. It should be noted that, in the description of the present invention, the terms "upper", "lower", "left", "right", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific manner. Therefore, they should not be understood as limiting the present invention.

[0025] like Figures 1 to 6 As shown, a surgical robot quick-change mechanism for surgical instruments includes a connecting base 1 that can be fixed to the instrument and a transmission head 2 that can be fixed to the robot body. In this embodiment, the robot body and the transmission head 2 are fixed by the end flange of the robot arm. The transmission head connecting end 11 of the connecting base 1 is provided with an axial positioning hole 13 and a top positioning step 14, and a bottom positioning step 16 is provided below the axial positioning hole 13. The transmission head connecting end 11 is provided with at least one connecting hole 15 in the radial direction. In this embodiment, two connecting holes 15 are provided on the transmission head connecting end 11 in opposite directions. A radial feed mechanism 12 is provided in the connecting hole 15.

[0026] The radial feed mechanism 12 includes a stop screw 3, which is threadedly engaged with the wall of the connecting hole 15. The head of the stop screw 3 extends beyond the connecting base 1, and the tail is fixedly connected to a pressure head 4 that can extend into the countersunk hole 22. The pressure head 4 includes a connecting hole mating portion 41 and a countersunk hole mating portion 42. The connecting hole mating portion 41 and the countersunk hole mating portion 42 are connected to form a single structure via a tapered locking portion 43. The connecting hole mating portion 41 is fixed to the stop screw 3.

[0027] The pressure head 4 is provided with a spring seat 44 near one end of the limiting screw 3. A spring 5 is sleeved on the pressure head 4. One end of the spring 5 abuts against the spring seat 44, and the other end abuts against the outside of the hole wall of the axial positioning hole 13.

[0028] The transmission head 2 is provided with a positioning boss 21 that mates with the positioning hole. The positioning boss 21 includes two opposing side planes 211 and two opposing arcuate surfaces 212. The positioning boss 21 is provided with a countersunk hole 22 that mates with the radial feed mechanism 12. The diameter of the connecting hole 15 is larger than that of the countersunk hole 22. The countersunk hole 22 is provided with an inclined wedge surface 221 that mates with the locking portion 43.

[0029] The present invention is a connecting structure for connecting the surgical robot body and the surgical instrument. Under normal circumstances (except for maintenance and use), the lower part of the transmission head 2 should always be tightly connected to the surgical robot body. The connecting seat 1 should be tightly connected to the surgical instrument. Figure 2 As shown in FIG, the limiting screw 3 on the connecting seat should be loosened, and the pressure head 4 retracts under the pre-load of the spring. Figure 5As shown, first insert the positioning boss 21 of the transmission head 2 into the axial positioning hole 13 according to the shape fit until it is tightened into place. Then screw in the limit screw 3 and push the pressure head 4 forward until the countersunk fitting part 42 is inserted into the countersunk hole 22 to complete the initial positioning. Then press the locking part 43 to the inclined wedge surface 221 of the transmission head 2 to complete the axial limit and locking. At this time, the arcuate surface 212 of the transmission head 2 realizes radial positioning, and the side plane 211 realizes center positioning and transmits torque. The pressure head 4 realizes the axial limit of the transmission head 2 and the connecting seat 1. The connection between the surgical robot body and the surgical instrument is completed. After maintenance or use, the connecting seat 1 and the transmission head 2 can be disassembled according to the reverse steps above. When disassembly is completed, the limit screw 3, spring 5, and pressure head 4 are all in a retracted state, which is convenient for the next connection and assembly.

[0030] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A surgical robot quick-change mechanism for surgical instruments, comprising a connecting seat (1) that can be fixed to the instrument and a transmission head (2) that can be fixed to the robot body; wherein: The transmission head connecting end (11) of the connecting seat (1) is provided with an axial positioning hole (13) and a top positioning step (14), and is provided with at least one connecting hole (15) in the radial direction, wherein a radial feeding mechanism (12) is provided in the connecting hole (15); the transmission head (2) is provided with a positioning boss (21) which can cooperate with the axial positioning hole, and the positioning boss (21) is provided with a countersunk hole (22) which can cooperate with the radial feeding mechanism (12); The radial feeding mechanism (12) includes a limiting screw (3), the head of the limiting screw (3) extends out of the connecting seat (1), and the tail is fixedly connected to a pressure head (4) that can extend into the countersunk hole (22); the limiting screw (3) is threadedly engaged with the hole wall of the connecting hole (15); The pressure head (4) includes a connecting hole fitting portion (41) and a countersunk hole fitting portion (42); the connecting hole fitting portion (41) and the countersunk hole fitting portion (42) are connected to form an integral structure through a conical locking portion (43); the connecting hole fitting portion (41) is fixed to the limiting screw (3); the countersunk hole (22) is provided with an inclined wedge surface (221) that cooperates with the locking portion (43); the pressure head (4) is provided with a spring seat (44) near one end of the limiting screw (3); a spring (5) is mounted on the pressure head (4); one end of the spring (5) abuts against the spring seat (44), and the other end abuts against the outer side of the hole wall of the axial positioning hole (13); When the limiting screw (3) is screwed out, the pressing head (4) retracts under the pre-compression of the spring (5), and the countersunk hole matching portion (42) is separated from the countersunk hole (22); when the limiting screw (3) is screwed in, the limiting screw (3) pushes the pressing head (4) forward until the countersunk hole matching portion (42) is inserted into the countersunk hole (22).

2. The surgical robot surgical instrument quick-change mechanism according to claim 1, wherein: The positioning boss (21) comprises two opposite side planes (211) and two opposite arc-shaped surfaces (212).

3. The surgical robot surgical instrument quick-change mechanism according to claim 1, wherein: The diameter of the connecting hole (15) is larger than the diameter of the counterbore (22).

4. The surgical robot surgical instrument quick-change mechanism according to any one of claims 1 to 3, wherein: Two connecting holes (15) are arranged opposite to each other on the transmission head connecting end (11).

5. The surgical robot surgical instrument quick-change mechanism according to any one of claims 1 to 3, wherein: A bottom positioning step (16) is provided at the lower portion of the axial positioning hole (13).

6. The surgical robot surgical instrument quick-change mechanism according to any one of claims 1 to 3, wherein: The robot body and the transmission head (2) are fixed via a flange at the end of the robot arm.

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