A rapid alignment mechanism for a surgical instrument box and a power box

Abstract

The present invention relates to a quick alignment mechanism for a surgical instrument box and a power box, which includes a power box and an instrument box. The lower clutch plate on the front cover plate of the power box is correspondingly arranged with the upper clutch plate on the instrument box, and the notch of the upper clutch plate is completely fitted with the protrusion of the lower clutch plate. A positioning pin and a guiding buckle are arranged on the front cover plate, and the positioning pin and the guiding buckle are respectively inserted into the pin hole and the buckle groove of the instrument box. A driving motor is installed in the power box, and an output shaft is installed at its output end. The lower clutch plate slides back and forth along the output shaft. A compression spring is installed at the front section of the output shaft. When the lower clutch plate is pushed by an external force towards the driving motor, the compression spring provides a reset force, so that when the external force disappears, the lower clutch plate is pushed back to its original position by the compression spring. The lower clutch plate rotates under the drive of the motor and is engaged with the upper clutch plate to achieve quick alignment. The present invention can achieve quick alignment and quick installation of replacing instruments during the surgical process, and has the advantages of simple structure, high reliability, low cost and convenient operation.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and more particularly to a rapid alignment mechanism for a surgical instrument cassette and a power cassette. Background Art

[0002] With the development and progress of technology, minimally invasive surgical robots have been accepted by more and more hospitals and doctors worldwide and are used in various clinical surgical operations. During robotic surgery, it is often necessary to replace various different surgical instruments to perform operations such as clamping, cutting, suturing, and knotting. However, the power cassette used to drive the movement of the surgical instrument is usually not replaced and is fixed on the end operating arm. Therefore, enabling the rapid replacement of surgical instruments is an important function of minimally invasive surgical robots. The key to rapid replacement lies in the ability to conveniently achieve rapid alignment of the surgical instrument cassette and the power cassette under manual operation, which has important practical significance for the smooth progress of robotic surgery.

[0003] Regarding the invention patent application with the publication number CN111000636A, although some mechanisms of the proposed drive cassette can achieve the rapid replacement of surgical instruments, there are still problems such as complex structure, high processing cost, susceptibility to processing and assembly errors, and low reliability. To adapt to the characteristics and clinical needs of minimally invasive robotic surgery, surgical instruments should be able to rapidly align with the power cassette, and the relevant mechanisms should have characteristics such as low cost, high reliability, and simple operation. Summary of the Invention

[0004] The object of the present invention is to solve the above-mentioned deficiencies and provide a rapid alignment mechanism for a surgical instrument cassette and a power cassette, which can achieve rapid alignment and rapid installation of the replaced instrument during the operation, and at the same time has the advantages of simple structure, high reliability, low cost, and simple operation.

[0005] To achieve the above object, a quick alignment mechanism for a surgical instrument box and a power box is designed, which includes a power box 1 and an instrument box 4. A front cover plate 3 is installed at the front end of the power box 1, and a tail cover 13 is installed at the rear end of the power box 1. The lower clutch plate 2 on the front cover plate 3 of the power box 1 is correspondingly arranged with the upper clutch plate 5 on the instrument box 4. A notch is provided on the surface of the upper clutch plate 5, and a protrusion is provided on the surface of the lower clutch plate 2, and the notch of the upper clutch plate 5 is completely fitted with the protrusion of the lower clutch plate 2. A positioning pin 6 and a guiding buckle 14 with guiding function are provided on the front cover plate 3. A pin hole 7 and a buckle groove 15 are provided at the rear end of the instrument box 4. The pin hole 7 and the buckle groove 15 are respectively arranged opposite to the positioning pin 6 and the guiding buckle 14 on the front cover plate 3. The positioning pin 6 and the guiding buckle 14 are respectively inserted into the pin hole 7 and the buckle groove 15 to achieve the quick alignment of the power box 1 and the instrument box 4. A driving motor 12 is installed in the power box 1, and an output shaft 10 is installed at the output end of the driving motor 12. The output shaft 10 is fixed to the output end of the driving motor 12 by a set screw 11. The output shaft 10 is arranged in the front cover plate 3 and extends into the lower clutch plate 2. The lower clutch plate 2 is slidably connected to the output shaft 10 and slides back and forth along the output shaft 10. A compression spring 9 is installed at the front section of the output shaft 10. The compression spring 9 is arranged between the output shaft 10 and the lower clutch plate 2. The compression spring 9 provides a restoring force when the lower clutch plate 2 is pushed by an external force towards the driving motor 12 direction, so that when the external force disappears, the lower clutch plate 2 is pushed back to its original position by the compression spring 9. The lower clutch plate 2 rotates under the drive of the driving motor 12 and is fitted with the upper clutch plate 5 on the instrument box 4 to achieve quick alignment.

[0006] Preferably, a guiding key is provided in the middle section of the output shaft 10, and the guiding key cooperates with the key slot hole on the lower clutch plate 2 on the front cover plate 3. The lower clutch plate 2 slides back and forth on the output shaft 10 through the guiding key and the key slot hole.

[0007] Preferably, bolts 8 are installed on both sides of the lower clutch plate 2, and the heads of the bolts 8 block both sides of the lower clutch plate 2 to prevent the lower clutch plate 2 from completely disengaging from the output shaft 10.

[0008] Preferably, four lower clutch plates 2 on the power box 1 and four upper clutch plates 5 on the instrument box 4 are provided, and they are all arranged in a rectangular distribution.

[0009] Preferably, the notch on the upper clutch plate 5 and the protrusion on the lower clutch plate 2 are both symmetrically arranged.

[0010] Preferably, two positioning pins 6 are provided, and they are symmetrically arranged on the left and right in the middle of the front cover plate 3. The guiding buckles 14 are symmetrically arranged on the left and right on both sides of the front cover plate 3. The guiding buckle 14 is a rod with a hook shape.

[0011] Compared with the prior art, the present invention has the following advantages:

[0012] (1) During the process of replacing the surgical instrument box in the present invention, when the instrument box is fully docked and fitted with the power box, some of the upper clutch plates and the lower clutch plates are not fully aligned. At this time, the lower clutch plate will be pushed a certain distance towards the motor direction by the upper clutch plate. When the driving motor rotates, the lower clutch plate rotates accordingly. When the protrusion on the lower clutch plate happens to coincide with the notch on the upper clutch plate, the lower clutch plate will reset under the action of the spring, so that the upper clutch plate and the lower clutch plate are engaged together, achieving the purpose of quick alignment;

[0013] (2) The notches on the upper clutch plate and the protrusions on the lower clutch plate of the present invention are both symmetrically arranged, so that when the motor drives the lower clutch plate to rotate, it can reach the position where it is engaged with the upper clutch plate faster than the asymmetric arrangement, saving the alignment time;

[0014] (3) The present invention can be used to achieve the quick alignment and docking of the surgical instrument box and the power box of the minimally invasive surgical robot, and can adapt to the characteristics and clinical needs of minimally invasive robotic surgery;

[0015] (4) The present invention can achieve the quick alignment and quick installation of replacing instruments during the surgical process, and at the same time has the advantages of simple structure, high reliability, low cost, and easy operation. [Description of the Drawings]

[0016] Figure 1 is a schematic structural view when the power box and the instrument box of the present invention are fitted together;

[0017] Figure 2 is a schematic structural view of the instrument box of the present invention;

[0018] Figure 3 is a schematic structural view of the power box of the present invention;

[0019] Figure 4 is an exploded view of the power box of the present invention;

[0020] Figure 5 is a schematic internal structural view of the power box of the present invention;

[0021] Figure 6 is an exploded view at the driving motor of the present invention;

[0022] In the figure: 1. Power box; 2. Lower clutch plate; 3. Front cover plate; 4. Instrument box; 5. Upper clutch plate; 6. Positioning pin; 7. Pin hole; 8. Bolt; 9. Compression spring; 10. Output shaft; 11. Set screw; 12. Driving motor; 13. Tail cover; 14. Guide buckle; 15. Buckle groove. [Detailed Embodiments]

[0023] The present invention provides a quick alignment mechanism for a surgical instrument box and a power box, including a power box 1 and an instrument box 4. A front cover plate 3 is installed at the front end of the power box 1, and a tail cover 13 is installed at the rear end of the power box 1. The lower clutch plate 2 on the front cover plate 3 of the power box 1 is correspondingly arranged with the upper clutch plate 5 on the instrument box 4. A notch is provided on the surface of the upper clutch plate 5, and a protrusion is provided on the surface of the lower clutch plate 2, and the notch of the upper clutch plate 5 is completely fitted with the protrusion of the lower clutch plate 2; a positioning pin 6 and a guiding buckle 14 with a guiding function are provided on the front cover plate 3. A pin hole 7 and a buckle groove 15 are provided at the rear end of the instrument box 4. The pin hole 7 and the buckle groove 15 are respectively arranged opposite to the positioning pin 6 and the guiding buckle 14 on the front cover plate 3. The positioning pin 6 and the guiding buckle 14 are respectively inserted into the pin hole 7 and the buckle groove 15 to achieve the quick alignment of the power box 1 and the instrument box 4; a driving motor 12 is installed in the power box 1, and an output shaft 10 is installed at the output end of the driving motor 12. The output shaft 10 is fixed to the output end of the driving motor 12 by a set screw 11. The output shaft 10 is arranged in the front cover plate 3 and extends into the lower clutch plate 2. A guiding key is provided in the middle section of the output shaft 10, and the guiding key is matched with the key groove hole on the lower clutch plate 2 on the front cover plate 3. The lower clutch plate 2 slides back and forth on the output shaft 10 through the guiding key and the key groove hole; a compression spring 9 is installed at the front section of the output shaft 10. The compression spring 9 is arranged between the output shaft 10 and the lower clutch plate 2. The compression spring 9 provides a restoring force when the lower clutch plate 2 is pushed by an external force towards the driving motor 12 direction, so that when the external force disappears, the lower clutch plate 2 is pushed back to its original position by the compression spring 9. The lower clutch plate 2 rotates under the drive of the driving motor 12 and is fitted with the upper clutch plate 5 on the instrument box 4 to achieve quick alignment.

[0024] Wherein, bolts 8 are installed on both sides of the lower clutch plate 2, and the heads of the bolts 8 are blocked on both sides of the lower clutch plate 2, so as to prevent the lower clutch plate 2 from completely coming out of the output shaft 10. Four lower clutch plates 2 on the power box 1 and four upper clutch plates 5 on the instrument box 4 are provided, and they are all arranged in a rectangular distribution, and the driving motor 12, etc. are also correspondingly arranged, so as to achieve alignment faster and more accurately. Two positioning pins 6 are provided, and they are symmetrically arranged on the left and right in the middle of the front cover plate 3. The guiding buckles 14 are symmetrically arranged on both sides of the front cover plate 3 in a left-right symmetry. The guiding buckle 14 is a rod with a hook-shaped design, and its hook-shaped structure can be used for better guiding.

[0025] The following further illustrates the present invention in conjunction with specific embodiments:

[0026] As attached Figure 1As shown in the figure, it is a schematic diagram of the surgical instrument box 4 and the power box 1 connected and working together during the surgical process. The notch of the upper clutch plate 5 on the surgical instrument box 4 needs to be completely engaged with the protrusion on the surface of the lower clutch plate 2 on the power box 1, so as to transfer the power from the power box 1 to the surgical instrument box 4. Since the positions of the notch of the upper clutch plate 5 and the protrusion on the surface of the lower clutch plate 2 are random when replacing surgical instruments, a mechanism as described in the present invention is required to enable the power box 1 and the instrument box 4, and the upper clutch plate 5 and the lower clutch plate 2 to be quickly aligned when the operator replaces the instrument. Specifically, a front cover plate 3 is installed in front of the power box 1, on which a positioning pin 6 and a buckle 14 with a guiding function are provided. The positioning pin 6 can be inserted into the pin hole 7 on the instrument box, and the guiding buckle 14 can be inserted into the buckle groove 15 on the instrument box, so as to realize the quick alignment of the power box 1 and the instrument box 4.

[0027] At the same time, an output shaft 10 is installed on the shaft of the drive motor 12 and fixed to the motor shaft through a set screw 11. A guiding key is provided in the middle section of the output shaft 10 and is matched with the keyway hole on the lower clutch plate 2, so that the lower clutch plate 2 can slide back and forth on the output shaft 10. A compression spring 9 is installed at the front section of the output shaft 10. When the lower clutch plate 2 is pushed towards the motor direction by an external force, the compression spring 9 can provide a certain restoring force, so that the lower clutch plate 2 can be pushed back to its original position by the spring when the external force disappears. Bolts 8 are installed on both sides of the lower clutch plate 2, and the heads of the bolts 8 can prevent the lower clutch plate 2 from completely disengaging from the output shaft 10.

[0028] During the process of replacing the surgical instrument box, when the instrument box 4 and the power box 1 are completely docked and fitted, some of the upper clutch plate 5 and the lower clutch plate 2 are not completely aligned. At this time, the lower clutch plate 2 will be pushed towards the motor direction by the upper clutch plate 5 for a certain distance. When the drive motor 12 rotates, the lower clutch plate 2 will also rotate accordingly. When the protrusion on the lower clutch plate 2 happens to coincide with the notch on the upper clutch plate 5, the lower clutch plate 2 will be reset under the action of the spring 9, so that the upper clutch plate 5 and the lower clutch plate 2 are engaged together, achieving the purpose of quick alignment. The notch on the upper clutch plate 5 and the protrusion on the lower clutch plate 2 are both symmetrically arranged, so that when the motor drives the lower clutch plate 2 to rotate, it can reach the position where it is engaged with the upper clutch plate 5 faster than the asymmetric arrangement, saving the alignment time.

[0029] In summary, the mechanism described in the present invention can realize the quick alignment and quick installation of replacing instruments during the surgical process, and at the same time has the advantages of simple structure, high reliability, low cost, and easy operation.

[0030] The present invention is not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A quick alignment mechanism for a surgical instrument box and a power box, comprising a power box (1) and an instrument box (4), characterized in that: A front cover plate (3) is installed at the front end of the power box (1), and a tail cover (13) is installed at the rear end of the power box (1). The lower clutch disc (2) on the front cover plate (3) of the power box (1) is arranged corresponding to the upper clutch disc (5) on the instrument box (4). A notch is provided on the surface of the upper clutch disc (5), and a protrusion is provided on the surface of the lower clutch disc (2), and the notch of the upper clutch disc (5) is completely fitted with the protrusion of the lower clutch disc (2). A positioning pin (6) and a guiding buckle (14) with a guiding function are provided on the front cover plate (3). A pin hole (7) and a buckle groove (15) are provided at the rear end of the instrument box (4). The pin hole (7) and the buckle groove (15) are respectively arranged opposite to the positioning pin (6) and the guiding buckle (14) on the front cover plate (3). The positioning pin (6) and the guiding buckle (14) are respectively inserted into the pin hole (7) and the buckle groove (15) to achieve rapid alignment of the power box (1) and the instrument box (4). A driving motor (12) is installed in the power box (1), and an output shaft (10) is installed at the output end of the driving motor (12). The output shaft (10) is fixed to the output end of the driving motor (12) as a whole by a set screw (11). The output shaft (10) is arranged in the front cover plate (3) and extends into the lower clutch disc (2). The lower clutch disc (2) is slidably connected to the output shaft (10) and slides back and forth along the output shaft (10). A compression spring (9) is installed at the front section of the output shaft (10). The compression spring (9) is arranged between the output shaft (10) and the lower clutch disc (2). The compression spring (9) provides a restoring force when the lower clutch disc (2) is pushed by an external force towards the driving motor (12), so that when the external force disappears, the lower clutch disc (2) is pushed back to its original position by the compression spring (9). The lower clutch disc (2) rotates under the drive of the driving motor (12) and is fitted with the upper clutch disc (5) on the instrument box (4) to achieve rapid alignment. A guiding key is arranged in the middle section of the output shaft (10). The guiding key cooperates with a key slot hole on the lower clutch disc (2) on the front cover plate (3). The lower clutch disc (2) slides back and forth on the output shaft (10) through the guiding key and the key slot hole. Bolts (8) are installed on both sides of the lower clutch disc (2). The heads of the bolts (8) block both sides of the lower clutch disc (2) to prevent the lower clutch disc (2) from completely coming out of the output shaft (10).

2. The quick alignment mechanism of the surgical instrument box and the power box according to claim 1, characterized in that: Four lower clutch discs (2) are provided on the power box (1), and four upper clutch discs (5) are provided on the instrument box (4), and they are all arranged in a rectangular distribution.

3. The quick alignment mechanism of the surgical instrument box and the power box according to claim 2, characterized in that: The notch on the upper clutch disc (5) and the protrusion on the lower clutch disc (2) are both symmetrically arranged.

4. The quick alignment mechanism for the surgical instrument box and the power box according to claim 1, 2 or 3, characterized in that: Two positioning pins (6) are provided, and they are symmetrically arranged on the left and right in the middle of the front cover plate (3). The guiding buckles (14) are symmetrically arranged on the left and right sides of the front cover plate (3). The guiding buckle (14) is a rod with a hook shape.

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