Surgical robot and end tool for a surgical robot

Abstract

The application relates to a surgical robot and an end tool for the surgical robot. The end tool comprises a fixing base, a rotating base and a first locking member. The fixing base is arranged on a moving platform to be connected with a quick-release base and the surgical robot through the moving platform. The rotating base is rotationally connected with the fixing base, the rotating base is provided with at least two clamping members, and the at least two clamping members are arranged at intervals around the rotation axis of the rotating base and are used for clamping surgical instruments. The first locking member connects the fixing base and the rotating base, and the first locking member has a locking state of limiting the relative rotation of the fixing base and the rotating base and a loosening state of enabling the relative rotation of the fixing base and the rotating base. The above-mentioned end tool can simultaneously fix multiple surgical instruments with different functions, can realize quick conversion of different functions during use, avoids frequent disassembly and assembly of the end tool, and improves the surgical efficiency and safety.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical robot and an end effector for the surgical robot. Background Technology

[0002] Neurosurgical robots are primarily used in neurosurgery, biopsies, targeted stimulation, electrode measurements, and the removal of cysts or draining of hematomas. Neurosurgical robots can shorten surgical time and increase the success rate while improving surgical precision; therefore, their application is becoming increasingly widespread.

[0003] Current neurosurgical robots typically use multiple threaded connections to fix the robotic arm and end effector between the two components. Furthermore, existing neurosurgical robot end effects are limited to a single function, while clinical surgery often requires the use of a neurosurgical robot to perform multiple surgical procedures, including craniotomy, needle insertion, and electrode placement. To address this need, the end effector is usually changed after each procedure is completed before another can be performed. However, the sterile surgical environment is crucial, and frequent end effector changes not only reduce the accuracy of the end effector but also require multiple calibrations during the procedure, significantly increasing the surgeon's workload, hindering efficient surgery, and increasing the risk of intraoperative infection for the patient. Summary of the Invention

[0004] Therefore, it is necessary to provide a surgical robot and an end effector for the surgical robot. The end effector can simultaneously fix multiple surgical instruments with different functions, and can quickly switch between different functions during use, avoiding frequent disassembly and assembly of the end effector, thus improving surgical efficiency and safety.

[0005] On one hand, this application provides an end effector for a surgical robot, comprising:

[0006] Mounting base, the mounting base being used for connection with the surgical robot;

[0007] A rotating base, rotatably connected to a fixed base, the rotating base having at least two clamping members spaced apart around the rotation axis of the rotating base, the clamping members being used to clamp surgical instruments; and,

[0008] A first locking member is used to connect the fixed seat and the rotating seat. The first locking member has a locked state that restricts the relative rotation of the fixed seat and the rotating seat, and an unlocked state that allows the fixed seat and the rotating seat to rotate relative to each other.

[0009] The technical solution of this application will be further described below:

[0010] In one embodiment, the end tool further includes a bearing, one of the fixed seat and the rotating seat being connected to the outer ring of the bearing, and the other of the fixed seat and the rotating seat being connected to the inner ring of the bearing.

[0011] In one embodiment, one of the fixed seat and the rotating seat is provided with a positioning groove, and the other is provided with a positioning protrusion. When the rotating seat rotates to allow any of the clamping components to enter the working position, the positioning protrusion is embedded in the positioning groove.

[0012] In one embodiment, the fixed seat has a receiving groove, at least a portion of the rotating seat passes through the receiving groove, the fixed seat also has a first threaded hole communicating with the receiving groove, the first locking member is threadedly engaged with the first threaded hole, in the locked state the first locking member abuts against the rotating seat, and in the released state the first locking member separates from the rotating seat.

[0013] In one embodiment, the clamping member includes a first clamping part and a second clamping part, one end of the first clamping part is rotatably connected to one end of the second clamping part, and the other end of the first clamping part is detachably connected to the other end of the second clamping part by a second locking member.

[0014] In one embodiment, the end tool further includes a quick-release base, the quick-release base comprising:

[0015] A connector, the connector including a first end for connecting to the surgical robot and a second end remote from the surgical robot, the connector being provided with a rack extending in a direction from the first end to the second end;

[0016] A frame body, which is detachably fitted onto the connecting seat, is used to connect with the fixed seat;

[0017] A paddle, rotatably disposed on the frame, has a separated position relative to the rack and a engaged position. In the separated position, the paddle is separated from the rack, and the frame can move relative to the connecting seat. In the engaged position, the paddle is engaged with the rack to restrict the relative movement of the frame and the connecting seat.

[0018] In one embodiment, the connecting seat is provided with at least two racks, the frame body is provided with at least two paddles, and the paddles are matched with the racks one by one.

[0019] In one embodiment, the quick-release base further includes a reset member disposed on the lever and / or the frame body, the reset member being used to hold the lever in the snap-fit ​​position.

[0020] In one embodiment, the reset element is a magnetic element, which is disposed on one of the frame body and the lever, and the magnetic element can attract the other of the frame body and the lever to hold the lever in the latched position; or,

[0021] The reset component is a first elastic component. One end of the first elastic component is connected to the frame body, and the other end of the first elastic component is connected to the paddle. The first elastic component is used to maintain the paddle in the latching position under the action of elastic force.

[0022] In one embodiment, the rack includes a plurality of teeth, each of which includes a engagement surface perpendicular to the direction from the first end to the second end and an inclined surface inclined to the direction from the first end to the second end. When the frame body is fitted onto the connecting seat from the second end to the first end, the paddle slides into the inclined surface to rotate the paddle to the disengaged position. When the frame body moves from the first end to the second end, the paddle rotates to the engaged position and abuts against the engagement surface.

[0023] In one embodiment, one of the frame body and the connecting seat is provided with a first guide rail, and the other of the frame body and the connecting seat is provided with a first slider, the first slider being slidably engaged with the first guide rail.

[0024] In one embodiment, the frame body has a second threaded hole, and the quick-release base further includes a third locking member, which is threadedly engaged with the second threaded hole and is used to restrict the relative movement of the frame body and the connecting seat.

[0025] In one embodiment, the frame or the connecting seat is provided with a second elastic member, and after the frame is fitted into the connecting seat, one end of the second elastic member is connected to the frame, the other end of the second elastic member is connected to the connecting seat, and the second elastic member is in a compressed state.

[0026] In one embodiment, the end effector further includes a moving platform, through which the mounting base is movably mounted on the frame.

[0027] In one embodiment, the mobile platform includes:

[0028] A fixed platform is connected to the frame body, and the fixed platform is provided with a second guide rail;

[0029] A lead screw, which is rotatably mounted on the fixed platform;

[0030] A driving component, which is connected to the lead screw, is used to drive the lead screw to rotate;

[0031] The second slider slides with the second guide rail and is threaded with the lead screw, and is connected to the fixed base.

[0032] On the other hand, this application also provides a surgical robot, including the aforementioned end effector.

[0033] The aforementioned surgical robot and its end effector utilize a rotatable rotating base mounted on a fixed base, with at least two clamping elements spaced apart around the rotation axis of the rotating base. By clamping different surgical instruments with different clamping elements, the end effector can perform at least two surgical procedures. Furthermore, rapid switching between different surgical functions is achieved by rotating the rotating base, avoiding the need to disassemble and reassemble surgical instruments to switch functions. This also avoids the reduced positioning accuracy of surgical instruments caused by disassembly and reassembly, saving surgical time and reducing the risk of intraoperative infection for the patient. Attached Figure Description

[0034] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of an end effector for a surgical robot according to one embodiment;

[0037] Figure 2 for Figure 1 The diagram shown is a structural representation of the quick-release base after the end-effector has been removed.

[0038] Figure 3 An exploded view of the structure of an end effector for a surgical robot according to one embodiment;

[0039] Figure 4 This is a schematic diagram of the structure of a fixing base according to one embodiment;

[0040] Figure 5 for Figure 4 A schematic diagram of the fixture shown from another perspective;

[0041] Figure 6 This is a schematic diagram of the structure of a quick-release base according to one embodiment;

[0042] Figure 7 for Figure 6 A schematic diagram of the connecting seat of the quick-release base shown in the figure;

[0043] Figure 8 for Figure 7 The connecting seat shown is a structural schematic diagram from another perspective;

[0044] Figure 9 for Figure 6 A schematic diagram of the frame structure of the quick-release base shown;

[0045] Figure 10 This is a schematic diagram of the structure of a mobile platform according to one embodiment;

[0046] Figure 11 A schematic diagram of the clamping component in one embodiment;

[0047] Figure 12 This is a schematic diagram of the structure of a clamping device for clamping a bone drill according to one embodiment;

[0048] Figure 13 This is a schematic diagram of the structure of a clamping and puncture assembly according to one embodiment;

[0049] Figure 14 This is a schematic diagram of the structure of a clamping device for clamping a stimulation electrode according to one embodiment;

[0050] Figure 15 This is a schematic diagram of the structure of a clamping device for mounting a flexible probe according to one embodiment.

[0051] Explanation of reference numerals in the attached figures:

[0052] 10. Quick-release base; 11. Connecting seat; 111. Rack; 112. First guide rail; 113. Inclined surface; 114. Engaging surface; 12. Frame body; 121. Connecting plate; 122. First slider; 123. Third locking element; 13. Paddle; 14. Magnetic element; 15. Second elastic element; 20. Moving platform; 21. Fixed platform; 211. Second guide rail; 212. Lead screw; 213. Driving element; 22. Second slider; 31. Fixed seat; 311. Receiving groove; 31 2. Positioning groove; 313. Conical groove; 314. First threaded hole; 315. Plane; 32. Clamping component; 321. First clamping part; 322. Second clamping part; 323. Slot; 324. Second locking component; 33. Rotary seat; 330. Body; 331. Positioning protrusion; 332. Conical protrusion; 34. Bearing; 35. First locking component; 40. Surgical instrument; 41. Bone drill; 42. Puncture assembly; 43. Stimulating electrode; 44. Flexible probe; 50. Robotic arm. Detailed Implementation

[0053] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0054] See Figures 1 to 3 One embodiment of this application provides an end effector for a surgical robot, comprising a fixed base 31, a rotating base 33, and a first locking member 35. The fixed base 31 is connected to the surgical robot. The rotating base 33 is rotatably connected to the fixed base 31 and is provided with at least two clamping members 32, which are spaced apart around the rotation axis of the rotating base 33. The clamping members 32 are used to clamp surgical instruments 40. The first locking member 35 is used to connect the fixed base 31 and the rotating base 33. The first locking member 35 has a locked state that restricts relative rotation between the fixed base 31 and the rotating base 33, and a released state that allows relative rotation between the fixed base 31 and the rotating base 33.

[0055] In clinical use, different clamps 32 are used to clamp different surgical instruments 40, see [reference needed]. Figures 12 to 15The surgical instruments 40 include, but are not limited to, a bone drill 41, a puncture assembly 42, a stimulating electrode 43, and a flexible probe 44, enabling the end-effector to perform surgical functions such as drilling for craniotomy, puncture insertion, insertion of the stimulating electrode 43, and probe detection. The required surgical instrument 40 is moved to the working position by rotating the rotating base 33, and the relative movement between the rotating base 33 and the fixed base 31 is restricted by adjusting the first locking member 35 to the locked state, allowing for the corresponding surgical operation. When switching to other surgical functions, the first locking member 35 is released, and the rotating base 33 is rotated to the working position to move the new surgical instrument 40. The first locking member 35 is then locked again, enabling rapid switching of surgical functions.

[0056] The aforementioned end effector for the surgical robot features a rotatable rotating base 33 mounted on a fixed base 31, with at least two clamping members 32 spaced apart around the rotation axis of the rotating base 33. By clamping different surgical instruments 40 onto different clamping members 32, the end effector can provide at least two surgical functions. Furthermore, rapid switching between different surgical functions can be achieved by rotating the rotating base 33, avoiding the need to disassemble and reassemble the surgical instruments 40 to switch functions. This also avoids the reduced positioning accuracy of the surgical instruments 40 caused by disassembly and reassembly, saving surgical time and reducing the risk of intraoperative infection for the patient.

[0057] See Figure 3 The end tool also includes a bearing 34, with one of a fixed seat 31 and a rotating seat 33 connected to the outer ring of the bearing 34, and the other of the fixed seat 31 and the rotating seat 33 connected to the inner ring of the bearing 34. See also Figure 4 In this embodiment, the fixed seat 31 has a receiving groove 311, the bearing 34 is disposed in the receiving groove 311, and the outer ring of the bearing 34 is fixedly connected to the groove wall of the receiving groove 311. The bottom of the rotating seat 33 is inserted into the inner ring of the bearing 34, thereby connecting the fixed seat 31 and the rotating seat 33 through the bearing 34, which can effectively reduce the friction between the fixed seat 31 and the rotating seat 33, making the rotating seat 33 easier to rotate.

[0058] Further, see Figure 3 as well as Figure 4The fixed base 31 is also provided with a positioning groove 312, and the rotating base 33 is provided with a positioning protrusion 331. When the rotating base 33 rotates to allow any clamping component 32 to enter the working position, the positioning protrusion 331 is embedded in the positioning groove 312. The working position refers to the position where the surgical instrument 40 held by the clamping component 32 is located when in use. By rotating the rotating base 33, each clamping component 32 holding different surgical instruments 40 can be moved to the working position, thereby realizing different surgical functions. Through the cooperation of the positioning groove 312 and the positioning protrusion 331, when the rotating base 33 is rotated, any clamping component 32 can be accurately positioned to the working position, avoiding the surgical instrument 40 from failing to move accurately to the predetermined working position due to over-rotation or under-rotation.

[0059] Preferably, the fixed seat 31 is further provided with a conical groove 313 communicating with the receiving groove 311 on the side facing the positioning protrusion 331. The rotating seat 33 includes a body 330 and a conical protrusion 332 protruding from one side of the body 330. The conical protrusion 332 extends toward the conical groove 313 and is received in the conical groove 313, thereby facilitating the assembly and positioning of the fixed seat 31 and the rotating seat 33. The positioning groove 312 is provided on the groove wall of the conical groove 313 and extends along the depth direction of the conical groove 313. The positioning protrusion 331 protrudes from the conical protrusion 332 of the rotating seat 33, and the shape of the positioning protrusion 331 is adapted to the shape of the positioning groove 312. Furthermore, the fixed base 31 is provided with a plurality of positioning grooves 312 spaced apart around the rotation axis of the rotating base 33. The plurality of positioning grooves 312 are evenly arranged circumferentially on the groove wall of the conical groove 313. Correspondingly, the rotating base 33 is provided with the same number of positioning protrusions 331 as the positioning grooves 312. The plurality of positioning protrusions 331 are evenly arranged circumferentially on the conical protrusions 332, thereby improving the positioning effect. Understandably, in another embodiment, the positioning grooves 312 can also be formed on the rotating base 33, and the positioning protrusions 331 can also be provided on the fixed base 31, thus also achieving the positioning function, which will not be elaborated here.

[0060] Additionally, the clamping member 32 is disposed on the side of the body 330 away from the tapered protrusion 332. Preferably, the body 330 has a triangular plate-like structure, and the clamping member 32 is located at the three apexes of the triangular body 330. Preferably, the tapered protrusion 332 is located at the center of the triangular body 330 and protrudes in a direction away from the clamping member 32.

[0061] See Figures 3 to 5At least a portion of the rotating seat 33 passes through the receiving groove 311. The fixed seat 31 also has a first threaded hole 314 communicating with the receiving groove 311. The first locking member 35 is threadedly engaged with the first threaded hole 314. In the locked state, the first locking member 35 abuts against the portion of the rotating seat 33 passing through the receiving groove, thereby restricting the relative rotation of the rotating seat 33 and the fixed seat 31, thus locking the rotating seat 33. In the released state, the first locking member 35 separates from the rotating seat 33, allowing the rotating seat 33 to rotate relative to the fixed seat 31, thereby enabling the switching of different surgical instruments 40.

[0062] Preferably, the first locking element 35 is a wing screw. Further, the outer periphery of the fixing seat 31 is provided with a plane 315, and the first threaded hole 314 is opened on the plane 315, so that when the wing screw is tightened, the plane 315 abuts against the wing head of the wing screw, thereby improving the locking stability of the fixing seat 31 and the rotating seat 33.

[0063] It is worth noting that the first locking member 35 is not limited to the threaded locking form described above. In other embodiments, the fixed seat 31 and the rotating seat 33 can also be fixed by a snap-fit ​​mechanism. For example, the fixed seat 31 has an extension that is parallel to the body 330 of the rotating seat 33. The first locking member 35 is a U-shaped clamping member or a C-shaped clamping member. By clamping the extension of the fixed seat 31 and the body 330 of the rotating seat 33 with the first locking member 35, the fixed seat 31 and the rotating seat 33 are relatively fixed. Alternatively, an elastic top member is provided in the conical protrusion 332 of the rotating seat 33, and a slot is provided on the inner wall of the receiving groove 311 of the fixed seat 31. After the conical protrusion 332 of the rotating seat 33 is inserted into the receiving groove 311, the elastic top member can extend into the slot, thereby fixing the fixed seat 31 and the rotating seat 33 relatively. Furthermore, the fixed seat 31 also has an external button extending into the slot. The external button can push the elastic top member out of the groove, thereby unlocking the fixed seat 31 and the rotating seat 33.

[0064] See Figure 11 In this embodiment, the clamping member 32 includes a first clamping part 321 and a second clamping part 322. One end of the first clamping part 321 is rotatably connected to one end of the second clamping part 322, and the other end of the first clamping part 321 and the other end of the second clamping part 322 are detachably connected via a second locking member 324. Thus, the surgical instrument 40 can be clamped and fixed by the cooperation of the first clamping part 321 and the second clamping part 322. Preferably, both the first clamping part 321 and the second clamping part 322 are provided with arc-shaped notches, so that they can fit more closely to the outer peripheral surface of the surgical instrument 40 when clamping it, improving the clamping stability. It is worth noting that when multiple clamping members 32 are used to clamp different surgical instruments, the clamping members 32 can also be equipped with corresponding mating structures according to the specific structure of the surgical instrument to be clamped to achieve clamping.

[0065] Continue reading Figure 1 One embodiment of the end effector also includes a quick-release base 10 and a moving platform 20. The quick-release base 10 is used to connect with the surgical robot to enable quick installation and removal of the end effector from the surgical robot. The moving platform 20 connects the quick-release base 10 and the fixed base 31. The moving platform 20 is used to drive the surgical instrument 40 to move during surgery to achieve corresponding surgical functions, such as drilling for craniotomy and inserting electrodes.

[0066] Specifically, see Figures 6 to 9 One embodiment of the quick-release base 10 includes a connecting seat 11, a frame body 12, and a lever 13. The connecting seat 11 includes a first end for connecting to a surgical robot and a second end away from the surgical robot. The connecting seat 11 has a rack 111 extending from the first end to the second end. The frame body 12 is detachably fitted onto the connecting seat 11 and is connected to a fixed seat 31 via a moving platform 20. The lever 13 is rotatably disposed on the frame body 12 and has a separated position relative to the rack 111 and a engaged position. In the engaged position, the lever 13 engages with the rack 111 to restrict the relative movement of the frame body 12 and the connecting seat 11, thereby ensuring that the end tool is fixed to the surgical robot. In the separated position, the lever 13 separates from the rack 111, at which point the frame body 12 can be disengaged from the connecting seat 11, thereby achieving rapid separation of the end tool from the surgical robot for cleaning and maintenance.

[0067] Preferably, the connecting seat 11 is provided with at least two racks 111, and the frame body 12 is provided with at least two paddles 13, and the paddles 13 correspond one-to-one with the racks 111, for example... Figure 6 As shown, in this embodiment, the two opposite sides of the connecting seat 11, such as the left and right sides (with... Figure 6 (From the illustrated perspective) Both sides are equipped with racks 111. Correspondingly, each side of the frame body 12 is provided with a lever 13. The two levers 13 and the two racks 111 are matched one-to-one, thereby improving the connection stability between the connecting seat 11 and the frame body 12 and the force balance of the frame body 12 when the levers 13 and the racks 111 are engaged.

[0068] Furthermore, the quick-release base 10 also includes a reset member, which is disposed on the lever 13 and / or the frame body 12. The reset member is used to hold the lever 13 in the snap-fit ​​position, thereby ensuring that the connection between the connecting seat 11 and the frame body 12 is stable when the surgical robot is working. Specifically, the lever 13 is rotatably connected to the frame body 12 via a rotating shaft. The lever 13 includes a reset part and a stop part located on both sides of the rotating shaft axially. The reset member is used to connect the reset part and the frame body 12, so that the lever 13 stays in the snap-fit ​​position, so that the stop part abuts against the locking teeth.

[0069] Specifically, in this embodiment, see Figure 6 as well as Figure 9 The reset element is a magnetic element 14, which is disposed on the reset part of the lever 13. The connecting plate 121 of the frame body 12 is made of a magnetic material, such as a magnetically attractive metal or a ferromagnetic element. The magnetic element 14 can attract the connecting plate 121, so that when the lever 13 is not moved by external force, the lever 13 remains in the engaged position so that the abutting part of the lever 13 abuts against the rack 111, thereby fixing the connecting seat 11 to the frame body 12. When it is necessary to separate the connecting seat 11 from the frame body 12, simply move the lever 13, causing the reset part of the lever 13 to rotate away from the connecting plate 121 against the magnetic force of the magnetic element 14. At the same time, the abutting part of the lever 13 rotates away from the engaging surface 114 and rotates along the inclined surface 113 of the lower teeth. Due to the avoidance of the inclined surface 113, the lever 13 can be rotated from the engaged position to the disengaged position, thereby separating the connecting seat 11 from the frame body 12. Furthermore, when the lever 13 is released, the reset part of the lever 13 is magnetically attracted to the connecting plate 121 under the magnetic force of the magnetic attractor 14, causing the abutment part to flip and abut against the engagement surface 114 of the locking teeth again, so that the lever 13 automatically returns to the engaged position. Understandably, in another embodiment, the magnetic attractor 14 can also be provided on the connecting plate 121 of the frame body 12, and the material of the lever 13 can be a magnetically attracted material, so that the lever 13 can also be maintained in the engaged position.

[0070] It is worth noting that in another embodiment, the reset member is a first elastic member. One end of the first elastic member is connected to the frame body 12, and the other end is connected to the reset part of the lever 13. The first elastic member is used to maintain the lever 13 in the latching position under the action of elastic force, so that when the lever 13 is not moved by external force, the abutting part of the lever 13 is always latched with the rack 111, thereby fixing the connection seat 11 to the frame body 12. When it is necessary to separate the connection seat 11 from the frame body 12, simply move the lever 13 so that the lever 13 resists the elastic force of the first elastic member and rotates, thus rotating the lever 13 from the latching position to the separation position, at which time the connection seat 11 can be separated from the frame body 12. Furthermore, when the lever 13 is released, the lever 13 can automatically return to the latching position under the action of the elastic force of the first elastic member.

[0071] Further, see also Figures 6 to 8The rack 111 includes multiple locking teeth, each of which includes a locking surface 114 perpendicular to the direction from the first end to the second end and an inclined surface 113 inclined to the direction from the first end to the second end. When the frame body 12 is inserted into the connecting seat 11 from the second end to the first end, the lever 13 slides into the inclined surface 113 to resist the reset member and rotate to the disengaged position, thereby preventing the lever 13 from jamming with the rack 111 and ensuring that the frame body 12 is smoothly inserted into the connecting seat 11. When inserted into the required position or when the frame body 12 moves from the first end to the second end, i.e., when the frame body 12 wants to disengage from the connecting seat 11, the reset member drives the lever 13 back to the locking position and makes the lever 13 abut against the locking surface 114, thereby preventing the frame body 12 from disengaging from the connecting seat 11 when the surgical robot is working.

[0072] See Figure 9 The connecting seat 11 is provided with a first guide rail 112, which extends from a first end to a second end of the connecting seat 11. The frame body 12 is provided with a first slider 122, which slides in cooperation with the first guide rail 112. This makes the relative movement between the frame body 12 and the connecting seat 11 smoother and facilitates the installation or removal of the frame body 12. Understandably, in another embodiment, the first guide rail 112 can also be provided inside the frame body 12, and the first slider 122 can also be provided on the connecting seat 11, which can also improve the smoothness of the relative movement between the frame body 12 and the connecting seat 11.

[0073] Furthermore, the frame body 12 has a second threaded hole, and the quick-release base 10 also includes a third locking member 123. The third locking member 123 is threadedly engaged with the second threaded hole. When the third locking member 123 is tightened, it abuts against the connecting seat 11 to restrict the relative movement between the frame body 12 and the connecting seat 11. Specifically, the third locking member 123 is connected to the first slider 122. By tightening the third locking member 123, it abuts against the first guide rail 112, thus restricting the relative movement between the frame body 12 and the connecting seat 11. Combined with the snap-fit ​​structure of the paddle 13 and the rack 111, the connection stability between the connecting seat 11 and the frame body 12 is further improved.

[0074] The frame body 12 or the connecting seat 11 is provided with a second elastic element 15. After the frame body 12 is fitted into the connecting seat 11, one end of the second elastic element 15 is connected to the frame body 12, and the other end of the second elastic element 15 is connected to the connecting seat 11. The second elastic element 15 is in a compressed state. Thus, through the elastic force of the second elastic element 15, the paddle 13 can be pressed against the engagement surface 114 of the rack 111, preventing the paddle 13 from easily separating from the rack 111, thereby ensuring a stable connection between the frame body 12 and the connecting seat 11.

[0075] See Figure 10The mobile platform 20 includes a fixed platform 21, a lead screw 212, a drive component 213, and a second slider 22. The fixed platform 21 is connected to the frame 12 and is provided with a second guide rail 211. The lead screw 212 is rotatably mounted on the fixed platform 21. The drive component 213 is connected to the lead screw 212 and is used to drive the lead screw 212 to rotate. The second slider 22 is slidably engaged with the second guide rail 211 and threadedly engaged with the lead screw 212. The second slider 22 is connected to the fixed seat 31. Thus, by driving the lead screw 212 to rotate through the drive component 213, the second slider 22 can be driven to slide along the lead screw 212, thereby driving the fixed seat 31 and the rotating seat 33 to move, and further enabling the surgical instruments 40 on the rotating seat 33 to move, so as to realize the corresponding surgical operation.

[0076] It is worth noting that the mobile platform 20 can drive the fixed base 31 and the rotating base 33 to move relative to the quick-release base 10 in many ways, and is not limited to the above-described embodiments. For example, in another embodiment, the mobile platform 20 includes a fixed platform, a slider, and a driving component. The fixed platform is connected to the frame 12 and is provided with a slide rail. The slider slides along the slide rail and is connected to the driving component. The fixed base 31 is mounted on the slider, so that the slider is pushed along the slide rail by an electric push rod, thereby driving the fixed base 31 and the rotating base 33 to move relative to the quick-release base 10. Preferably, the driving component can be an electric push rod, a cylinder, or a synchronous belt mechanism, etc. Of course, in other embodiments, the mobile platform 20 can also directly use a commercially available linear module.

[0077] Furthermore, this application also provides a surgical robot, which includes a robotic arm 50, the end of which is detachably equipped with an end-effector tool from any of the above embodiments. This enables the surgical robot to provide multiple surgical functions, and by rotating the rotary seat 33 of the end-effector tool, different surgical functions can be quickly switched, saving surgical time and reducing the risk of intraoperative infection for the patient.

[0078] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

[0080] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0082] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0083] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0084] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

Claims

1. An end effector for a surgical robot, characterized in that, include: Mounting base, the mounting base being used for connection with the surgical robot; A rotating base is rotatably connected to a fixed base. The rotating base is provided with at least two clamping members, and the at least two clamping members are spaced apart around the rotation axis of the rotating base. The clamping members are used to clamp surgical instruments. A first locking member is used to connect the fixed seat and the rotating seat. The first locking member has a locked state that restricts the relative rotation of the fixed seat and the rotating seat and an unlocked state that allows the fixed seat and the rotating seat to rotate relative to each other. as well as, Quick-release base, the quick-release base comprising: A connector, the connector including a first end for connecting to the surgical robot and a second end remote from the surgical robot, the connector being provided with a rack extending in a direction from the first end to the second end; A frame body, which is detachably fitted onto the connecting seat, is used to connect with the fixed seat; A paddle, rotatably mounted on the frame, so that the paddle can engage or disengage with the rack.

2. The end effector for a surgical robot according to claim 1, characterized in that, The end tool also includes a bearing, one of the fixed seat and the rotating seat being connected to the outer ring of the bearing, and the other of the fixed seat and the rotating seat being connected to the inner ring of the bearing.

3. The end effector for a surgical robot according to claim 1, characterized in that, One of the fixed seat and the rotating seat is provided with a positioning groove, and the other is provided with a positioning protrusion. When the rotating seat rotates to allow any of the clamping parts to enter the working position, the positioning protrusion is embedded in the positioning groove.

4. The end effector for a surgical robot according to claim 1, characterized in that, The fixed base has a receiving groove, at least a portion of the rotating base passes through the receiving groove, and the fixed base also has a first threaded hole communicating with the receiving groove. The first locking member is threadedly engaged with the first threaded hole. In the locked state, the first locking member abuts against the portion of the rotating base that passes through the receiving groove. In the released state, the first locking member separates from the rotating base.

5. The end effector for a surgical robot according to claim 1, characterized in that, The clamping component includes a first clamping part and a second clamping part. One end of the first clamping part is rotatably connected to one end of the second clamping part, and the other end of the first clamping part is detachably connected to the other end of the second clamping part through a second locking member.

6. The end effector for a surgical robot according to claim 1, characterized in that, The paddle has a separated position relative to the rack and a engaged position. In the separated position, the paddle is separated from the rack, and the frame can move relative to the connecting seat. In the engaged position, the paddle abuts against the rack to restrict the relative movement of the frame and the connecting seat.

7. The end effector for a surgical robot according to claim 6, characterized in that, The connecting seat is provided with at least two racks, and the frame body is provided with at least two paddles, with each paddle corresponding to one of the racks.

8. The end effector for a surgical robot according to claim 6, characterized in that, The quick-release base also includes a reset component, wherein: The reset element is a magnetic element, which is disposed on one of the frame body and the lever, and the magnetic element can attract the other of the frame body and the lever to maintain the lever in the latching position; or, The reset component is a first elastic component. One end of the first elastic component is connected to the frame body, and the other end of the first elastic component is connected to the paddle. The first elastic component is used to maintain the paddle in the latching position under the action of elastic force.

9. The end effector for a surgical robot according to claim 6, characterized in that, The rack includes multiple locking teeth, each of which includes a locking surface perpendicular to the direction from the first end to the second end and an inclined surface inclined to the direction from the first end to the second end. When the frame body is fitted onto the connecting seat from the second end to the first end, the paddle slides into the inclined surface to rotate the paddle to the disengaged position. When the frame body moves from the first end to the second end, the paddle rotates to the locking position and abuts against the locking surface.

10. The end effector for a surgical robot according to claim 6, characterized in that, One of the frame body and the connecting seat is provided with a first guide rail, and the other of the frame body and the connecting seat is provided with a first slider, the first slider being slidably engaged with the first guide rail.

11. The end effector for a surgical robot according to claim 6, characterized in that, The frame body has a second threaded hole, and the quick-release base also includes a third locking member. The third locking member is threadedly engaged with the second threaded hole and is used to restrict the relative movement of the frame body and the connecting seat.

12. The end effector for a surgical robot according to claim 5, characterized in that, The frame or the connecting seat is provided with a second elastic element. After the frame is fitted into the connecting seat, one end of the second elastic element is connected to the frame, the other end of the second elastic element is connected to the connecting seat, and the second elastic element is in a compressed state.

13. The end effector for a surgical robot according to claim 6, characterized in that, It also includes a mobile platform, through which the fixed base is movably mounted on the frame.

14. The end effector for a surgical robot according to claim 13, characterized in that, The mobile platform includes: A fixed platform is connected to the frame body, and the fixed platform is provided with a second guide rail; A lead screw, which is rotatably mounted on the fixed platform; A driving component, which is connected to the lead screw, is used to drive the lead screw to rotate; The second slider slides with the second guide rail and is threaded with the lead screw, and is connected to the fixed base.

15. A surgical robot, characterized in that, Includes the end tool as described in any one of claims 1-14.

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