Cannula locking mechanism, cannula mounting device and surgical robot

Abstract

The application provides a sleeve locking mechanism, a sleeve mounting device and a surgical robot, and relates to the technical field of medical equipment, and is used for solving the problems of laborious installation, difficult disassembly and loosening during the sleeve locking process. The sleeve locking mechanism comprises a clamping piece movably arranged on a main body, and a locking operation structure arranged on the main body. The locking operation structure comprises a sliding piece and an operation piece connected with the sliding piece. A first transmission structure is arranged between the sliding piece and the clamping piece. The operation piece can drive the sliding piece to move, and the movement of the sliding piece is converted into the movement of the clamping piece through the first transmission structure, so as to realize locking or unlocking. The rotational movement of the operation piece is converted into the linear movement of the clamping piece, so that the clamping piece can be more labor-saving and quickly controlled to realize the sleeve locking process or the sleeve unlocking process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a sleeve locking mechanism, a sleeve mounting device and a surgical robot. BACKGROUND

[0002] In the prior art, a sleeve type mounting structure is arranged on a surgical mechanical arm, and different surgical instruments can be conveniently fixed through the sleeve type mounting structure. However, the sleeve mounting structure in the prior art mostly adopts a mode of cooperation between a bearing outer ring and a cam sliding table to realize a locking process or an unlocking process. When the bearing and the cam sliding table are cooperated, the locking process is realized by relying on elastic deformation between the bearing and the cam sliding table to make the bearing and the cam sliding table buckled, or the unlocking process is realized by relying on elastic deformation between the bearing and the cam sliding table to make the bearing and the cam sliding table separated.

[0003] Since the bearing and the cam sliding table usually have great rigidity, when the bearing and the cam sliding table are elastically deformed, the buckling or separation force between the bearing and the cam sliding table is not easy to be accurately controlled, so that there are problems of laborious installation, difficult disassembly and the like between the bearing and the cam sliding table. Moreover, in order to produce elastic deformation, a great pushing force is needed in the cooperation process between the bearing and the cam sliding table, and the cooperation precision between the bearing and the cam sliding table is also easily reduced due to collision between the bearing and the cam sliding table, thereby affecting the locking effect. After frequent collision between the bearing and the cam sliding table, the bearing and the cam sliding table are even deformed to cause the risk of insecure locking. SUMMARY

[0004] In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present application is to provide a sleeve locking mechanism, a sleeve mounting device and a surgical robot, which are used to solve the problems of laborious installation, difficult disassembly and looseness in the sleeve locking process.

[0005] The above-mentioned object of the present application can be realized by adopting the following technical scheme. The present application provides a sleeve locking mechanism, comprising:

[0006] a clamping piece movably arranged on a main body;

[0007] and a locking operation structure arranged on the main body, the locking operation structure comprising a sliding piece and an operation piece connected with the sliding piece, a first transmission structure being arranged between the sliding piece and the clamping piece, the operation piece being capable of driving the sliding piece to move, and the movement of the sliding piece being converted into the movement of the clamping piece through the first transmission structure, so as to realize locking or unlocking.

[0008] In a preferred embodiment of the present application, the operation member is rotatably connected to the main body, and a second transmission structure is arranged between the operation member and the sliding member, and is used to convert the rotary motion of the operation member into the linear motion of the sliding member.

[0009] In a preferred embodiment of the present application, the operation member has a first angle state and a second angle state, in the first angle state, the operation member pushes the sliding member away from the clamping member through the second transmission structure, so that the clamping member forms an unlocking state; in the second angle state, the operation member pushes the sliding member close to the clamping member through the second transmission structure, so that the clamping member forms a locking state.

[0010] In a preferred embodiment of the present application, the second transmission structure includes a connecting rod, one end of the connecting rod is rotatably connected to the operation member, and the other end of the connecting rod is rotatably connected to the sliding member.

[0011] In a preferred embodiment of the present application, the main body is provided with an operation locking structure, the operation locking structure includes a first limiting groove and a second limiting groove arranged on the main body, in the first angle state, the operation member is clamped in the first limiting groove; in the second angle state, the operation member is clamped in the second limiting groove.

[0012] In a preferred embodiment of the present application, the first transmission structure includes an insertion part arranged on the sliding member and a slot arranged on the clamping member, the insertion part is movably inserted into the slot, the insertion part is provided with a first offset end face, the slot is provided with a second offset end face, and the first offset end face and the second offset end face abut.

[0013] In a preferred embodiment of the present application, the sleeve locking mechanism further includes a reset structure arranged between the clamping member and the main body, and used to reset the clamping member.

[0014] In a preferred embodiment of the present application, the reset structure includes a reset elastic member arranged between the clamping member and the main body, and used to provide elastic force to reset the clamping member.

[0015] In a preferred embodiment of the present application, the reset structure includes a reset block arranged on the slot, the reset block is arranged on both sides of the insertion part opposite to the second offset end face, and is used to reset the clamping member by the insertion part.

[0016] In a preferred embodiment of the present application, the clamping members are provided with at least two, and the at least two clamping members are in a linear motion to form an unlocked state or a locked state.

[0017] Specifically, the clamping members are a first clamping member and a second clamping member, and the first clamping member and the second clamping member are oppositely arranged on both sides of the sliding member.

[0018] In a preferred embodiment of the present application, the clamping members further include at least one third clamping member, and the third clamping member is arranged between the first clamping member and the second clamping member.

[0019] In a preferred embodiment of the present application, the first clamping member, the second clamping member, and the third clamping member are in a linear motion to form an unlocked state or a locked state.

[0020] In a preferred embodiment of the present application, the sleeve locking mechanism includes a driving structure arranged between the sliding member and the main body, for driving the sliding member to move.

[0021] In a preferred embodiment of the present application, the driving structure includes a driving elastic member arranged between the sliding member and the main body, and the driving elastic member is used to provide a driving elastic force to drive the sliding member to move towards the clamping members.

[0022] In a preferred embodiment of the present application, the second transmission structure includes a connecting rod and a cam sliding part arranged on the sliding member, the cam sliding part is provided with a third offset end face, one end of the connecting rod is connected with the operating member, and the other end of the connecting rod abuts against the third offset end face.

[0023] In a preferred embodiment of the present application, the connecting rod is integrally arranged with the operating member.

[0024] In a preferred embodiment of the present application, the sleeve locking mechanism further includes an electrical interface arranged on the sliding member.

[0025] The present application also provides a sleeve mounting device, which includes:

[0026] a sleeve locking mechanism as described above;

[0027] and a sleeve, which is clamped on the sleeve locking mechanism by the clamping members.

[0028] In a preferred embodiment of the present application, the sleeve mounting device further includes a sterile bag interface, which is detachably arranged between the sleeve locking mechanism and the sleeve.

[0029] In a preferred embodiment of the present application, the sleeve locking mechanism is provided with a magnetic attraction structure, and the sterile bag interface is detachably connected to the sleeve locking mechanism through the magnetic attraction structure.

[0030] In a preferred embodiment of the present application, the magnetic attraction structure comprises a plurality of magnetic members arranged at intervals on the main body, and the sterile bag interface is magnetically connected to the main body through the plurality of magnetic members.

[0031] The present application also provides a surgical robot comprising the sleeve mounting device as described above.

[0032] The technical solution of the present application has the following remarkable beneficial effects:

[0033] When the sleeve locking mechanism is used, the clamping member is movably mounted on the main body, and the clamping member can be controlled to lock or unlock the sleeve by using the locking operation structure; wherein the locking operation mechanism comprises a sliding member and an operation member, the operation member can drive the sliding member to slide on the main body, and the movement of the sliding member can be converted into the movement of the clamping member by using the first transmission structure arranged between the sliding member and the clamping member, so as to control the extension length of the clamping member to realize the locking or unlocking operation of the sleeve.

[0034] Specifically, the operation member is rotatably connected to the main body, and the rotational movement of the operation member can be converted into the linear movement of the sliding member by rotating the operation member and cooperating with the second transmission structure, so as to realize the locking or unlocking operation of the sleeve by using the sliding member to push the clamping member to move. The operation member can play the role of a lever during rotation, and the user can easily rotate the operation member, push the sliding member to move linearly by using the operation member, and then push the clamping member to move by using the sliding member to realize the locking or unlocking operation; by cooperating the operation member with the sliding member, the clamping member can be controlled to realize the locking or unlocking operation more labor-saving and quickly. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without any creative labor.

[0036] The drawings described herein are for illustrative purposes only, and are not intended to limit the scope of the present application in any way. In addition, the shapes and scale of the components in the drawings are only illustrative, and are used to help understand the present application, and are not specific limitations on the shapes and scale of the components of the present application. Those skilled in the art can select various possible shapes and scale to implement the present application according to specific circumstances under the guidance of the present application.

[0037] Figure 1 A side view of the sleeve locking mechanism;

[0038] Figure 2 An exploded structural schematic diagram of the sleeve locking mechanism;

[0039] Figure 3 A top view of the sleeve locking mechanism;

[0040] Figure 4 A structural schematic diagram of the clamping piece in the locked state;

[0041] Figure 5 A structural schematic diagram of the clamping piece in the unlocked state;

[0042] Figure 6 A sectional structural schematic diagram of the cam sliding part in the locked state;

[0043] Figure 7 A sectional structural schematic diagram of the cam sliding part in the unlocked state;

[0044] Figure 8 A top view of the reset block;

[0045] Figure 9 An exploded structural schematic diagram of the sleeve mounting device;

[0046] Figure 10 A side view of the sleeve mounting device;

[0047] Figure 11 An internal structural schematic diagram of the sleeve mounting device;

[0048] Figure 12 A structural schematic diagram of the surgical robot.

[0049] Reference signs of the above drawings:

[0050] 100, sleeve locking mechanism; 200, sleeve mounting device; 300, surgical robot;

[0051] 1, main body;

[0052] 2, clamping piece; 21, first clamping piece; 22, second clamping piece; 23, third clamping piece; 24, reset structure; 241, reset elastic piece; 242, reset block;

[0053] 3, locking operation structure; 31, sliding piece; 311, electrical interface; 32, operation piece; 33, driving structure; 331, driving elastic piece;

[0054] 4、first transmission structure; 41, insertion part; 411, first offset end face; 42, insertion slot; 421, second offset end face;

[0055] 5、second transmission structure; 51, connecting rod; 52, avoiding slot; 53, cam sliding part; 531, third offset end face;

[0056] 6、operation locking structure; 61, first limiting slot; 62, second limiting slot;

[0057] 7、sleeve;

[0058] 8、sterile bag interface;

[0059] 9、magnetic attraction structure; 91, magnetic member. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0061] Embodiment one

[0062] Please refer to Figures 1 to 8 The sleeve locking mechanism 100 in the embodiments of the present application comprises: a clamping piece 2 movably arranged on a main body 1; and a locking operation structure 3 arranged on the main body 1, the locking operation structure 3 comprising a sliding piece 31 and an operation piece 32 connected with the sliding piece 31, a first transmission structure 4 being arranged between the sliding piece 31 and the clamping piece 2, the operation piece 32 being capable of driving the sliding piece 31 to move, and the movement of the sliding piece 31 being converted into the movement of the clamping piece 2 through the first transmission structure 4, so as to realize locking or unlocking.

[0063] Overall, please refer to Figure 1 、 Figure 2 and Figure 3The application movably arranges the clamping piece 2 on the main body 1, and controls the motion state of the clamping piece 2 by using the locking operation structure 3, so as to realize locking or unlocking. When the sleeve locking mechanism 100 is used, the clamping piece 2 is movably arranged on the main body 1, and the clamping piece 2 can be controlled to realize the operation of locking or unlocking the sleeve 7 by using the locking operation structure 3; wherein the locking operation mechanism comprises a sliding piece 31 and an operation piece 32, the operation piece 32 can drive the sliding piece 31 to slide on the main body 1, and the movement of the sliding piece 31 can be converted into the movement of the clamping piece 2 by using the first transmission structure 4 arranged between the sliding piece 31 and the clamping piece 2, so as to control the extension length of the clamping piece 2 and realize the operation of locking or unlocking the sleeve 7. Wherein a notch can be arranged on the main body 1 for inserting the sleeve 7 when the sleeve 7 is installed. The clamping piece 2 can be arranged in the notch for clamping the sleeve 7. Specifically, the clamping piece 2 can adopt a claw, and the designer can adjust the specific structure of the claw according to the use requirement, which is not limited here.

[0064] In the embodiment of the application, the operation piece 32 is rotatably connected to the main body 1, and the second transmission structure 5 is arranged between the operation piece 32 and the sliding piece 31, and the second transmission structure 5 is used to convert the rotary motion of the operation piece 32 into the linear motion of the sliding piece 31. Specifically, the operation piece 32 can include an operation rod, one end of the operation rod is hinged to the main body 1. Of course, the designer can also set the operation piece 32 as other structures, which is not limited here.

[0065] Of course, other structures can also be used between the operation piece 32 and the sliding piece 31 for transmission, for example, gear structure is arranged between the operation piece 32 and the sliding piece 31 for transmission, which is not limited here. Of course, the operation piece 32 can also be fixedly connected with the sliding piece 31, and then the sliding piece 31 can be driven to make synchronous linear motion by pushing the operation piece 32, so as to control the clamping piece 2 by using the sliding piece 31 to realize locking or unlocking, which is not limited here.

[0066] In the embodiment, referring to Figures 4 to 8 , the operation piece 32 has a first angle state and a second angle state, in the first angle state, the operation piece 32 pushes the sliding piece 31 away from the clamping piece 2 through the second transmission structure 5, so that the clamping piece 2 forms an unlocking state; in the second angle state, the operation piece 32 pushes the sliding piece 31 close to the clamping piece 2 through the second transmission structure 5, so that the clamping piece 2 forms a locking state. The designer can determine the rotation angle of the operation piece 32 in the first angle state and the second angle state according to the use requirement, which is not limited here.

[0067] The moving away means that the sliding member 31 can move away from the clamping member 2 under the driving of the second transmission structure 5 during the angle conversion of the operating member 32 from the second angle state to the first angle state, so that the sliding member 31 moves away from the clamping member 2. The moving close means that the sliding member 31 can move towards the clamping member 2 under the driving of the second transmission structure 5 during the angle conversion of the operating member 32 from the first angle state to the second angle state, so that the sliding member 31 moves close to the clamping member 2.

[0068] In the embodiment, referring to Figure 1 、 Figure 3 、 Figure 4 and Figure 5 , the second transmission structure 5 comprises a connecting rod 51, one end of the connecting rod 51 is rotatably connected with the operating member 32, and the other end of the connecting rod 51 is rotatably connected with the sliding member 31.

[0069] Further, an avoiding groove 52 can be arranged on the sliding member 31, and the avoiding groove 52 can reserve an operating space for the connecting rod 51.

[0070] By arranging the connecting rod 51 between the operating member 32 and the sliding member 31, and hingedly connecting one end of the connecting rod 51 with the operating member 32 and rotatably connecting the other end of the connecting rod 51 with the sliding member 31, the connecting rod 51 forms a crank connecting rod structure between the operating member 32 and the sliding member 31. The connecting rod 51 can transmit power between the operating member 32 and the sliding member 31, so that the rotating movement of the operating member 32 can be converted into the linear movement of the sliding member 31, so that the movement distance of the sliding member 31 can be controlled by controlling the rotating angle of the operating member 32, and then the movement of the clamping member 2 can be controlled by the sliding member 31, so as to realize the switching of the locking state or the unlocking state of the clamping member 2.

[0071] And the operating member 32 can play a role of a lever during the rotating process, by adjusting the setting length of the operating member 32, the operating member 32 has a long force arm, so that the user can easily rotate the operating member 32 to push the sliding member 31 to move linearly, and then the clamping member 2 can be moved by the sliding member 31, so as to control the clamping member 2 to realize the locking process or the unlocking process more labor-saving. And the user can conveniently control the rotating angle of the operating member 32 by the operating member 32, so as to control the movement distance of the clamping member 2, and the control precision of the clamping member 2 is improved.

[0072] Of course, as another alternative embodiment of the second transmission structure 5, referring to Figure 6 and Figure 7The second transmission structure 5 includes a connecting rod 51 and a cam sliding part 53 disposed on the sliding member 31. The cam sliding part 53 is provided with a third offset end face 531. One end of the connecting rod 51 is connected to the operating member 32, and the other end of the connecting rod 51 is abutted against the third offset end face 531.

[0073] By providing a cam sliding part 53 on the slider 31, the slider 31 can be driven to perform linear motion by the cooperation of the connecting rod 51 and the third offset end face 531 on the cam sliding part 53. Specifically, a protrusion can be provided on the connecting rod 51, so that the protrusion abuts against the third offset end face 531. When the operating member 32 is rotated, the connecting rod 51 is driven to rotate synchronously, so that the protrusion of the connecting rod 51 abuts against different positions of the third offset end face 531, thereby pushing the slider 31 to perform linear motion. Designers can adjust the shape and structure of the third offset end face 531 according to the needs of use to control the movement distance of the slider 31, which is not limited here.

[0074] In this embodiment, the connecting rod 51 and the operating member 32 are integrated. Of course, designers can also use an external connection to fix the connecting rod 51 to the operating member 32; this is not a limitation.

[0075] To prevent the operating member 32 from shifting during the locked or unlocked state and affecting the clamping effect, in this embodiment, the main body 1 is provided with an operating locking structure 6. The operating locking structure 6 includes a first limiting groove 61 and a second limiting groove 62 disposed on the main body 1. In the first angle state, the operating member 32 is engaged in the first limiting groove 61; in the second angle state, the operating member 32 is engaged in the second limiting groove 62.

[0076] Please refer to the following: Figure 6 By rotating the operating member 32, when the operating member 32 is pushed to move into the first limiting groove 61, the operating member 32 drives the sliding member 31 to approach the clamping member 2, so that the clamping member 2 is locked; at this time, the operating member 32 is located in the first limiting groove 61, so that the clamping member 2 is in a locked state.

[0077] Please refer to the following: Figure 7 By rotating the operating member 32, when the operating member 32 is pushed to move into the second limiting groove 62, the operating member 32 drives the sliding member 31 away from the clamping member 2, so that the clamping member 2 is in an unlocked state; at this time, the operating member 32 is located in the second limiting groove 62, so that the clamping member 2 is in an unlocked state.

[0078] The first limiting slot 61 and the second limiting slot 62 can also be used to limit the movement of the operating member 32 to prevent the problem of misoperation in the locked state or the unlocked state. The first limiting slot 61 and the second limiting slot 62 can also limit the movement of the operating member 32 to lock the sliding member 31 and the clamping member 2, prevent the clamping member 2 from moving, and improve the clamping stability of the clamping member 2. The designer can determine the shape of the first limiting slot 61 and the second limiting slot 62 and the position of the first limiting slot 61 and the second limiting slot 62 on the main body 1 according to the use requirement, which is not limited here.

[0079] In the embodiment, the first transmission structure 4 includes an insertion part 41 arranged on the sliding member 31 and a slot 42 arranged on the clamping member 2, the insertion part 41 is movably inserted into the slot 42, the insertion part 41 is provided with a first offset end face 411, the slot 42 is provided with a second offset end face 421, and the first offset end face 411 and the second offset end face 421 abut.

[0080] The main body 1 can be provided with a sliding groove, and the clamping member 2 is arranged in the sliding groove. By controlling the setting direction of the sliding groove, the movement direction of the clamping member 2 can be limited. For example, the setting direction of the sliding groove can be perpendicular to the movement direction of the sliding member 31, so that the movement direction of the clamping member 2 can be perpendicular to the movement direction of the sliding member 31. Of course, the designer can also adjust the movement direction of the clamping member 2, which is not limited here.

[0081] By arranging the first offset end face 411 and the second offset end face 421 between the insertion part 41 and the clamping member 2, when the relative movement occurs between the insertion part 41 and the clamping member 2, the first offset end face 411 and the second offset end face 421 can drive the clamping member 2 to move, thereby controlling the distance of the clamping member 2 extending into the slot of the main body 1, so as to realize the locking or unlocking operation.

[0082] Specifically, the first offset end face 411 and the second offset end face 421 can be planes. By controlling the clamping angle of the first offset end face 411 and the second offset end face 421, the offset amount between the insertion part 41 and the clamping member 2 can be controlled, and the movement distance of the clamping member 2 can be controlled. The designer can set the clamping angle according to the requirement, which is not limited here.

[0083] In order to prevent the clamping member 2 from extending into the slot of the main body 1 and then being unable to retract, referring to Figure 1 and Figure 2 The sleeve locking mechanism 100 further includes a reset structure 24 arranged between the clamping member 2 and the main body 1, which is used to reset the clamping member 2.

[0084] The reset structure 24 can cooperate with the driving structure 33. When the operating member 32 is not subjected to external force, the driving structure 33 can provide driving force for the sliding member 31 to overcome the reset structure 24, and the driving structure 33 can automatically push the sliding member 31 to be close to the clamping member 2, so that the clamping member 2 is extended to form a locked state by overcoming the resistance of the reset structure 24. When the operating member 32 is rotated to drive the sliding member 31 to be away from the clamping member 2 by overcoming the driving force of the driving structure 33, the reset structure 24 can provide a reset force for the clamping member 2, so that the clamping member 2 is retracted to form an unlocked state under the action of the reset force.

[0085] Specifically, the reset structure 24 includes a reset elastic member 241 arranged between the clamping member 2 and the main body 1, and the reset elastic member 241 is used to provide elastic force to reset the clamping member 2. The reset elastic member 241 can be an elastic block or a reset spring, which can be reasonably selected by the designer, and is not limited here.

[0086] Of course, as another alternative embodiment of the reset structure 24, in the present embodiment, in combination with the above description of the driving structure 33, Figure 8 the reset structure 24 includes a reset stop block 242 arranged on the insertion slot 42, and the reset stop block 242 is arranged on both sides of the insertion part 41 opposite to the second offset end face 421, and is used to reset the clamping member 2 by using the insertion part 41.

[0087] By arranging the reset stop block 242 on the insertion slot 42, the reset stop block 242 can cooperate with the second offset end face 421 on the insertion slot 42 to limit both sides of the insertion part 41, and can be used to control the movement direction of the clamping member 2. When the sliding member 31 drives the insertion part 41 to move towards the clamping member 2, the first offset end face 411 on the insertion part 41 cooperates with the second offset end face 421 to drive the clamping member 2 to extend into the slot of the main body 1, so as to realize the locked state. When the sliding member 31 drives the insertion part 41 to move away from the clamping member 2, the insertion part 41 cooperates with the reset stop block 242 to drive the clamping member 2 to exit the slot of the main body 1, so as to realize the unlocked state.

[0088] And by arranging the reset stop block 242 on the insertion slot 42, the insertion part 41 and the clamping member 2 can be more stably connected. The offset end face can also be arranged between the reset stop block 242 and the insertion part 41, which is not limited here.

[0089] In the present embodiment, the clamping member 2 is provided with at least two clamping members 2, and the at least two clamping members 2 move along a straight line to form an unlocked state or a locked state.

[0090] Specifically, the clamping member 2 is a first clamping member 21 and a second clamping member 22, and the first clamping member 21 and the second clamping member 22 are arranged opposite to each other on both sides of the sliding member 31.

[0091] Further, the clamping piece 2 further comprises at least one third clamping piece 23, which is arranged between the first clamping piece 21 and the second clamping piece 22. By arranging the first clamping piece 21, the second clamping piece 22 and the third clamping piece 23, different end faces of the sleeve 7 can be clamped respectively, thereby playing a more stable and firm clamping effect. Of course, the designer can also arrange more clamping pieces 2 according to the needs, which is not limited here.

[0092] In order to increase the convenience of the sliding piece 31, in the embodiment, the sleeve locking mechanism 100 comprises a driving structure 33 arranged between the sliding piece 31 and the main body 1, which is used to drive the sliding piece 31 to move.

[0093] Specifically, the driving structure 33 comprises a driving elastic piece 331 arranged between the sliding piece 31 and the main body 1, which is used to provide a driving elastic force to drive the sliding piece 31 to move towards the clamping piece 2. Wherein, the driving elastic piece 331 can be an elastic block or a spring, which can be reasonably selected by the designer, which is not limited here.

[0094] By arranging the driving elastic piece 331, an elastic pushing force is provided by the driving elastic piece 331, and then when the operating piece 32 is not in the first limiting groove 61 or the second limiting groove 62, the sliding piece 31 can be automatically pushed towards the clamping piece 2 by the elastic pushing force of the driving elastic piece 331, so as to drive the clamping piece 2 to extend into the slot of the main body 1 to form a locking state, thereby ensuring the clamping reliability of the clamping piece 2.

[0095] When it is needed to unlock the clamping piece 2, the operating piece 32 is rotated, the rotating movement of the operating piece 32 is converted into the linear movement of the sliding piece 31, so as to overcome the elastic force of the driving elastic piece 331, make the sliding piece 31 move away from the clamping piece 2, and make the clamping piece 2 exit the slot of the main body 1 to form an unlocking state.

[0096] In the embodiment, the sleeve locking mechanism 100 further comprises an electrical interface 311 arranged on the sliding piece 31. Specifically, the electrical interface 311 can be arranged on one end of the sliding piece 31 close to the clamping piece 2, so as to be connected with the circuit or air path on the sleeve 7.

[0097] The operating member 32 of the sleeve locking mechanism 100 is rotatably connected to the main body 1, and the rotating movement of the operating member 32 can be converted into the linear movement of the sliding member 31 by the second transmission structure 5, so that the sleeve 7 is locked or unlocked by the movement of the clamping member 2 driven by the sliding member 31. The rotating movement of the operating member 32 can be converted into the linear movement of the sliding member 31 by the second transmission structure 5 arranged between the operating member 32 and the sliding member 31. The clamping member 2 can be controlled to lock or unlock more labor-saving and quickly by the cooperation of the operating member 32 and the sliding member 31.

[0098] Embodiment two

[0099] Please refer to Figures 9 to 11 , the sleeve mounting device 200 provided in the embodiment of the application comprises the sleeve locking mechanism 100 in the foregoing embodiment one and the sleeve 7 which is clamped on the sleeve locking mechanism 100 by the clamping member 2. The specific structure, working principle and beneficial effects of the sleeve locking mechanism 100 are the same as those described in the embodiment one, and will not be repeated here. The sleeve mounting device 200 can lock or dismount the sleeve 7 more firmly and conveniently by using the sleeve locking mechanism 100.

[0100] In the embodiment, the sleeve mounting device 200 further comprises a sterile bag interface 8 which is detachably arranged between the sleeve locking mechanism 100 and the sleeve 7. When mounted, the sterile bag interface 8 is first mounted on the sleeve locking mechanism 100, and then the sleeve 7 is clamped on the sleeve locking mechanism 100. When dismounted, the sleeve 7 is first unlocked from the sleeve locking mechanism 100, and then the sterile bag interface 8 is dismounted from the sleeve locking mechanism 100.

[0101] In order to speed up the installation efficiency of the sterile bag interface 8, in the embodiment, in combination with Figure 2 , the sleeve locking mechanism 100 is provided with a magnetic attraction structure 9, and the sterile bag interface 8 is detachably connected to the sleeve locking mechanism 100 by the magnetic attraction structure 9. The magnetic attraction structure 9 can be used to more conveniently fix and install the sterile bag interface 8, and improve the installation and dismounting efficiency of the sterile bag interface 8.

[0102] Specifically, the magnetic attraction structure 9 comprises a plurality of magnetic members 91 which are arranged at intervals on the main body 1, and the sterile bag interface 8 is magnetically connected to the main body 1 by the plurality of magnetic members 91. The magnetic members 91 can be embedded on the notches of the main body 1, of course, the designer can also arrange magnetic parts on the main body 1 instead of the magnetic members 91, which is not limited here.

[0103] Embodiment three

[0104] Please refer to the following: Figure 12 This invention provides a surgical robot 300, including the cannula locking mechanism 100 described in Embodiment 1. The specific structure, working principle, and beneficial effects of the cannula locking mechanism 100 are the same as those described in Embodiment 2, and will not be repeated here. By utilizing the cannula locking mechanism 100, the surgical robot 300 can more securely and conveniently lock or remove the cannula 7, improving the connection stability of surgical instruments.

[0105] All articles and references disclosed herein, including patent applications and publications, are incorporated herein by reference for various purposes. The term “substantially constitutes…” used to describe a combination should include the identified element, component, part, or step, as well as other elements, components, parts, or steps that do not substantially affect the essential novelty of the combination. The use of the terms “comprising” or “including” to describe combinations of elements, components, parts, or steps herein also contemplates embodiments substantially constituted by such elements, components, parts, or steps. The use of the term “may” herein is intended to indicate that any described attribute “may” include is optional. Multiple elements, components, parts, or steps can be provided by a single integrated element, component, part, or step. Alternatively, a single integrated element, component, part, or step can be divided into multiple separate elements, components, parts, or steps. The disclosure of “a” or “an” used to describe an element, component, part, or step does not imply exclusion of other elements, components, parts, or steps.

[0106] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A sleeve locking mechanism, characterized in that, include: A clamping member is movably mounted on a main body; the main body is provided with a sliding groove and a slot for insertion during sleeve installation, and the clamping member is disposed within the sliding groove; And a locking operation structure provided on the main body, the locking operation structure includes a sliding member and an operating member connected to the sliding member, a first transmission structure is provided between the sliding member and the clamping member, the operating member can drive the sliding member to move, and convert the movement of the sliding member into the movement of the clamping member through the first transmission structure, so as to lock or unlock the sleeve; The first transmission structure includes an insertion part disposed on the slider and a slot disposed on the clamping member. The insertion part is movably inserted into the slot. The insertion part is provided with a first offset end face, and the slot is provided with a second offset end face. The first offset end face and the second offset end face abut against each other. The sleeve locking mechanism further includes a reset structure, which is disposed between the clamping member and the main body, for resetting the clamping member.

2. The sleeve locking mechanism as described in claim 1, characterized in that, The operating component is rotatably connected to the main body, and a second transmission structure is provided between the operating component and the sliding component. The second transmission structure is used to convert the rotational motion of the operating component into the linear motion of the sliding component.

3. The sleeve locking mechanism as described in claim 2, characterized in that, The operating member has a first angle state and a second angle state. In the first angle state, the operating member pushes the sliding member away from the clamping member through the second transmission structure, so that the clamping member is in an unlocked state. In the second angle state, the operating member pushes the sliding member closer to the clamping member through the second transmission structure, so that the clamping member is in a locked state.

4. The sleeve locking mechanism as described in claim 3, characterized in that, The second transmission structure includes a connecting rod, one end of which is rotatably connected to the operating member, and the other end of which is rotatably connected to the sliding member.

5. The sleeve locking mechanism as described in claim 4, characterized in that, The main body is provided with an operation locking structure, which includes a first limiting groove and a second limiting groove disposed on the main body. In the first angle state, the operating component is engaged in the first limiting groove; in the second angle state, the operating component is engaged in the second limiting groove.

6. The sleeve locking mechanism as described in claim 1, characterized in that, The reset structure includes a reset elastic element disposed between the clamping member and the main body, the reset elastic element being used to provide elastic force to reset the clamping member.

7. The sleeve locking mechanism as described in claim 1, characterized in that, The reset structure includes a reset stop block disposed on the slot. The reset stop block is disposed on both sides of the insertion part opposite to the second offset end face, and is used to reset the clamping member by means of the insertion part.

8. The sleeve locking mechanism as described in claim 6 or 7, characterized in that, The clamping member is provided in at least two forms, and at least two of the clamping members move in a straight line to form an unlocked state or a locked state.

9. The sleeve locking mechanism as described in claim 3, characterized in that, The sleeve locking mechanism further includes a driving structure, which is disposed between the sliding member and the main body and is used to drive the sliding member to move.

10. The sleeve locking mechanism as described in claim 9, characterized in that, The driving structure includes a driving elastic element disposed between the slider and the main body. The driving elastic element is used to provide driving elastic force to drive the slider to move toward the clamping member.

11. The sleeve locking mechanism as described in claim 9, characterized in that, The second transmission structure includes a connecting rod and a cam sliding portion disposed on the sliding member. The cam sliding portion is provided with a third offset end face. One end of the connecting rod is connected to the operating member, and the other end of the connecting rod is disposed against the third offset end face.

12. The sleeve locking mechanism as described in claim 11, characterized in that, The connecting rod and the operating component are integrated into one unit.

13. The sleeve locking mechanism as described in claim 1, characterized in that, The sleeve locking mechanism also includes an electrical interface disposed on the sliding member.

14. A sleeve installation device, characterized in that, The device includes a sleeve locking mechanism as described in any one of claims 1 to 13, and a sleeve, wherein the sleeve is engaged with the sleeve locking mechanism by a clamping member.

15. A surgical robot, characterized in that, Includes the sleeve installation device as described in claim 14.

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