Laparoscopic bacteria-isolating locking interface and laparoscopic surgical robot

Abstract

The present invention provides a laparoscope antibacterial locking interface and a laparoscopic surgical robot, belonging to the technical field of medical devices, and comprising: a laparoscope interface device, fixedly mounted in the mounting hole of a slide; a laparoscope locking knob, the lower end hole of the laparoscope locking knob being suitable for connection with the end of the laparoscope interface device; a laparoscope interface upper cover, adapted to be connected with the upper end hole of the laparoscope locking knob; a laparoscope locking device, mounted between the laparoscope interface device and the laparoscope interface upper cover, and located in the middle hole of the laparoscope locking knob, the laparoscope locking device being used to realize locking and opening of the laparoscope. The present invention fixes a sterile laparoscope to the slide on the operating arm through the antibacterial locking interface, and keeps the laparoscope in a sterile state at all times while realizing the follow-up of the laparoscope and the robot operating arm.

Description

Technical Field

[0001] The invention relates to a medical device, in particular to a laparoscope bacteria-isolating locking interface and a laparoscopic surgical robot. Background Art

[0002] Laparoscopic surgery is a newly developed minimally invasive method and an inevitable trend in the development of surgical methods in the future. With the integration of related disciplines, it has laid a solid foundation for the development of new technologies and methods. Coupled with the increasingly skilled operation of doctors, many open surgeries in the past have been replaced by endoscopic surgeries, greatly increasing the opportunities for surgical selection.

[0003] Traditional laparoscopic surgery uses a doctor's assistant holding a laparoscope and the surgeon holding surgical instruments to perform intracavitary surgery. This surgical operation requires two or even more people to work together to complete, and the operation is easily limited. In addition, the mirror's field of view is unstable, and the patient is prone to infection. Nowadays, laparoscopic surgical robots are gradually replacing the traditional laparoscopic surgical operation method and are being accepted by more and more doctors and patients. However, if the laparoscope cannot be kept in a sterile state after being fixed on the surgical robot's operating arm, it may lead to consequences such as infection. Summary of the invention

[0004] To solve the above problems, the present invention provides the following technical solutions:

[0005] A laparoscope bacteria-isolating locking interface, used on a laparoscopic surgical robot, comprising:

[0006] A laparoscopic interface device, wherein the laparoscopic interface device is adapted to be fixedly disposed in a mounting hole of a slide table of the laparoscopic surgical robot;

[0007] A laparoscope locking knob, wherein the laparoscope locking knob is sleeved on the laparoscope interface device;

[0008] A laparoscope interface upper cover, wherein the laparoscope interface upper cover is buckled onto the upper end surface of the laparoscope locking knob;

[0009] A laparoscope locking device, wherein the laparoscope locking device is located inside the laparoscope locking knob, and the upper and lower ends of the laparoscope locking device are respectively connected to the laparoscope interface upper cover and the laparoscope interface device, and the laparoscope locking device can lock and open the laparoscope by rotating the laparoscope locking knob;

[0010] The internal space formed by the laparoscope interface device, the laparoscope locking device and the laparoscope interface upper cover is used to accommodate the laparoscope.

[0011] Optionally, the laparoscopic interface device includes a laparoscopic upper interface structure and a laparoscopic lower interface structure, the laparoscopic upper interface structure includes a fan-shaped boss, an upper cylindrical tube and a lower cylindrical tube connected in sequence, the laparoscope locking knob is sleeved on the outer side of the fan-shaped boss, and the lower cylindrical tube is connected to the laparoscopic lower interface structure.

[0012] Optionally, the number of the fan-shaped bosses is two, and the two fan-shaped bosses are symmetrically arranged on the top of the upper cylindrical tube.

[0013] Optionally, two raised cylinders are symmetrically provided on the outer circumference of the lower cylindrical tube, and a slide groove matching the raised cylinders is provided on the laparoscopic interface structure. When the laparoscope upper interface structure rotates relative to the laparoscopic interface structure, the outer wall surface of the lower cylindrical tube is adaptively connected with the inner wall surface of the laparoscopic interface structure.

[0014] Optionally, the slide groove includes an inclined area and a horizontal area, the starting end of the inclined area is connected to the upper end surface of the laparoscopic interface structure by an arc transition, and the end of the inclined area is connected to the starting end of the horizontal area by an arc transition.

[0015] Optionally, the laparoscope locking device comprises a laparoscope locking buckle and a locking buckle rotating shaft, the locking buckle rotating shaft passes through the laparoscope locking buckle, the two locking buckle rotating shafts and the two fan-shaped bosses are arranged at intervals from each other, and the two laparoscope locking buckles and the two locking buckle rotating shafts are symmetrically arranged around the central axis of the laparoscope interface device.

[0016] One end of the locking buckle shaft is inserted into the first end hole of the laparoscope upper interface structure, and the other end of the locking buckle shaft is inserted into the second end hole of the laparoscope interface upper cover.

[0017] Optionally, the laparoscope locking buckle comprises a locking buckle body and a first connecting portion which are connected to each other, the locking buckle body is located on a side close to the laparoscope locking knob, and the first connecting portion is located on a side away from the laparoscope locking knob.

[0018] Optionally, the laparoscopic locking buckle also includes a first protrusion arranged at the end of the locking buckle body, the first protrusion is close to the inner wall of the laparoscopic locking knob, and the inner wall of the laparoscopic locking knob is symmetrically provided with a second protrusion, and during the rotation and locking process of the laparoscopic locking knob, the second protrusion abuts against the first protrusion.

[0019] Optionally, two semi-cylindrical protrusions are symmetrically arranged on the outer circumference of the upper cylindrical tube, and the semi-cylindrical protrusions are suitable for connecting with the semi-cylindrical grooves on the inner wall of the slide, and the interior of the laparoscope interface device is isolated from the slide to form a sterile space.

[0020] Compared with the prior art, the laparoscope isolation locking interface provided by the present invention has the beneficial effect of: fixing the sterile laparoscope on the slide at the operating arm of the surgical robot through the isolation locking interface, so that the laparoscope and the robot operating arm can follow each other, and the laparoscope isolation locking interface keeps the laparoscope in a sterile state at all times, and is easy to operate. Not only is the laparoscope field of view stable, but it also ensures that the patient is not infected.

[0021] The present invention also provides a laparoscopic surgical robot, comprising a slide and the above-mentioned laparoscopic bacteria isolation locking interface, and the laparoscopic bacteria isolation locking interface is fixedly connected to the slide.

[0022] The laparoscopic surgical robot described in the present invention and the laparoscopic antibacterial locking interface have the same advantages over the prior art, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the laparoscope antibacterial locking interface in an embodiment of the present invention;

[0024] Figure 2 for Figure 1 The top view after opening the upper cover of the laparoscope interface;

[0025] Figure 3 This is a front view of the laparoscope antibacterial locking interface in an embodiment of the present invention;

[0026] Figure 4 It is a cross-sectional view in the AA direction after the laparoscope upper interface structure, the laparoscope locking device, the laparoscope locking knob and the laparoscope interface upper cover in the embodiment of the present invention are installed;

[0027] Figure 5 for Figure 4 A partial enlarged schematic diagram of the middle C part;

[0028] Figure 6 It is a cross-sectional view in the BB direction after the laparoscope upper interface structure, the laparoscope locking device, the laparoscope locking knob and the laparoscope interface upper cover in the embodiment of the present invention are installed;

[0029] Figure 7 This is a schematic diagram of the installation process of the laparoscope antibacterial locking interface in an embodiment of the present invention;

[0030] Figure 8 is a schematic diagram of a laparoscope in a locked state according to an embodiment of the present invention;

[0031] Fig. 9 for Figure 8 The top view after opening the upper cover of the laparoscope interface;

[0032] Fig.10 It is a schematic diagram of the laparoscope in the open state according to an embodiment of the present invention;

[0033] Fig.11 for Fig.10 The top view after opening the upper cover of the laparoscope interface;

[0034] Fig.12 It is a schematic diagram of the state after the laparoscope antibacterial locking interface is installed in an embodiment of the present invention.

[0035] Description of reference numerals:

[0036] 1-laparoscopic interface device; 11-laparoscopic upper interface structure; 111-upper cylindrical tube; 112-lower cylindrical tube; 1121-convex cylinder; 113-semi-cylindrical protrusion; 114-fan-shaped boss; 12-laparoscopic lower interface structure; 121-slide; 1211-inclined area; 1212-horizontal area; 13-first end hole; 2-laparoscopic locking knob; 21-lower end hole; 22-upper end hole; 23-middle hole; 24-second convex part; 3-laparoscopic interface upper cover; 31-second end hole; 4-laparoscopic locking device; 41-laparoscopic locking buckle; 411-locking buckle body; 412-first connecting part; 413-first convex part; 42-locking buckle shaft; 5-slide; 51-mounting hole; 511-semi-cylindrical slot. DETAILED DESCRIPTION

[0037] The above and other technical features and advantages of the present invention are described in more detail below in conjunction with the accompanying drawings.

[0038] In addition, it should be understood in the description of the present invention that the positive direction of "X" in the accompanying drawings represents the left, and correspondingly, the reverse direction of "X" represents the right; the positive direction of "Y" represents the front, and correspondingly, the reverse direction of "Y" represents the back; the positive direction of "Z" represents the top, and correspondingly, the reverse direction of "Z" represents the bottom. The orientation or positional relationship indicated by the terms "X", "Y", "Z", etc. is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. If there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features.

[0039] like Figure 1-12As shown, an embodiment of the present invention provides a laparoscope isolation locking interface for use on a laparoscopic surgical robot, comprising a laparoscope interface device 1, a laparoscope locking knob 2, a laparoscope interface upper cover 3 and a laparoscope locking device 4, wherein the laparoscope interface device 1 is fixedly mounted in a mounting hole 51 of a slide 5, and an internal space formed by the laparoscope interface device 1, the laparoscope interface upper cover 3 and the laparoscope locking device 4 is used to accommodate a laparoscope, the laparoscope locking knob 2 is sleeved on the laparoscope interface device 1, and the laparoscope interface upper cover 3 is mounted on the laparoscope interface device 1. It is buckled on the upper end surface of the laparoscope locking knob 2, the laparoscope locking device 4 is located inside the laparoscope locking knob 2, and the laparoscope locking device 4 is installed between the laparoscope interface device 1 and the laparoscope interface upper cover 3, the upper and lower ends of the laparoscope locking device 4 are respectively connected to the laparoscope interface upper cover 3 and the laparoscope interface device 1, after the laparoscope locking knob 2 is installed, the upper end of the laparoscope interface device 1 is welded to the laparoscope interface upper cover 3, and the laparoscope locking device 4 is used to realize the locking and opening of the laparoscope.

[0040] In this embodiment, the internal space formed by the laparoscope interface device 1, the laparoscope interface cover 3 and the laparoscope locking device 4 is used to accommodate the laparoscope, so that the internal accommodating space is isolated from the outside world. The laparoscope is inserted into the interior of the laparoscope interface device 1, and the contact surfaces are all sterile, meeting the requirements for aseptic use of the laparoscope. Since the laparoscope locking device 4 can lock and open the laparoscope under the rotation drive of the laparoscope locking knob 2, the structural design is ingenious and the operation is convenient.

[0041] Specifically, the laparoscope locking knob 2 is made of hard plastic, and a plurality of handles are evenly arranged on the outer circumference of the laparoscope locking knob 2, which are mainly used as the action site when the laparoscope locking knob 2 is rotated to apply external force, so as to facilitate operation. In this embodiment, four handles are preferably arranged evenly and symmetrically along the circumferential direction, with a simple structure to meet the use requirements. Figure 4-5 As shown, in the present embodiment, an I-shaped through hole is further provided in the middle of the laparoscope locking knob 2, including a lower end hole 21, an upper end hole 22 and a middle hole 23. The lower end hole 21 is adaptively connected to the end of the laparoscope upper interface structure 11, the middle hole 23 is used to accommodate the laparoscope locking device 4, and the upper end hole 22 is snap-fittedly connected to the laparoscope interface upper cover 3, the purpose of which is to isolate it from the external sterile space. In order to be able to lock and open the laparoscope in the internal sterile space, the laparoscope locking device 4 is arranged to be rotatable in the middle hole 23, and the upper end face of the laparoscope locking knob 2 is also marked with an arrow to indicate the relevant icon when rotating.

[0042] Specifically, the laparoscope interface upper cover 3 is made of hard plastic, and its lower surface is connected to the end face of the fan-shaped boss 114 on the upper end face of the laparoscope upper interface structure 11 by ultrasonic welding. The welding connection is relatively reliable, so that the internal space of the laparoscope upper interface structure 11 is isolated from the external sterile space. Of course, other sealing methods can also be used to form the required sealed space and for practical purposes. The laparoscope interface upper cover 3 corresponds to the rotation area of ​​the laparoscope locking knob 2 and is also provided with two icons of "lock open" and "lock closed", which correspond to the arrow mark on the upper end face of the laparoscope locking knob 2, and are used to indicate the locking and opening marks of the laparoscope after rotation.

[0043] As a further limitation of this embodiment, the laparoscopic interface device 1 includes a laparoscopic upper interface structure 11 and a laparoscopic lower interface structure 12. Figure 1-6 As shown, the laparoscope upper interface structure 11 includes a coaxial upper cylindrical tube 111, a lower cylindrical tube 112 and a fan-shaped boss 114. Two raised cylinders 1121 are symmetrically arranged on the outer circumference of the lower cylindrical tube 112. The ends of the raised cylinders 1121 are chamfered for easy hanging. In order to enable the laparoscope upper interface structure 11 and the laparoscope lower interface structure 12 to be connected, a slide groove 121 matching the raised cylinder 1121 is correspondingly arranged at the upper end of the laparoscope lower interface structure 12. At the same time, in order to connect the laparoscope upper interface structure 11 with the slide 5 at the robot arm, the slide groove 121 is snap-connected with the raised cylinder 1121 through the rotation of the laparoscope lower interface structure 12 in the mounting hole 51 of the slide 5. In order to make the laparoscope upper interface structure 11 and the laparoscope upper interface structure 11 fit together, the outer wall of the lower cylindrical tube 112 is adaptively connected to the inner wall of the laparoscope lower interface structure 12.

[0044] In this embodiment, the rotation of the laparoscopic interface structure 12 drives the slide groove 121 to rotate, so that the slide groove 121 and the raised cylinder 1121 are rotatably connected, and at the same time, the lower cylindrical tube 112 is inserted into the inner wall of the laparoscopic interface structure 12, so that the outer wall of the lower cylindrical tube 112 abuts against the inner wall of the laparoscopic interface structure 12, but can rotate with each other, so as to realize the fitting connection between the laparoscopic upper interface structure 11 and the laparoscopic interface structure 12, which is simple to operate, reliable in sealing, and can ensure that the laparoscopic interface device 1 can be connected with the outside without being tangled. The parts are interconnected, and the laparoscope interface device 1 is a sterile product as a whole. After the laparoscope upper interface structure 11 and the laparoscope lower interface structure 12 are fitted and connected, their inner surfaces are all in a sterile state, thereby ensuring the internal sterile space, and the slide 5 on the robot arm is in a sterile state. When the laparoscope interface device 1 is installed into the slide 5 and then the laparoscope set is fixed inside the laparoscope interface device 1, the laparoscope can always keep in contact with the sterile surface inside the laparoscope interface device 1, so that the laparoscope is always in a sterile state, meeting the actual use requirements.

[0045] As a further limitation of this embodiment, the end face of the laparoscope upper interface structure 11 is also provided with a fan-shaped boss 114. The two fan-shaped bosses 114 are symmetrically arranged along the central axis of the laparoscope interface device 1 and are located in the middle hole 23 of the laparoscope locking knob 2. The fan-shaped boss 114 and the laparoscope locking device 4 are spaced apart. On the one hand, they are used to achieve the limit blocking of the laparoscope locking knob 2, and on the other hand, they meet the connection requirements between the upper end face of the fan-shaped boss 114 and the laparoscope interface upper cover 3.

[0046] Specifically, the laparoscope locking device 4 includes a laparoscope locking buckle 41 and a locking buckle shaft 42. The locking buckle shaft 42 passes through the laparoscope locking buckle 41. The two laparoscope locking buckles 41 and the two locking buckle shafts 42 are symmetrically arranged around the central axis of the laparoscope interface device 1. One end of the locking buckle shaft 42 is inserted into the first end hole 13 of the laparoscope upper interface structure 11, and the other end of the locking buckle shaft 42 is inserted into the second end hole 31 of the laparoscope interface upper cover 3. The laparoscope locking buckle 41 is connected between the upper end surface of the laparoscope interface device 1 and the lower end surface of the laparoscope interface upper cover 3 through the corresponding locking buckle shaft 42.

[0047] In some specific embodiments, Figure 2 As shown, preferably, the laparoscope locking device 4 uses two laparoscope locking buckles 41 rotating around corresponding locking buckle shafts 42, the two laparoscope locking buckles 41 and the two locking buckle shafts 42 are symmetrically arranged around the central axis of the laparoscope interface device 1, and the two laparoscope locking buckles 41 are arranged in opposite directions around the central axis of the laparoscope interface device 1, so as to achieve locking and opening of the laparoscope while ensuring reliable connection. Of course, in some other embodiments, the laparoscope locking device 4 can also adopt other structures, such as springs, gears and other structures, so as to facilitate operation, have a simple structure and achieve locking of the laparoscope.

[0048] Preferably, in this embodiment, if Figure 8-11 As shown, the laparoscope locking buckle 41 includes a locking buckle body 411 and a first connecting portion 412. The first connecting portion 412 is located at the end of the two locking buckle bodies 411 on the opposite side. The first connecting portion 412 is made of soft rubber. The two first connecting portions 412 are symmetrically arranged along the central axis of the laparoscope interface device 1.

[0049] The inner wall of the locking buckle body 411 away from the laparoscope locking knob 2 and the part in contact with the laparoscope is inlaid with a first connecting part 412, and the first connecting part 412 is made of soft rubber. The laparoscope locking buckle 41 is used to lock or release the laparoscope. Specifically, the entire laparoscope antibacterial locking interface includes a laparoscope interface device 1, a laparoscope locking knob 2, a laparoscope interface cover 3 and a laparoscope locking device 4, wherein the laparoscope interface device 1 and the laparoscope interface cover 3 are made of hard plastic, with high structural strength, not easy to damage, and reliable connection. At the same time, the laparoscope interface cover 3 can be sealed and connected to the upper end face of the laparoscope interface device 1 by ultrasonic welding. Compared with other welding methods, ultrasonic welding is extremely fast and does not generate sparks. At the same time, the welding material does not melt, and the welding method is more reliable to achieve a sealed connection. The laparoscope locking knob 2 The laparoscope locking device 4 can be made of plastic, the laparoscope locking buckle 41 is made of hard plastic parts, and the inner wall of the laparoscope locking buckle 41 away from the laparoscope locking knob 2 and the contact part with the laparoscope is inlaid with a first connecting part 412. The first connecting part 412 is made of soft rubber, which is convenient for locking the laparoscope and preventing slipping. The material is relatively light, and the operation is relatively simple and labor-saving. In this embodiment, there is no restriction on the materials of the laparoscope locking knob 2 and the laparoscope locking device 4, so as to meet the functional requirements and realize compact structure, sensitive response, long life and reliable use.

[0050] Preferably, the laparoscope locking buckle 41 also includes a first protrusion 413 arranged at the end of the locking buckle body 411, the first protrusion 413 is close to the inner wall of the laparoscope locking knob 2, and the inner wall of the laparoscope locking knob 2 is symmetrically provided with a second protrusion 24. During the rotation and locking process of the laparoscope locking knob 2, the second protrusion 24 abuts against the first protrusion 413.

[0051] In this embodiment, Figure 8-11As shown, the inner side of the laparoscope locking knob 2 is integrally formed with a second protrusion 24, and the two second protrusions 24 are symmetrically arranged, and the other side of the locking buckle body 411 away from the first connecting portion 412 is provided with a first protrusion 413. When the laparoscope locking knob 2 is manually rotated to one side, the second protrusion 24 is driven to move inside. When the second protrusion 24 moves to contact with the first protrusion 413, under the external force of the second protrusion 24, the laparoscope locking buckle 41 rotates around the laparoscope locking shaft 42, and makes the two first connecting portions 412 move toward the middle axis. When it moves to the first protrusion 413, the second protrusion 24 is rotated to the second protrusion 413. When the second protrusion 24 abuts against the fan-shaped boss 114 on the end face of the upper cylindrical tube 111, it is locked and rotated into place, thereby achieving the locking of the laparoscope; when the laparoscope locking knob 2 is manually rotated to the other side, the second protrusion 24 separates from the first protrusion 413, and the second protrusion 24 drives the laparoscope locking buckle 41 to return to its original position around the laparoscope locking shaft 42 during the movement. When the second protrusion 24 abuts against the fan-shaped boss 114 on the upper end face of the laparoscope interface device 1 on the other side, it is opened and rotated into place, thereby achieving the opening of the laparoscope, with a simple structure and ingenious design.

[0052] The second protrusion 24 inside the laparoscope locking knob 2 contacts with the laparoscope locking buckle 41 during the rotation process, and when the first protrusion 413 of the laparoscope locking buckle 41 is approached to the inner side of the laparoscope locking knob 2, the laparoscope locking buckle 41 is rotated outward around the laparoscope locking shaft 42, and when the arrow mark on the laparoscope locking knob 2 points to the "lock open" icon on the laparoscope interface cover 3, the first connecting portion 412 and the laparoscope contact surface are opened; after the laparoscope is gently inserted to the appropriate position, the laparoscope locking knob 2 is rotated in the opposite direction so that the arrow mark on the laparoscope locking knob 2 points to the "lock closed" icon on the laparoscope interface cover 3. At this time, the second protrusion 24 of the laparoscope locking knob 2 squeezes the first protrusion 413 of the laparoscope locking buckle 41, causing the laparoscope locking buckle 41 to rotate inward, thereby clamping the contact surface with the laparoscope, that is, the laparoscope is locked.

[0053] As a further limitation of this embodiment, the upper cylindrical tube 111 of the laparoscope upper interface structure 11 and the laparoscope lower interface structure 12 have the same tube diameter, which facilitates the two to be assembled and connected at the end faces for a tighter assembly. At the same time, in order to enable the laparoscope lower interface structure 12 to be smoothly inserted into the mounting hole 51 of the slide 5, the tube diameter is less than or equal to the diameter of the slide mounting hole 51, which facilitates the installation operation.

[0054] It is understandable that the connection between the laparoscope upper interface structure 11 and the laparoscope lower interface structure 12 may also adopt other connection methods besides rotational hanging, such as pin connection, spiral connection, etc., the purpose of which is to achieve a fixed connection between the laparoscope upper interface structure 11 and the laparoscope lower interface structure 12, thereby forming an enclosed internal space.

[0055] As a further limitation of this embodiment, the slide groove 121 includes an inclined area 1211 and a horizontal area 1212. The starting end of the inclined area 1211 is connected to the upper end surface of the laparoscopic interface structure 12 by an arc transition. The end of the inclined area 1211 is connected to the starting end of the horizontal area 1212 by an arc transition. The end of the horizontal area 1212 is a horizontal semicircular hole.

[0056] In this embodiment, Figure 1 , Figure 3 As shown, the upper right side of the slide groove 121 is the starting end of the inclined area 1211, and both sides of the starting end are smoothly transitioned to the end face of the laparoscopic interface structure 12, and the middle is the intersection area of ​​the inclined area 1211 and the starting end of the horizontal area 1212, and the upper and lower sides of the intersection are both processed with arc transitions, and the lower left side of the slide groove 121 is set as the end of the horizontal area 1212, and a semicircular hole transition is performed. At the same time, the difference between the minimum aperture of the starting end of the inclined area 1211 and the diameter of the raised cylinder 1121 is d1, and the value range of d1 is -0.1 to 0 mm, and the difference between the diameter of the semicircular hole at the end of the horizontal area 1212 and the diameter of the raised cylinder 1121 is d2, and the value range of d2 is 0 to 0.2 mm. The above settings of each connection part ensure that the clamping can be smooth during the entire rotation clamping process.

[0057] In this embodiment, if Figure 7 , Fig.12 As shown, since the laparoscope upper interface structure 11 and the laparoscope lower interface structure 12 are connected by a rotational hanging method, and under the condition of blocked vision, in order to facilitate manual operation and more reliable rotational hanging, a smooth transition connection is set between the inclined area 1211 and the horizontal area 1212 of the slide groove 121, and the minimum aperture of the starting end of the inclined area 1211 of the slide groove 121 is slightly smaller than the diameter of the raised cylinder 1121, that is, the starting end of the inclined area 1211 and the raised cylinder 1121 are interference fit, and the maximum interference amount is 0.1mm; the end of the slideway in the horizontal area 1212 of the slide groove 121 is set to a horizontal semicircular shape, and the size of the semicircular hole is slightly larger than the diameter of the raised cylinder 1121, that is, the end of the slideway and the raised cylinder 1121 are clearance fit, and the maximum clearance is 0.2mm. The advantage of this design is that when rotating and hanging, the fingers have a clear sense of layering, so that the locking state feels obvious, and it is not easy to slip out after locking.

[0058] As a further limitation of this embodiment, the distance between the end faces of the two raised cylinders 1121 is smaller than the outer diameter of the laparoscopic interface structure 12 .

[0059] In this embodiment, specific restrictions are imposed on the end face distance of the raised cylinder 1121 in order to ensure that the laparoscopic interface structure 12 can be inserted from below the mounting hole 51 of the slide 5 and be rotatably mounted in the mounting hole 51, as long as the above-mentioned connection relationship is met.

[0060] Preferably, in this embodiment, if Figure 1 , Figure 3 As shown, a cylindrical tube 111 is provided on the laparoscope upper interface structure 11, and two semi-cylindrical protrusions 113 are symmetrically provided on the outer circumference of the cylindrical tube 111, and a corresponding semi-cylindrical groove 511 is provided in the vertical direction of the inner wall of the mounting hole 51 of the slide 5. During installation, the two semi-cylindrical protrusions 113 are vertically inserted into the semi-cylindrical groove 511 on the inner wall of the slide 5 to limit the laparoscope upper interface structure 11, which not only has reliable connection but also simple operation.

[0061] Working principle: When the patient needs to undergo surgery, the laparoscope isolation locking interface of the present invention first inserts the stamp into the human body, swings the mechanical arm to a suitable position, and the end of the mechanical arm is provided with a slide 5. The sterile laparoscope upper interface structure 11 is inserted from above the slide 5 into the mounting hole 51 of the slide 5. The two semi-cylindrical protrusions 113 of the laparoscope upper interface structure 11 are fixedly connected with the semi-cylindrical card groove 511 on the inner wall of the mounting hole 51. The laparoscope lower interface structure 12 is inserted from below the slide 5, and the laparoscope lower interface structure 12 is rotated so that the slide groove 121 of the laparoscope lower interface structure 12 and the two raised cylinders 1121 of the laparoscope upper interface structure 11 are hung inside the slide 5. The laparoscope locking knob 2 is rotated to one side so that the arrow mark on it points to the “lock and unlock” on the laparoscope interface upper cover 3. ” icon, at this time, the second protrusion 24 of the laparoscope locking knob 2 is away from the first protrusion 413 at one end of the laparoscope locking buckle 41, and during the rotation of the second protrusion 24, the other end of the laparoscope locking buckle 41 is squeezed to make the laparoscope locking buckle 41 rotate outward around the locking buckle rotating shaft 42, so that the first connecting portion 412 and the laparoscope contact surface are opened, and the laparoscope is gently inserted to a suitable position, and the laparoscope locking knob 2 is rotated so that the arrow mark on it points to the “locked” icon on the laparoscope interface upper cover 3. At this time, the second protrusion 24 of the laparoscope locking knob 2 squeezes the first protrusion 413 at the other end of the laparoscope locking buckle 41, so that the laparoscope locking buckle 41 rotates inward around the locking buckle rotating shaft 42, so that the first connecting portion 412 and the laparoscope contact surface are clamped, that is, the laparoscope is locked.

[0062] When the operation is completed or the laparoscope needs to be replaced midway, rotate the laparoscope locking knob 2 so that the arrow mark on it points to the "lock" icon on the laparoscope interface cover 3. At this time, the laparoscope can be freely disassembled and rotated. Since the laparoscope interface is a sterile product as a whole, the slide 5 on the robotic arm is in a sterile state. When the laparoscope is fixed in the suit, the laparoscope can always be kept in contact with the sterile surface, so that the laparoscope is always in a sterile state, meeting the actual use requirements.

[0063] The embodiment of the present invention further provides a laparoscopic surgical robot, comprising a mechanical arm, a slide 5 and a laparoscopic bacteria isolation locking interface, wherein the laparoscopic bacteria isolation locking interface is fixedly connected to the slide 5, and the slide 5 is connected to the mechanical arm.

[0064] Therefore, a laparoscopic surgical robot provided by an embodiment of the present invention can realize the relative rotation of the robotic arm and the column, that is, the robotic arm can swing up and down relative to the column, and has a compact structure, which meets the requirements of the degree of freedom of the laparoscopic surgical robot when working. At the same time, a laparoscope sterilization locking interface is installed on the slide 5 of the robotic arm, and the sterile laparoscope is fixed to the operating arm of the surgical robot through the sterilization locking interface, which can realize the follow-up movement of the laparoscope and the robot operating arm, and the laparoscope sterilization locking interface keeps the laparoscope in a sterile state at all times, and is easy to operate. Not only is the laparoscopic field of view stable, but it also ensures that the patient is not infected.

[0065] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A laparoscopic isolation locking interface, used on a laparoscopic surgical robot, characterized in that: include: A laparoscopic interface device (1), the laparoscopic interface device (1) being suitable for being fixedly arranged in a mounting hole of a slide table (5) of the laparoscopic surgical robot; A laparoscope locking knob (2), wherein the laparoscope locking knob (2) is sleeved on the laparoscope interface device (1); A laparoscope interface upper cover (3), wherein the laparoscope interface upper cover (3) is buckled onto the upper end surface of the laparoscope locking knob (2); A laparoscope locking device (4), wherein the laparoscope locking device (4) is located inside the laparoscope locking knob (2), and the upper and lower ends of the laparoscope locking device (4) are respectively connected to the laparoscope interface upper cover (3) and the laparoscope interface device (1), and the laparoscope locking device (4) can lock and open the laparoscope by rotating the laparoscope locking knob (2); The internal space formed by the laparoscope interface device (1), the laparoscope locking device (4) and the laparoscope interface upper cover (3) is used to accommodate the laparoscope; The laparoscope interface device (1) comprises an upper laparoscope interface structure (11) and a lower laparoscope interface structure (12); the upper laparoscope interface structure (11) comprises a fan-shaped boss (114), an upper cylindrical tube (111) and a lower cylindrical tube (112) which are connected in sequence; the laparoscope locking knob (2) is sleeved on the outer side of the fan-shaped boss (114); and the lower cylindrical tube (112) is connected to the lower laparoscope interface structure (12).

2. The laparoscope antibacterial locking interface according to claim 1, characterized in that: The number of the fan-shaped bosses (114) is two, and the two fan-shaped bosses (114) are symmetrically arranged on the top of the upper cylindrical tube (111).

3. The laparoscope antibacterial locking interface according to claim 1, characterized in that: Two raised cylinders (1121) are symmetrically arranged on the outer circumference of the lower cylindrical tube (112), and a slide groove (121) matching the raised cylinder (1121) is arranged on the laparoscopic interface structure (12). When the laparoscopic upper interface structure (11) rotates relative to the laparoscopic interface structure (12), the raised cylinder (1121) is suitable for engaging with the slide groove (121), and the outer wall surface of the lower cylindrical tube (112) is adaptively connected to the inner wall surface of the laparoscopic interface structure (12).

4. The laparoscope antibacterial locking interface according to claim 3, characterized in that: The slide groove (121) comprises an inclined area (1211) and a horizontal area (1212); the starting end of the inclined area (1211) is connected to the upper end surface of the laparoscopic interface structure (12) in a circular arc transition; and the end of the inclined area (1211) is connected to the starting end of the horizontal area (1212) in a circular arc transition.

5. The laparoscope antibacterial locking interface according to claim 2, characterized in that: The laparoscope locking device (4) comprises a laparoscope locking buckle (41) and a locking buckle rotating shaft (42), wherein the locking buckle rotating shaft (42) passes through the laparoscope locking buckle (41), the two locking buckle rotating shafts (42) and the two fan-shaped bosses (114) are arranged at intervals from each other, and the two laparoscope locking buckles (41) and the two locking buckle rotating shafts (42) are symmetrically arranged around the central axis of the laparoscope interface device (1). One end of the locking buckle shaft (42) is inserted into the first end hole (13) of the laparoscope upper interface structure (11), and the other end of the locking buckle shaft (42) is inserted into the second end hole (31) of the laparoscope interface upper cover (3).

6. The laparoscope antibacterial locking interface according to claim 5, characterized in that: The laparoscope locking buckle (41) comprises a locking buckle body (411) and a first connecting portion (412) which are connected to each other, wherein the locking buckle body (411) is located on a side close to the laparoscope locking knob (2), and the first connecting portion (412) is located on a side away from the laparoscope locking knob (2).

7. The laparoscope antibacterial locking interface according to claim 6, characterized in that: The laparoscope locking buckle (41) further comprises a first protrusion (413) arranged at the end of the locking buckle body (411), wherein the first protrusion (413) is close to the inner wall of the laparoscope locking knob (2), and the inner wall of the laparoscope locking knob (2) is symmetrically provided with a second protrusion (24), and during the rotation and locking process of the laparoscope locking knob (2), the second protrusion (24) abuts against the first protrusion (413).

8. The laparoscope antibacterial locking interface according to claim 1, characterized in that: Two semi-cylindrical protrusions (113) are symmetrically arranged on the outer circumference of the upper cylindrical tube (111), and the semi-cylindrical protrusions (113) are suitable for connecting with the semi-cylindrical grooves (511) on the inner wall of the slide (5), and the interior of the laparoscopic interface device (1) is isolated from the slide (5) to form a sterile space.

9. A laparoscopic surgical robot, characterized in that: It comprises a slide (5) and a laparoscopic bacteria isolation locking interface as described in any one of claims 1 to 8, and the laparoscopic bacteria isolation locking interface is fixedly connected to the slide (5).

Images