Joint device, operating device and surgical robot

Abstract

One embodiment of the present invention provides a coupling device for coupling an instrument and a driving device, wherein the coupling device includes a first main body and a plurality of clips, the first main body includes an instrument plate and a driving plate, the instrument plate is used to receive the instrument, and the driving plate is used to receive the driving device; each of the clips includes an instrument side claw extending through the instrument plate and a driving side claw extending through the driving plate, the instrument side claw is used to engage with the instrument, and the driving side claw is used to engage with the driving device, each of the clips is pivotally connected to the first main body via a pivot, so that a clip can simultaneously connect the instrument and the driving device, making the connection structure of the coupling device simple.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a joining device, a slave operating device having the joining device, and a surgical robot having the slave operating device. Background Art

[0002] Minimally invasive surgery refers to a procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robotics have gradually matured and are widely used. Minimally invasive surgical robots typically include a master console and a slave operating device. The master console is used to send control commands to the slave operating device based on the doctor's operation to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master console and perform the corresponding surgical operation. The surgical instrument is connected to the drive device of the slave operating device and is used to perform the surgical operation. The end instrument of the surgical instrument includes an end effector for performing the surgical operation and a joint connected to the end effector that can move with multiple degrees of freedom.

[0004] The surgical instrument is connected to the drive device of the slave operating device. The surgical instrument needs to be sterile, but the slave operating device is generally not sterile. Therefore, the surgical instrument and the drive device of the slave operating device are generally connected by a sterile coupling device to avoid contamination of the surgical instrument. However, the connection structure between the existing coupling device, the surgical instrument, and the drive device is complex and the cost is high. Summary of the Invention

[0005] Based on this, in order to solve the above problems, the first aspect of the present application provides an input device, a main operating device having the input device, and a surgical robot including the main operating device, wherein the input device includes:

[0006] a first body, the first body comprising an instrument plate and a driving plate disposed opposite to the instrument plate;

[0007] The buckle is connected to the first body, and the buckle includes a driving side claw and an instrument side claw. The driving side claw is used to connect the driving device, and the instrument side claw is used to connect the instrument.

[0008] In a specific embodiment, the instrument side claw passes through the instrument plate and extends in a direction away from the drive side claw, the drive side claw passes through the drive plate and extends in a direction away from the instrument side claw, and the buckle is pivotally connected to the first body through a pivot.

[0009] In a specific embodiment, the buckle is pivotally connected to the driving plate via the pivot.

[0010] In a specific embodiment, the length of the instrument side jaw is greater than the length of the drive side jaw.

[0011] In a specific embodiment, the engagement device further includes an elastic member, and the elastic member abuts between the driving side claw and the driving plate.

[0012] In a specific embodiment, the ends of the instrument-side clamping jaws and the drive-side clamping jaws have protrusions, and the protrusions are used to engage with the snap seats on the instrument and / or the drive device.

[0013] In a specific embodiment, the instrument side jaw and the drive side jaw are separated from each other.

[0014] In a specific embodiment, the instrument side clamping claw is fixedly mounted on the instrument plate, and the drive side clamping claw is fixedly mounted on the drive plate.

[0015] In a specific embodiment, the driving side claw is integrally formed with the driving plate, and the driving side claw extends from the surface of the driving plate in a direction away from the instrument plate; and / or the instrument side claw is integrally formed with the instrument plate, and the instrument side claw extends from the surface of the instrument plate in a direction away from the driving plate.

[0016] In a specific embodiment, a spring sheet is provided in the driving device, and the spring sheet in the driving device is used to abut against the instrument side claw to connect the coupling device to the driving device, and / or a spring sheet is provided in the instrument, and the spring sheet in the instrument is used to abut against the instrument claw to connect the instrument to the coupling device.

[0017] In a specific embodiment, the spring piece includes a curved section, and the buckle has a slot having a shape corresponding to the curved section, and the curved section is used to be engaged in the slot to connect the coupling device with the driving device and / or the instrument.

[0018] In a specific embodiment, the device, the driving device or the engaging device is further provided with a release mechanism, and the release mechanism is used to release the connection between the buckle and the elastic sheet.

[0019] In a specific embodiment, a release mechanism for releasing the connection between the driving device and the driving-side claw is provided on the driving device.

[0020] In a specific embodiment, there are two clips, and the two clips are respectively located on both sides of the central axis of the first body. The release mechanism is used to release the connection between the clip and the spring piece by contacting the spring piece located on the same side of the central axis.

[0021] In a specific embodiment, the release mechanism is used to deform the elastic sheet by contacting the free end of the elastic sheet so as to disengage the bent section from the slot on the buckle.

[0022] In a specific embodiment, the length of the release mechanism along the width direction of the first body is less than 1 / 2 of the width of the first body.

[0023] In a specific embodiment, the curved section is ">"-shaped, or arc-shaped, or wavy-shaped.

[0024] In a specific embodiment, the first body includes a first side and a second side, the first side is non-parallel to the second side, the buckle is arranged at the first side, and the coupling device also includes a clip arranged at the second side for connecting with the driving device.

[0025] In a specific embodiment, there are multiple buckles, and the first buckle and the second buckle of the multiple buckles are respectively arranged on both sides of the central axis of the first body, and the central axis passes through the clip.

[0026] In a specific embodiment, the clamp further includes an instrument side clamping claw extending away from the drive plate, and the instrument side clamping claw is used to clamp the instrument.

[0027] In a specific embodiment, the engagement device further comprises a receiving slot provided on the first body, wherein the receiving slot has an instrument receiving end located in a middle region of the first body, and the instrument receiving end is used to receive an instrument shaft of the instrument.

[0028] In a specific embodiment, the instrument receiving end is located in a triangular area formed by the first buckle, the second buckle and the clip.

[0029] In a specific embodiment, the receiving slot is an inclined slot.

[0030] In a specific embodiment, the receiving slot includes an opening provided on the first side, the opening is communicated with the instrument receiving end, and the opening is located in a non-central area of the first side.

[0031] In a specific embodiment, the receiving groove includes a first side wall and a second side wall located on both sides of the central axis of the receiving groove, and the length of the first side wall is smaller than the length of the second side wall.

[0032] In a specific embodiment, the angle between the first side wall and the first side edge is an acute angle, and / or the angle between the second side wall and the second side edge is an acute angle.

[0033] In a specific embodiment, the first buckle is located between the first side wall and the first side edge.

[0034] In a specific embodiment, the coupling device further includes a second body perpendicular to the first body, the second body including a straight plate and curved plates located at both ends of the straight plate, and the second body is used to constrain the instrument during the process of coupling the instrument to the coupling device.

[0035] In a specific embodiment, the concave sides of the two curved plates face the center of the first body, so that the second body embraces the instrument box of the instrument when the instrument is engaged with the engagement device.

[0036] In a specific embodiment, a bullet-shaped guide bar is provided on the straight plate, and the guide bar is used to guide the instrument to engage with the engagement device.

[0037] In a specific embodiment, the instrument plate is provided with at least two or more positioning pins, and the two or more positioning pins are respectively located on both sides of the instrument receiving end, and the instrument box of the instrument is provided with a positioning groove for receiving the positioning pins, and or the driving plate is provided with at least two or more positioning grooves, and the two or more positioning grooves are respectively located on both sides of the instrument receiving end, and the instrument box of the instrument is provided with a positioning groove for receiving the positioning pins.

[0038] A second aspect of the present application provides a slave operating device, which includes a robotic arm and the above-mentioned coupling device, wherein the driving device is installed on the robotic arm, and the coupling device is connected to the driving device.

[0039] A third aspect of the present application provides a surgical robot, which includes a master operating device and the above-mentioned slave operating device, and the slave operating device performs corresponding operations according to instructions from the master operating device.

[0040] The connection structure of the coupling device of the present application uses a buckle to simultaneously connect the instrument and the driving device, which simplifies the connection structure and reduces the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1This is a schematic diagram of a slave operating device of a surgical robot according to one embodiment of the present application;

[0042] Figure 2 This is a schematic diagram of the main operating equipment of the surgical robot according to one embodiment of the present application;

[0043] Figure 3 This is a schematic diagram of an instrument according to an embodiment of the present application being mounted on an instrument support arm;

[0044] Figure 4 This is a schematic diagram of an embodiment of the present application before the engagement device is connected to the instrument and the drive device;

[0045] Figure 5 for Figure 4 A cross-sectional view of the joining device in FIG.

[0046] Figure 6 A perspective view of a device in one embodiment of the present application;

[0047] Figure 7 and Figure 8 Schematic diagram of the connection process between the engaging device and the driving device in one embodiment of the present application;

[0048] Figure 9 and Figure 10 A schematic diagram of a connection process between an instrument and a coupling device in one embodiment of the present application;

[0049] Figure 11 This is a schematic diagram of an apparatus according to an embodiment of the present application after being connected to a coupling device;

[0050] Figure 12 A schematic diagram of a process of separating a coupling device and a driving device in one embodiment of the present application;

[0051] Figure 13 A side view of a bonding device in one embodiment of the present application;

[0052] Figure 14 for Figure 13 A partial cross-sectional view of the coupling device after connection with the instrument and the drive device;

[0053] Figure 15 A top view of a bonding device in one embodiment of the present application;

[0054] Figure 16 This is a schematic diagram of a state in which the engaging device, the instrument, and the driving device are not connected in one embodiment of the present application;

[0055] Figure 17 This is a schematic diagram of the shape of a spring in one embodiment of the present application;

[0056] Figure 18 FIG16 is a schematic diagram of the process of releasing the connection between the engaging device and the instrument and the driving device in the embodiment shown in FIG16. DETAILED DESCRIPTION

[0057] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0058] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a central element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a central element at the same time. The so-called "engagement" herein refers to a connection in which two elements have power transmission. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or in operation in addition to the orientations depicted in the accompanying drawings. For example, if the device is flipped in the accompanying drawings, the elements or features described as being "below" or "beneath" other elements or features will be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0059] The terms "distal end" and "proximal end" as used herein are directional terms commonly used in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. "Coupled" as used herein can be broadly understood as any event in which two or more objects are connected in a manner that allows the absolutely coupled objects to operate together, such that there is no relative movement between the objects in at least one direction, such as a coupling of a protrusion and a groove, which can move relative to each other in the radial direction but not in the axial direction.

[0060] The term "instrument" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the instrument including an end effector, which may be a surgical tool for performing a surgical procedure, such as an electrocautery, a clamp, a stapler, a shears, an imaging device (such as an endoscope or an ultrasound probe), and the like. Some instruments used in embodiments of the present application further include providing an articulated component (such as a joint assembly) for the end effector so that the position and orientation of the end effector can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Furthermore, the end effector also includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by the surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system elements.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "and / or" and "and / or" as used herein include any and all combinations of one or more of the associated listed items.

[0062] The surgical robot of one embodiment of the present application is as follows Figure 1 and Figure 2 As shown, the surgical robot includes a slave operating device 10 and a master operating device 20. The slave operating device 10 is located on the patient's side for performing surgical operations. The slave operating device 10 includes multiple robotic arms 11 and instruments 12 mounted on the robotic arms 11. The instruments 12 may be electric cauterizers, clamps, staplers, shears, etc. for performing surgical operations, or cameras or other surgical instruments for acquiring images. The multiple instruments 12 are inserted into the patient's body through different incisions. The robotic arms are configured to be supported by pillars via multiple large arms. In other embodiments, the robotic arms of the slave operating devices may also be mounted on a wall or ceiling.

[0063] The robotic arm 11 further includes a parallelogram linkage mechanism, and the instrument 12 is detachably mounted on the distal end of the parallelogram linkage mechanism. The parallelogram linkage mechanism can allow the instrument 12 to move or multiple mechanical degrees of freedom (for example, all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.) to move. The parallelogram linkage mechanism is used to constrain the instrument 12 to move near the remote center of motion (RCM) on the surgical instrument that remains stationary relative to the patient. The remote center of motion is usually located at the position where the instrument enters the patient's body. In some other embodiments, another type of slave operating device has a different upper arm structure. Multiple instruments of this type of slave operating device are detachably mounted on a power mechanism at the distal end of the upper arm. Multiple instruments enter the human body from an incision, and multiple upper arms control the movement of the constrained instruments near the remote center of motion. For details, please refer to Chinese patent application CN201810664598.2.

[0064] The slave manipulation device 10 includes multiple robotic arms 11. An instrument support arm 14 is disposed at the distal end of the parallelogram-shaped structure of each robotic arm 11. Instrument support arm 14 is provided with a drive device 13. Drive device 13 is used to drive an end effector 17 at the distal end of an instrument 12. Drive device 13 can move along the proximal or distal end of instrument support arm 14. Instrument 12 is mounted on drive device 13 and can move with drive device 13 toward the distal or proximal end of instrument support arm 14, allowing the distal end of instrument 12 to enter or exit the human body.

[0065] During the use of the surgical robot, the entire instrument 12 is sterile, and the mechanical arm 11 and the drive device 13 of the operating device 10 are sterile. These sterile structures are isolated from the sterile environment by a sterile cover (not shown). Figure 3 As shown, the instrument box 19 of the instrument 12 is connected to the driving device 13 through the connecting device 18. The connecting device 18 is sterile treated during use, so the connecting device 18 can isolate the instrument 12 and the driving device 13 aseptically.

[0066] The end effector 17 is supported by the instrument shaft 16 of the instrument 12. In one embodiment, the instrument shaft 16 is hollow, and the transmission mechanism in the instrument box 19 is connected to the end effector 17 through a cable. The drive device 13 drives the transmission mechanism to move so that the transmission mechanism retracts or releases the cable and thereby manipulates the movement of the end effector 17.

[0067] The instrument shaft 16 passes through the poking card 15 and is constrained by the poking card 15. The poking card 12 is docked with the instrument support arm 13 through the poking card clamping device, so that the robotic arm 11 can drive the poking card 12 to move together. Since the poking card 12 is docked on the instrument support arm 13, the robotic arm 11 can drive the poking card 12 to rotate around a remote fixed point. At this time, the instrument shaft 16 passing through the poking card 12 also rotates around the remote fixed point, allowing the end effector 17 of the instrument 12 to have a larger range of motion inside the human body.

[0068] The surgical robot typically also includes an imaging system portion (not shown) that enables the operator to observe the surgical site from outside the patient's body. The imaging system typically includes a device with a video image acquisition function (e.g., an instrument 12 with an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the instrument 12 with image acquisition function includes an optical device with one or more imaging sensors (e.g., a CCD or CMOS sensor) that will acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the instrument 12 with image acquisition function, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly for processing and display on a video display device.

[0069] The master operating device 20 is located on the operator's side. The master operating device 20 is used to send control commands to the slave operating device 10 and display the images obtained by the slave operating device 10 according to the operator's operation. The operator can observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the master-slave operating device 20. By observing the three-dimensional images inside the patient's body, the operator can control the slave operating device 10 to perform related operations (such as performing surgery or obtaining images inside the patient's body) with an immersive feeling. The master operating device 20 includes a main console 21 and an input device 22. The main console 21 includes a display device, an armrest, a control signal processing system and an observation device, wherein the display device is used to display the images obtained by the above-mentioned imaging system. The armrest is used to place the operator's arms and / or hands so that the operator can operate the input device more comfortably. The observation device is used to observe the images displayed by the display device. According to actual needs, the armrest can also be omitted; or the observation device can be omitted, in which case direct observation can be performed. The operator controls the movement of the slave operating device 10 by operating the input device 22. The control signal processing system of the main console 21 processes the input signal of the input device 22 and then sends a control command to the slave operating device. The slave operating device 300 is used to respond to the control command sent by the main console 21 and perform corresponding operations.

[0070] See also Figure 4In one embodiment, the instrument 12 is engaged with the drive device 23 through a coupling device 280. The coupling device 280 includes a first body 281 and a plurality of clips rotatably arranged on the first body 281. The plurality of clips include a first clip 283 and a second clip 284. Specifically, the first clip 283 is rotatably arranged near the first side 2811 of the first body 281. The second clip 284 and the first clip 283 are symmetrically arranged on the first body 281 and can be rotated relative to the first body 281. That is, the first clip 283 and the second clip 284 are symmetrically arranged about the central axis X of the first body 281. The central axis X passes through the center of the first body 281 and divides the first body 280 into two along the length direction. The first clip 283 and the second clip 284 are used to connect the coupling device 280 to the drive device 23 and connect the instrument box 19 of the instrument 12 to the coupling device 280.

[0071] In one embodiment, Figure 5 and Figure 6 As shown, Figure 5 for Figure 4 In the cross-sectional view along the center plane of the first latch 283 and the second latch 284, the first body 281 includes an instrument plate 2814 for the instrument 12, and a drive plate 2815 for receiving the drive device 23. The first latch 283 and the second latch 284 are pivotally connected to the first body 281 through pivots 2833 and 2843. The first latch 283 and the second latch 284 both include an instrument side claw and a drive side claw, wherein the instrument side claw passes through the instrument plate 2814 and engages with the latch seats 1921 and 1922 on the instrument box 19, and the drive side claw passes through the drive plate 2815 and engages with the latch seats 233 and 234 on the drive device 23 to connect the instrument box 19 and the drive device 23 to the coupling device 280. Specifically, the instrument-side clamping claw 2831 of the first clamping buckle 283 is used to buckle with the buckle seat 1921 on the instrument box 19, and the instrument-side clamping claw 2841 of the second clamping buckle 284 is used to buckle with the buckle seat 1922 on the instrument box 19. The driving-side clamping claw 2832 of the first clamping buckle 283 is used to buckle with the buckle seat 233 at the proximal end of the driving device 23, and the driving-side clamping claw 2842 of the second clamping buckle 284 is used to buckle with the buckle seat 234 of the driving device 23.

[0072] The following describes in detail the process of joining the joining device 280 with the driving device 23 and the instrument 12. Figure 7As shown, when the coupling device 280 is coupled to the driving device 23, the protrusions 2834b, 2844b at the ends of the driving side claws 2832, 3842 of the first clip 283 and the second clip 284 first abut against the clip seats 233, 234 of the driving device 23. After the inclined surface 2331 of the clip seat 233 abuts against the protrusion 2834b and the inclined surface 2341 of the clip seat 234 abuts against the protrusion 2844b, as the coupling device 280 continues to move toward the driving device 23, the clip seats 233, 234 drive the first clip 283 and the second clip 284 to rotate around the pivot 2833, 2843, so that the driving side claws 2832, 3842 are opened outward and the elastic members 2835, 2845 are further compressed.

[0073] like Figure 8 As shown, as the engaging device 280 moves further toward the driving device 23, the protrusions 2834b, 2844b move along the inclined surfaces 2331, 2341 into the buckle seats 233, 234, and the elastic members 2835, 2845 elastically recover so that the first buckle 283 and the second buckle 284 rotate around the pivots 2833, 2843, thereby driving the side claws 2832, 3842 to move inwardly. The restoring elastic force of the elastic members 2835, 2345 is applied to the driving side claws 2832, 2842, so that the protrusion 2834b of the first buckle 283 The first and second buckles 283 and 284 are fastened to and retained on the fastening surface 2332 of the buckle seat 233. Similarly, the protrusion 2844b of the second buckle 284 is fastened to and retained on the fastening surface 2342 of the buckle seat 234. At this time, the first buckle 283 and the second buckle 284 are in a position substantially perpendicular to the first body 281. The elastic members 2835 and 2845 provide a restoring elastic force in addition to the deformation force of the first and second buckles 283 and 284 themselves. The restoring elastic force is applied to the driving side claws 2832 and 2842 to tightly engage with the buckle seats 233 and 234. In some other embodiments, the elastic members 2835 and 2845 can also be always in a stretched state. In this case, the elastic members 2835 and 2845 are arranged between the inner sides of the driving side claws 2832 and 2842 and the first body 281.

[0074] After the coupling device 280 is coupled with the driving device 23 , the driving disk 236 of the driving device 23 establishes a connection with the coupling disks 1921 , 1922 , 1923 , 1924 of the coupling device 280 , so that the motor 238 in the driving device 23 drives the coupling disks 1921 , 1923 , 1923 , 1924 to rotate via the driving disk 236 .

[0075] After the engagement device 280 is engaged with the drive device 23, the engagement of the instrument 12 and the engagement device 280 begins, as shown in FIG. Figure 9 As shown, Figure 9Only a portion of the instrument box 19 of the instrument 12 is shown. When the instrument box 19 is engaged with the engaging device 280, the inclined surface 1921a of the snap seat 1921 of the instrument box 19 will first contact the protrusion 2834a of the instrument side claw 2831. Similarly, the inclined surface 1922a of the snap seat 1922 will first contact the protrusion 2844a of the instrument side claw 2841. The inclined surfaces 1921a, 1922a of the snap seats 1921, 1922 of the instrument box 19 are in opposite directions to the inclined surfaces 2331, 2341 of the snap seats 233, 234 of the drive device 23. Since the driving side claws 2834, 2844 of the first and second clips 283, 284 are engaged in the clip seats 233, 234, during the engagement process of the instrument box 19 against the engagement device 280, the first and second clips 283, 284 are squeezed by the inclined surfaces 1921a, 1922a and will no longer rotate about the pivots 1833, 1834. Since the instrument side claws 2831, 2841 themselves have a certain amount of deformation, for example, the first and second clips 283, 284 are integrally formed of a plastic member having a certain elastic deformation, the instrument side claws 2831, 2841 are squeezed by the clip seats 1921, 1922 and deform and open outward.

[0076] like Figure 10 As shown, after the instrument box 19 is fully engaged with the engaging device 280, the instrument side claws 2831, 2841 elastically deform and return to their original shape, so that the protrusion 2834a of the instrument side claw 2831 is buckled onto the buckling surface 1921b of the buckle seat 1921, and the protrusion 2844a of the instrument side claw 2841 is buckled onto the buckling surface 1921b of the buckle seat 1922, so that the first buckle 283 and the second buckle 284 firmly connect the instrument box 19 and the engaging device 280. After the instrument 12 is engaged with the engaging device 280, the driving device 23 drives the engaging disks 1921, 1923, 1923, 1924 to rotate and then drives the instrument disks 1931, 1932, 1933, 1934 to rotate.

[0077] When it is necessary to separate the instrument 12 and the drive device 23 from the coupling device 280, as shown in FIG. Figure 11 As shown, Figure 10This is a top view of the instrument case 19 after it is engaged with the engagement device 280. When the operator presses the handle 1911 of the release mechanism 191 in the direction B, the handle 1911 rotates the connecting rod 1912 of the release mechanism 191, causing one end of the connecting rod 1912 to push the protrusions 2834a and 2844a in a direction opposite to the direction B, thereby disengaging the protrusions 2834a and 2844a from the engaging surfaces 1921b and 1922b, thereby disengaging the instrument case 19 from the engagement device 280. Because the first latch 283 and the second latch 284 are symmetrical about the central axis X, the two release mechanisms 191 can also be symmetrically arranged on either side of the instrument case 191, which further facilitates the operator's operation of the release mechanism 191 to separate the instrument 12 from the engagement device 280.

[0078] After removing the instrument 12, Figure 12 As shown, the operator pinches the side claws 2831, 2841 of the instrument toward the coupling device 280 along the C direction to rotate the first buckle 283 and the second buckle 284 around the pivots 2833, 2843, thereby driving the side claws 2832, 2842 to open in a direction away from the center of the coupling device 280, so that the protrusion 2844b of the driving side claw 2832 disengages from the fastening surface 2332 of the fastening seat 233, and the protrusion 2844b of the driving side claw 2842 disengages from the fastening surface 2342 of the fastening seat 234, thereby causing the driving device 23 to disengage from the coupling device 280.

[0079] In one embodiment, the first latch 283 and the second latch 284 are pivotally connected to the drive plate 2815, and / or the length of the instrument claws 2831, 2841 is greater than the length of the drive claws 2832, 2842, so that the force arm from the end of the instrument claws 2831, 2841 to the pivot 2833, 2843 is greater than the force arm from the end of the drive claws 2832, 2842 to the pivot 2833, 2843, so that the operator can use less force to release the drive device 23.

[0080] See again Figure 4In one embodiment, the coupling device 280 further includes a clip 285 disposed on a second side 2812 of the first body 281 and extending along the distal end of the first body 281. The second side 2812 is located on a side opposite the instrument support arm 14 and is non-parallel to the first side 2811. The central axis X passes through the clip 285, and the clip 285 is configured to engage with the snap seat 235 on the drive device 23. This creates a triangular relationship between the clip 285, the first snap 283, and the second snap 284. The receiving slot 282 for receiving the instrument shaft 16 is located between these three snaps. Consequently, all three sides of the coupling device 280 have snaps that engage with the drive device 23, ensuring a very secure connection between the coupling device 280 and the drive device. This prevents the coupling device 280 from falling off from the drive device 23 due to the instrument 12 being flipped under force during surgery, thereby improving surgical safety.

[0081] After the operator presses the release mechanism 191, the first buckle 283 and the second buckle 284 are released. At this time, only the clip 285 and the buckle seat 285 of the drive device 23 are still connected together. The operator only needs to hold the coupling device 280 and move the coupling device 280 away from the instrument support arm 14 to release the connection between the fifth buckle 285 and the buckle seat 235. There is no need to set up a separate release mechanism for releasing the fifth buckle, and it does not increase the difficulty for the operator to remove the coupling device 280.

[0082] See also Figure 13 and Figure 14 In one embodiment, the clamp 285 includes an instrument side claw 2852 extending toward the proximal end of the engagement device 280, and the instrument side claw 2852 is used to clamp the instrument box 19. Figure 14 As shown, the clamp 285 is pivotally connected to the first main body 281 of the coupling device 280 through a pivot 2853. After the coupling device 281 is coupled to the driving device 23, the driving side claw 2851 of the clamp 285 is engaged with the buckle seat 235 on the driving device 23. The elastic member 2855 located on the first main body 281 is used to bias the driving side claw 2851, thereby maintaining the driving side claw 2851 and the buckle seat 235 in a buckled state.

[0083] After the instrument 12 is connected to the coupling device 280, the instrument box 12 longitudinally squeezes the instrument side claw 2854 of the clamp 285, so that the protrusion 2854 at the proximal end of the instrument side claw 2852 is close to the side of the instrument box 19, and then the instrument side claw 285 rotates clockwise around the pivot 2853, so that the driving side claw 2851 and the buckle seat 285 are more tightly engaged. The instrument side claw 2852 of the clamp 285 clamps the instrument box 19 to prevent the instrument 12 from deflecting away from the instrument support arm 14, so that the instrument 12 is more firmly engaged on the coupling device 280.

[0084] See Figure 15 In one embodiment, a receiving groove 282 for receiving the instrument shaft 16 of the instrument 12 is provided on the first body 281 of the coupling device 280. The receiving groove 282 is an oblique groove. Specifically, the instrument receiving end 2821 of the receiving groove 282 is located in the central area of the first body 281, and is used to receive the instrument shaft 16 after the instrument 12 is connected to the coupling device 280. The opening 2822 of the receiving groove 282 is opened in a non-central area on the first side 2811 of the first body 281. The opening 2822 of the receiving groove 2822 is connected to the instrument receiving end 2821. The angle α between the central axis Y of the receiving groove 282 and the central axis X of the first body is non-right angle, so that the receiving groove 282 forms a non-right angle with the side of the first body 281. Furthermore, α is an acute angle, such that the opening 2822 of the receiving groove 282 faces outward, i.e., the distance from the center of the opening 2822 to the first side 2812 is shorter than the distance from the center of the instrument receiving end 2821 to the first side 2812. In other words, the first side wall 2823 of the receiving groove 282 forms an acute angle with the first side 2811 of the first body 281, and the second side wall 2824 of the receiving groove 282 forms an acute angle with the second side 2812 of the first body 281. The length s1 of the first side wall 2823 is shorter than the length s2 of the second side wall 2824. The first side wall 2823 and the second side wall 2823 refer to the straight portions of the groove wall of the receiving groove 282.

[0085] Since the receiving groove for accommodating the instrument shaft 16 is the receiving groove 282, compared with the receiving groove perpendicular to the first side 2811, the space of the first main body 281 part between the first side wall 2812 of the receiving groove 282 and the first side 2811 is larger, so that the volume of the first clip 283 can be made larger. The larger volume of the first clip 283 and the second clip 281 can make the connection between the instrument 12 and the driving device 23 and the coupling device 280 more secure.

[0086] In addition, since the second side 2812 of the first body 280 is facing the operator during use, the opening 2822 of the receiving groove 282 is closer to the operator than the instrument receiving end 2821. In the process of loading the instrument 12 into the coupling device 280, the operator holds the instrument 12 and moves the instrument axis 16 from the opening 2822 of the receiving groove 282 to the instrument receiving end 2821 along its central axis Y, so that the operator can load the instrument 12 more easily.

[0087] like Figure 15As shown, in one embodiment, a plurality of engaging discs 2861, 2862, 3863, 3864 of the engaging device 280 are distributed around the first body 281. The plurality of engaging discs 2861, 2862, 2863, 2864 are used to engage the instrument disc 1931 of the instrument 12 and the drive disc 236 of the drive device 23. The receiving groove 282 is located in the middle of the plurality of engaging discs 2861, 2862, 3863, 3864. Specifically, the first buckle 283 is located between the first side wall 2823 of the receiving groove 282 and the first connecting disc 2861, and the second connecting disc 2862 is located between the second connecting disc 2812 and the second side wall 2824.

[0088] In one embodiment, the instrument receiving end 2821 of the receiving groove 282 is located within the triangular region formed by the first buckle 283, the second buckle 284 and the clamp 285. Thus, no matter which direction the instrument 12 is flipped, the three buckles can firmly lock the instrument box of the instrument 12. Further, the distance from the center of the instrument receiving end 2821 to the center plane AA of the first buckle 283 and the second buckle 284 is L. The smaller the distance L, the smaller the torque exerted by the instrument on the first buckle 283 and the second buckle 284. Preferably, L is less than the width M of the first buckle 283. Further still, L is less than half of the width M of the first buckle, that is, L < M / 2, so that the instrument 12 is stably connected to the engaging device 280.

[0089] As Figure 6 and Figure 11 shown, corresponding to the plurality of engaging discs 2861, 2862, 2863, 2864, a plurality of instrument discs 1931, 1932, 1933, 1934 are also located around the engaging surface of the instrument box 19. Among them, the first engaging disc 283 is located between the first buckle 283 and the third side 2813 of the engaging device 280, and the second engaging disc 2862 is located between the second side 2812 and the second side wall 2824 of the receiving groove 282. The plurality of instrument discs 1931, 1932, 1933, 1934 are respectively engaged to a plurality of winches 1921, 1922, 1923, 1924 located within the instrument box 19. The plurality of drive discs 236 drive the instrument discs 1931, 1932, 1933, 1934 to rotate through the plurality of engaging discs 2861, 2862, 2863, 2864, thereby driving the plurality of winches 1921, 1922, 1923, 1924 to rotate. Therefore, the corresponding plurality of winches 1921, 1922, 1923, 1924 are also located near the four corners of the instrument box 19. The proximal end of the instrument shaft 16 is located in the central region of the instrument box 19. One end of the plurality of drive cables 1925 is wound around the upper parts of the winches 1921, 1922, 1923, 1924, and the other end extends through the instrument shaft 16 to the distal end of the instrument shaft 16.

[0090] Since the proximal end of the instrument shaft 16 is located in the central area of the instrument box 19, and multiple winches 1921, 1922, 1923, and 1924 can be distributed around the instrument shaft 16, the angles between the drive cables 1925 wound on different winches can be relatively large, thereby reducing the interference between the drive cables 1925 in the instrument box 19 and facilitating the wiring of the drive cables 1925.

[0091] See again Figure 4 、 Figure 14 and Figure 15 In one embodiment, a second body 287 extends from the proximal end of the third side of the coupling device 280. The second body 287 is perpendicular to the first body 282 and is an embracing plate structure to constrain the instrument 12 during the process of coupling to the coupling device 280. Specifically, the second body 287 includes a straight plate 2871 located in the middle area of the third side 2813 and two curved plates 2872 located at both ends of the third side 2813. The concave surfaces of the two curved plates 2872 face the center of the coupling device 280. The guide end surface 192 of the instrument case 19 of the instrument 12, which is adjacent to the second body 287, has rectangular rounded corners 1911 at both ends. Between the two rectangular rounded corners 1911 is a flat end surface 1912 aligned with the straight plate 2871 of the second body 287. In this way, during the process of loading the instrument 12 into the coupling device 280, the guide end surface 192 of the instrument box 19 slides from its proximal end to the distal end along the second body 287 of the coupling device 280. When the guide end surface 192 slides into the encircling area formed by the two curved panels 2872 of the second body 287, the rectangular rounded corners 1911 of the guide end surface 192 are constrained in the encircling area, preventing the instrument box 19 from deviating from its direction during the loading process, thereby improving the efficiency and accuracy of loading.

[0092] In one embodiment, a guide bar 2873 is further provided on the flat end surface 1912 of the second body 287 of the engaging device 280. The guide bar 2873 is in the shape of a bullet, that is, the guide bar 2873 includes a bullet-shaped front portion 2874 and a long strip-shaped rear portion 2875. Figure 7 As shown, a guide groove 1913 is defined on the straight plate 2871 of the guide end surface 192 of the instrument 12. The width of the bottom groove 1914 of the guide groove 1913 is greater than the width of the top groove 1915. When the instrument 12 is loaded onto the guide engagement device 280, the front portion 2874 of the guide bar 2873 first enters the bottom groove 1914. As the instrument 12 moves further distally, the front portion 2874 of the guide bar 2873 moves along the bottom groove 1914 toward the top groove 1915. After the instrument 12 is successfully engaged with the engagement device 280, the front portion 2874 of the guide bar 2873 is accommodated in the top groove 1915 of the guide groove 1913, and the rear portion 2875 of the guide bar 2873 is accommodated in the bottom groove 1914 of the guide groove 1913.

[0093] The guide strips 2873, guide grooves 1913, and the encircling second body 287 work together to further improve the accuracy and efficiency of loading the device 12. In some embodiments, there are two guide strips 2873 and two guide grooves 1913. The cooperation of the two guide strips 2873 and the two guide grooves 1913 can further improve the accuracy and efficiency of loading the device 12.

[0094] See again Figure 4 and Figure 6 In one embodiment, the instrument engagement surface of the engagement device 280 includes a positioning pin 288, and the engagement surface of the instrument 12 includes a positioning groove 1941 that cooperates with the positioning pin 288. After the instrument 12 is engaged with the engagement device 280, the first positioning pin 288 is inserted into the first positioning groove 1941. The insertion of the first positioning pin 288 into the first positioning groove 1941 further constrains the movement of the instrument 12, thereby more securely engaging the instrument 12 with the engagement device 280. Furthermore, there are two first positioning pins 288 and two first positioning grooves 1941. The two first positioning pins 288 are located on either side of the instrument receiving end 2821 of the receiving groove 282 and are located on the central axis X of the engagement device. The two first positioning pins 288 and the two first positioning grooves 1941 can effectively inhibit the rotation of the instrument 12.

[0095] In one embodiment, a second locating pin 237 is provided on the engagement surface of the drive device 13. Correspondingly, a second locating groove (not shown) is provided on the drive engagement surface of the engagement device 280 near the drive device 13. After the engagement device 280 engages with the drive device 13, the second locating pin 237 is inserted into the second locating groove. Insertion of the second locating pin 237 into the second locating groove can inhibit the overall rotation of the device 12 and the engagement device 280. In some embodiments, there are two second locating pins 237 and two second locating grooves, each located on both sides of the receiving groove 232 of the drive device 23.

[0096] In one embodiment, if Figure 16As shown, the buckle 383 of the coupling device 380 is of a separate type. Specifically, the first body of the coupling device 380 includes an instrument plate 3813 and a drive plate 3814. The instrument-side claw 3831 and the drive-side claw 3832 of the buckle 383 are separate from each other and are not integral. That is, the instrument-side claw 3831 of the buckle 383 is fixedly mounted on the instrument plate 3813, and the drive-side claw 3832 is fixedly mounted on the drive plate 3814. The drive-side claw 3832 extends from the surface of the drive plate 3814 in a direction away from the instrument plate 3813, and the instrument-side claw 3831 extends from the surface of the instrument plate 3813 in a direction away from the drive plate 3814. In some embodiments, the drive-side claw 3831 and the instrument plate 3813 are integrally formed, and the drive claw 3832 and the drive plate 3814 are integrally formed. This type of coupling device 380 is more convenient to manufacture.

[0097] A spring piece 321 is provided in the instrument 32, and the spring piece 321 is used to cooperate with the instrument side claw 3831 of the buckle 383 to connect the instrument 32 to the coupling device 383. Specifically, the spring piece 321 includes a curved section 3212 and a free end 3211. The instrument side claw 3831 is provided with a slot 3833 for receiving the curved end 3212. After the curved end 3212 is snapped into the slot 3833, the instrument 32 is connected to the coupling device 383.

[0098] Similarly, a spring piece 331 is provided in the driving device 33, and the spring piece 331 is used to cooperate with the driving side claw 3832 of the buckle 383 to connect the driving device 33 to the coupling device 380. Specifically, the spring piece 331 includes a bent section 3311 and a free end 3212. The driving side claw 3834 is provided with a slot 3834 for receiving the bent end 3312. After the bent end 3312 is inserted into the slot 3834, the driving device 33 establishes a connection with the coupling device 380.

[0099] The curved sections 3212, 3312 of the spring pieces 321, 331 are shaped like “>”, and the slots 3833, 3834 have corresponding shapes. When the curved ends 3212, 3312 of the “>” are engaged with the slots 3833, 3834, it is more difficult for the instrument 32 and the drive device 33 to be separated from the engagement device 380. In other embodiments, the curved sections 3212, 3312 may also be arc-shaped or wavy-shaped, such as Figure 17 As shown, the curved section 4212 of the spring is wavy, and the corresponding slot of the buckle 4831 is also wavy.

[0100] The apparatus 32 and the driving device 33 are further provided with release mechanisms 322, 332, and the release mechanism 322 is used to release the connection between the spring pieces 321, 331 and the buckle 383, so as to separate the apparatus 32, the driving device 33 and the engaging device 380. Specifically, Figure 18As shown, when the operator pushes the release mechanism 322, 332 in the direction P, the release mechanism 322 deforms the spring piece 321 by contacting the free end 3211 of the spring piece 321, thereby causing the bent end 3212 to disengage from the slot 3833, thereby separating the spring piece 321 from the buckle 383. The release mechanism 332 deforms the spring piece 331 by contacting the free end 3312 of the spring piece 331, thereby causing the bent end 3311 to disengage from the slot 3834, thereby separating the spring piece 332 from the buckle 383. Since the release mechanism 332 for releasing the connection between the coupling device 380 and the drive device 33 is provided on the drive device 33, the operations of releasing the device 32 and releasing the drive device 33 are independent of each other and do not need to be connected to each other. Figure 10 As in the illustrated embodiment, the connection with the coupling device must be released in order to release the connection between the drive device and the coupling device. This structure for independently releasing the connection with the coupling device allows the coupling device 383 and the drive device 33 to be disconnected even if a fault occurs in the connection between the instrument 32 and the coupling device 380. This allows the faulty instrument 32 and coupling device 380 to be removed from the drive device 33 and replaced with a new coupling device 380 and instrument 32, making surgery safer. In some embodiments, a release mechanism 332 for releasing the connection between the coupling device 383 and the drive device 33 is provided on the coupling device 380.

[0101] Furthermore, there are two buckles 383, and the two buckles 383 are respectively located at the central axis of the first body of the coupling device 380 (refer to Figure 4 On either side of the central axis (X) of the coupling device, the release mechanisms 322, 332 are used to release the connection between the buckle 383 and the spring pieces 321, 331 by contacting the spring pieces 321, 331 on the same side of the central axis. The release mechanisms 322, 332 are integrally "L"-shaped. Because the release mechanisms 322, 332 contact the spring pieces 321, 331 on the same side of the central axis, the length L of the release mechanisms 322, 332 along the width of the first body of the coupling device 383 is relatively short, thereby increasing the structural strength of the release mechanisms 322, 332 and preventing them from breaking, thereby ensuring a safer surgical procedure. In some embodiments, the length L of the release mechanisms 322, 332 along the width of the first body is less than 1 / 2 of the width of the first body.

[0102] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A coupling device for coupling an instrument and a drive device, characterized in that: The joining device comprises: a first body, the first body comprising an instrument plate and a driving plate disposed opposite to the instrument plate; A buckle connected to the first body, the buckle comprising a drive-side claw and an instrument-side claw, the drive-side claw being used to connect to the drive device, and the instrument-side claw being used to connect to the instrument; The first body includes a first side and a second side, the first side being non-parallel to the second side, the buckle being provided on the first side, the engaging device further including a clip provided on the second side for connecting to the driving device, the buckle being multiple, the first and second clips of the multiple clips being provided on either side of a central axis of the first body, respectively, the central axis passing through the clip, the engaging device further including a receiving slot provided on the first body, the receiving slot having an instrument receiving end located in a central region of the first body, the instrument receiving end of the receiving slot being located within a triangular region formed by the first, second, and clips, the receiving slot being an oblique slot, the instrument receiving end being used to receive an instrument shaft of the instrument, the receiving slot including an opening provided on the first side, the opening communicating with the instrument receiving end, the opening being located in a non-central region of the first side, the receiving slot including a first sidewall and a second sidewall located on either side of the central axis of the receiving slot, the length of the first sidewall being less than the length of the second sidewall, the angle between the first sidewall and the first sidewall being acute, and the angle between the second sidewall and the first sidewall being acute.

2. The joining device according to claim 1, wherein: The instrument side claw passes through the instrument plate and extends in a direction away from the drive side claw, the drive side claw passes through the drive plate and extends in a direction away from the instrument side claw, and the buckle is pivotally connected to the first body through a pivot.

3. The joining device according to claim 2, wherein: The buckle is pivotally connected to the driving plate via the pivot.

4. The joining device according to claim 1, wherein: The length of the instrument side clamping jaw is greater than the length of the drive side clamping jaw.

5. The joining device according to claim 2, wherein: The engaging device further includes an elastic member abutting between the driving-side claw and the driving plate.

6. The joining device according to claim 1, wherein: The end of the instrument side clamping jaw and / or the end of the drive side clamping jaw has a protrusion, and the protrusion of the instrument side clamping jaw and / or the drive side clamping jaw is used to correspondingly engage with the snap seat on the instrument and / or the drive device.

7. The joining device according to claim 1, wherein: The instrument side clamping jaw and the drive side clamping jaw are separated from each other.

8. The joining device according to claim 7, wherein: The instrument side clamping claw is fixedly mounted on the instrument plate, and the drive side clamping claw is fixedly mounted on the drive plate.

9. The joining device according to claim 1, wherein: The driving side claw is integrally formed with the driving plate, and the driving side claw extends from the surface of the driving plate in a direction away from the instrument plate; and / or the instrument side claw is integrally formed with the instrument plate, and the instrument side claw extends from the surface of the instrument plate in a direction away from the driving plate.

10. The joining device according to any one of claims 7 to 9, characterized in that: The driving device is provided with a spring piece, which is used to abut the driving side claw to connect the coupling device to the driving device; the instrument is provided with a spring piece, which is used to abut the driving side claw to connect the instrument to the coupling device.

11. The joining device according to claim 10, wherein: The elastic sheets of the driving device and the instrument include a curved section, and the buckle has a slot corresponding to the shape of the curved section. The curved section is used to be snapped into the slot to connect the coupling device with the driving device and the instrument.

12. The joining device according to claim 10, wherein: The apparatus and the driving device are further provided with a release mechanism, which is used to release the connection between the buckle and the driving device and the spring piece of the apparatus.

13. The joining device according to claim 12, wherein: A length of the release mechanism along a width direction of the first body is less than 1 / 2 of a width of the first body.

14. The joining device according to claim 11, wherein: The curved section is in the shape of ">" or circular arc or wave.

15. The joining device according to claim 1, wherein The clamp further includes an instrument side clamping claw extending away from the drive plate, and the instrument side clamping claw of the clamp is used to clamp the instrument.

16. The joining device according to claim 1, wherein: The first buckle is located between the first side wall and the first side edge.

17. The joining device according to claim 1, wherein: The coupling device further comprises a second body perpendicular to the first body, the second body comprising a straight plate and curved plates at both ends of the straight plate, and the second body is used to constrain the instrument during the process of coupling the instrument to the coupling device.

18. The joining device according to claim 17, wherein: The concave sides of the two curved plates face the center of the first body, so that the second body embraces the instrument box of the instrument when the instrument is engaged with the engagement device.

19. The joining device according to claim 18, wherein: A bullet-shaped guide bar is provided on the straight plate, and the guide bar is used to guide the instrument to engage with the engaging device.

20. The joining device according to claim 1, wherein The instrument plate is provided with at least two or more positioning pins, and the two or more positioning pins are respectively located on both sides of the instrument receiving end, and the instrument box of the instrument is provided with a positioning groove for receiving the two or more positioning pins; or the driving plate is provided with at least two or more positioning grooves, and the two or more positioning grooves are respectively located on both sides of the instrument receiving end, and the instrument box of the instrument is provided with a positioning pin for receiving the two or more positioning grooves.

21. A slave operating device, characterized in that: The slave operating device includes a robotic arm and the engaging device according to any one of claims 1 to 20, the driving device is mounted on the robotic arm, and the engaging device is connected to the driving device.

22. A surgical robot, characterized in that: The surgical robot includes a master operating device and a slave operating device as claimed in claim 21, and the slave operating device performs corresponding operations according to instructions of the master operating device.

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