End adjustment mechanism and surgical robot

Abstract

The present invention relates to an end adjustment mechanism and a surgical robot. The end adjustment mechanism includes: a guide column for adjusting the depth of an end instrument, the end adjustment mechanism includes: a guide column, the interior of the guide column has a through guide hole for the end instrument to pass through and guide the axial movement of the end instrument; a rotation-stopping end cover, located above the guide column, the rotation-stopping end cover has a through first mounting hole, the first mounting hole and the guide hole are coaxially arranged; and an adjustment sleeve, rotatably arranged on the outside of the guide column and part of the outside of the rotation-stopping end cover, the adjustment sleeve can move relative to the rotation-stopping end cover and drive the rotation-stopping end cover to move axially relative to the guide column; the end instrument extends through the first mounting hole and the guide hole. The depth of the end instrument is adjusted and guided. Moreover, the structure is simple, the integration is high, and it is easy to use and easy to operate.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a terminal adjustment mechanism and a surgical robot. Background Art

[0002] The emergence of surgical robots aligns with the development trend of precision surgery. They have become a powerful tool for assisting doctors in performing surgeries, and a variety of surgical robots have been developed across multiple departments and fields for diverse indications. Surgical robots are designed to perform complex surgical procedures with precision and dexterity using minimally invasive procedures, offering high precision and safety.

[0003] Surgical robots are also widely used in neurosurgery. Typically, the robot's end grips a drill bit, which opens a hole in the patient's skull for craniotomy. During the drilling process, the drill needs to be guided and adjusted in depth to ensure drilling accuracy, thereby improving the safety of craniotomy.

[0004] Currently, the guide device and depth adjustment device of the end drill of a surgical robot are separate, generally consisting of a guide and a depth adjustment device, which are connected to each other by bolts or a locking structure. However, the end face rotation stop method of the current drill guide device and depth adjustment device is complicated, and other components need to be installed multiple times during the operation, which is inconvenient to operate. Summary of the Invention

[0005] Based on this, it is necessary to provide an end adjustment mechanism and a surgical robot that integrate the guiding function and the adjustment function to address the problem that the guiding device and the depth adjustment device of the end drill of the surgical robot are separate, which causes inconvenience in operation.

[0006] A terminal adjustment mechanism for adjusting the depth of a terminal instrument, the terminal adjustment mechanism comprising:

[0007] A guide post having a through guide hole therein for allowing the end instrument to pass through and guiding the axial movement of the end instrument;

[0008] a rotation-stopping end cap, located at one end of the guide post, the rotation-stopping end cap having a first mounting hole extending therethrough, the first mounting hole being coaxially arranged with the guide hole; and

[0009] an adjusting sleeve rotatably disposed on the outer side of the guide post and a portion of the outer side of the anti-rotation end cover, wherein the adjusting sleeve is capable of moving relative to the anti-rotation end cover and driving the anti-rotation end cover to move axially relative to the guide post;

[0010] The end tool passes through the first mounting hole and the guide hole and extends from the other end opposite to the guide hole.

[0011] In one embodiment, the anti-rotation end cover includes an end cover body and a anti-rotation part. The end cover body is located at one end of the guide column. The anti-rotation part is arranged on the side of the end cover body toward the guide column. The anti-rotation part cooperates with the guide column to limit the rotation of the anti-rotation part and allow the anti-rotation part to move axially.

[0012] In one embodiment, the outer wall of the guide column has a recessed anti-rotation plane, the adjustment sleeve and the anti-rotation plane enclose a anti-rotation space, the anti-rotation member is located in the anti-rotation space, and can move axially along the anti-rotation plane;

[0013] And / or, the outer wall of the guide column has a guide groove, and the anti-rotation member can be slidably arranged in the guide groove.

[0014] In one embodiment, the outer wall of the end cover body or the anti-rotation member has a first matching portion, and the inner wall of the adjustment sleeve has a second matching portion.

[0015] When the anti-rotation end cover is installed between the guide column and the adjusting sleeve, the adjusting sleeve can rotate in the first matching portion through the second matching portion.

[0016] In one embodiment, the outer wall of the guide post has an external thread, the inner wall of the adjustment sleeve has an internal thread, and the guide post and the adjustment sleeve are rotatably connected through the cooperation of the external thread and the internal thread.

[0017] In one embodiment, the end adjustment mechanism further includes an anti-backlash component, which is movably disposed on the anti-rotation end cover and extends into the first mounting hole, and the anti-backlash component is capable of abutting against the end instrument.

[0018] In one embodiment, the cross-section of the first mounting hole is polygonal.

[0019] In one embodiment, the anti-rotation end cover has an adjustment hole in the radial direction, the adjustment hole and the first mounting hole are connected to each other, and the anti-backlash assembly includes an elastic member, a tightening member and an adjusting member located in the adjustment hole, one end of the elastic member abuts the tightening member, and the other end of the elastic member abuts the adjusting member. The elastic force of the elastic member causes the end of the tightening member to extend into the first mounting hole and abut the end instrument, and the adjusting member can move in or out along the adjustment hole to compress or release the elastic member.

[0020] In one embodiment, the end adjustment mechanism further includes a guide end cover, which is arranged at the other end of the guide column. The guide end cover has a mounting through hole, which is coaxially arranged with the guide hole, and the end instrument extends through the mounting through hole.

[0021] In one embodiment, an anti-backlash component is provided in the radial direction of the guide end cover, and the anti-backlash component can extend into the mounting through hole and abut against the end instrument.

[0022] In one embodiment, the guide end cover includes a first mounting body and a second mounting body arranged coaxially, the first mounting body has a second mounting hole, the second mounting body has a third mounting hole, the first mounting hole and the second mounting hole are connected to form the mounting through hole, the first mounting body can be rotatably mounted on the other end of the guide column through the mounting through hole, the anti-backlash assembly is installed in the second mounting body, the third mounting hole has the same shape as the first mounting hole, and is for the end instrument to pass through the third mounting hole.

[0023] In one embodiment, the end adjustment mechanism further includes a first locking member, which passes through the first mounting body and abuts against the guide column.

[0024] In one embodiment, the outer wall of the guide column has a locking plane, and the first locking member passes through the first mounting body and abuts against the locking plane on the guide column.

[0025] In one embodiment, the outer wall of the guide column has a mounting boss, the mounting boss protrudes from the outer wall of the guide column, the mounting boss is disposed in an end adapter, and the guide column extends through the end adapter.

[0026] In one embodiment, the end adjustment mechanism further includes a second locking member, which is detachably mounted on the mounting boss through the end adapter;

[0027] And / or, the outer wall of the mounting boss has a cut surface, and the cut surface cooperates with the end adapter to limit the rotation of the guide column.

[0028] A surgical robot comprises a robotic arm mechanism and an end adjustment mechanism as described in any of the above technical features, wherein the robotic arm mechanism comprises a robotic arm trolley, a robotic arm and an end adapter, the head end of the robotic arm is arranged on the robotic arm trolley, the end end of the robotic arm is installed with the end adapter, and the end adjustment mechanism is arranged on the end adapter.

[0029] After adopting the above technical solution, the present invention has at least the following technical effects:

[0030] The terminal adjustment mechanism and surgical robot of the present invention are characterized in that, in the terminal adjustment mechanism, the adjustment sleeve is rotatably arranged on the outside of the guide column, the anti-rotation end cap is located above the guide column, and the bottom of the anti-rotation end cap is located between the adjustment sleeve and the guide column. The anti-rotation end cap has a through first mounting hole, and the guide column has a through guide hole. The first mounting hole and the guide hole are connected and coaxially arranged, and the terminal instrument extends through the first mounting hole and the guide hole. The adjustment sleeve can rotate relative to the guide column, and the rotation of the adjustment sleeve can drive the anti-rotation end cap to move axially. During the axial movement of the anti-rotation end cap, the axial movement depth of the terminal instrument can be adjusted. Moreover, the guide hole of the guide column can guide the axial movement of the terminal instrument, ensuring that the terminal instrument can accurately penetrate the desired part.

[0031] The aforementioned end adjustment mechanism combines a guide post with an adjustment sleeve, and a rotation-stopping end cap is provided at the top between the adjustment sleeve and the guide post. The rotation-stopping end cap establishes a relationship between the adjustment sleeve and the end instrument, so that during the rotation of the adjustment sleeve, the rotation-stopping end cap can be driven to move axially relative to the guide post, thereby adjusting the depth of the end instrument and guiding it. The end adjustment mechanism has a simple structure, high integration, and a simple rotation-stopping method. During surgery, no instrument components need to be installed, and no disassembly or debugging is required, making it easy to use. Moreover, when replacing the end instrument, one only needs to remove one end instrument from the rotation-stopping end cap and replace it with another, which is convenient and easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A perspective view of an end adjustment mechanism according to an embodiment of the present invention;

[0033] Figure 2 for Figure 1 Schematic diagram of the drill bit installed in the end adjustment mechanism shown;

[0034] Figure 3 for Figure 2 A partially cutaway schematic diagram of a drill bit installed in the end adjustment mechanism shown;

[0035] Figure 4 for Figure 1 A perspective view of the guide post in the end adjustment mechanism shown;

[0036] Figure 5 for Figure 4 A cross-sectional view of the guide post top mounting adjustment sleeve is shown;

[0037] Figure 6 for Figure 5 A perspective view of the guide column and the anti-rotation end cap installed on the top of the adjustment sleeve shown;

[0038] Figure 7 for Figure 6 The guide column and the anti-rotation end cap installed on the top of the adjustment sleeve are shown as a partial cutaway diagram from one angle;

[0039] Figure 8 for Figure 7 The shown diagram is a partial enlarged view of the guide column and the anti-rotation end cover installed on the top of the adjusting sleeve;

[0040] Figure 9 for Figure 7 The guide column and the anti-rotation end cap installed on the top of the adjustment sleeve are shown as a partial cutaway diagram from another angle;

[0041] Figure 10 for Figure 1 An exploded view of the end adjustment mechanism stop cover and anti-backlash assembly is shown;

[0042] Figure 11 for Figure 1 A cross-sectional view of the anti-backlash assembly in the end adjustment mechanism shown tightening the drill bit;

[0043] Figure 12 for Figure 1 A perspective view of the guide end cap in the end adjustment mechanism shown;

[0044] Figure 13 for Figure 12 A partially cutaway schematic diagram of the guide end cap shown;

[0045] Figure 14 for Figure 12 An exploded view of the guide end cap is shown;

[0046] Figure 15 for Figure 1 An exploded view of the end adjustment mechanism shown mounted on the end adapter;

[0047] Figure 16 for Figure 15 The end adjustment mechanism is shown mounted on the end adapter in a cross-sectional view from one angle;

[0048] Figure 17 for Figure 15 The end adjustment mechanism is shown mounted on the end adapter in a cross-sectional view from another angle;

[0049] Figure 18 for Figure 1 The schematic diagram of the distal end adjustment mechanism being mounted on the distal end adapter and performing skull surgery;

[0050] Figure 19 for Figure 1 A schematic diagram of the probe installed in the end adjustment mechanism shown;

[0051] Figure 20 for Figure 19 A cutaway diagram of a probe mounted in the end adjustment mechanism shown;

[0052] Figure 21 for Figure 1 Schematic diagram of the end adjustment mechanism installed on the surgical robot. DETAILED DESCRIPTION

[0053] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0055] 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0056] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0057] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0058] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate 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 implementation methods.

[0059] See also Figures 1 to 21 The present invention provides a terminal adjustment mechanism 100. The terminal adjustment mechanism 100 is applied to a surgical robot. The terminal adjustment mechanism 100 is installed with a terminal instrument to adjust the depth of the terminal instrument and guide the axial movement of the terminal instrument to ensure that the terminal instrument can accurately penetrate the desired part and meet the penetration depth requirement.

[0060] In the present invention, the end adjustment mechanism 100 is applied to a surgical robot for the nervous system, and the end instrument is mainly a drill bit 400. The electric tool drives the drill bit 400 to rotate and move axially along the end adjustment mechanism 100, and guides the axial movement of the drill bit 400, so that the drill bit 400 can accurately drill the skull 600. In other words, the required part is the skull 600, and the end instrument of the drill bit 400 drills a hole in the skull 600 to facilitate later surgical operations inside the skull. Moreover, the end instrument can also be a probe such as a puncture needle, a biopsy needle, etc., and surgical operations are performed through the probe, etc. Of course, in other embodiments of the present invention, the end instrument can also be other instruments that require axial movement and ensure insertion accuracy. Moreover, the end adjustment mechanism 100 of the present invention can also be used to adjust the depth and accuracy of other parts that require axial movement.

[0061] It is understandable that the guide device and depth adjustment device of the end drill of the current surgical robot are separate, generally consisting of two parts, a guide and a depth adjustment device, which are connected to each other by bolts or locking structures. However, the end face rotation stop method of the current drill guide device and depth adjustment device is complicated, and other components need to be installed multiple times during the operation, which is inconvenient to operate.

[0062] To this end, the present invention provides a novel end-use adjustment mechanism 100. This mechanism integrates both guiding and depth adjustment functions, ensuring the axial movement accuracy of the end-use instrument and adjusting the axial movement depth of the end-use instrument. Furthermore, the end-use instrument has a simple structure, allowing for easy installation and operation, eliminating the need for disassembly and adjustment, making it convenient to use. The specific structure of the end-use adjustment mechanism 100 is described below.

[0063] See also Figures 1 to 17 In one embodiment, the end adjustment mechanism 100 includes a guide column 110, a rotation-stopping end cover 130, and an adjustment sleeve 120. The guide column 110 has a through guide hole 111 inside for allowing the end instrument to pass through and guiding the axial movement of the end instrument. The rotation-stopping end cover 130 is located above the guide column 110. The rotation-stopping end cover 130 has a through first mounting hole 131, and the first mounting hole 131 is coaxially arranged with the guide hole 111. The adjustment sleeve 120 can be rotatably arranged on the outside of the guide column 110 and part of the outside of the rotation-stopping end cover 130. The adjustment sleeve 120 can move relative to the rotation-stopping end cover 130 and drive the rotation-stopping end cover 130 to move axially relative to the guide column 110. The end instrument extends through the first mounting hole 131 and the guide hole 111.

[0064] The guide post 110 is the main component of the end adjustment mechanism 100. It is used to guide the axial movement of the end instrument. In addition, the guide post 110 also supports and mounts some components of the end adjustment mechanism 100. Some components of the end adjustment mechanism 100 are mounted on the guide post 110. The adjustment sleeve 120 is rotatably mounted on the top of the guide post 110 and can move axially relative to the guide post 110.

[0065] The guide post 110 has a guide hole 111 extending therethrough. The adjustment sleeve 120 is a hollow structure with a hollow rotation hole. After the adjustment sleeve 120 is mounted on the top of the guide post 110, the rotation hole of the adjustment sleeve 120 can be rotated to fit around the outer wall of the guide post 110. The rotation hole and the guide hole 111 are coaxially arranged. One end of the end instrument extends through the adjustment sleeve 120 and the guide hole 111 of the guide post 110. The top of the end instrument is located on one side of the adjustment sleeve 120, and the other end of the end instrument can extend through the guide post 110. When the adjustment sleeve 120 moves axially relative to the guide post 110, the adjustment sleeve 120 can adjust the depth of the end instrument's axial movement. At the same time, the guide post 110 guides the end instrument through the guide hole 111, ensuring the accuracy and depth of the end instrument's axial movement.

[0066] Furthermore, the adjustment sleeve 120 rotates relative to the guide post 110 to generate axial movement, and it is necessary to prevent the adjustment sleeve 120 from causing the end instrument to rotate, thereby affecting operations such as drilling of the end instrument. Therefore, the present invention provides a rotation-stopping end cap 130 at the top of the guide post 110 and the adjustment sleeve 120, and the upper portion of the rotation-stopping end cap 130 is located at the top of the guide post 110 and the adjustment sleeve 120, and the lower portion of the rotation-stopping end cap 130 is located between the adjustment sleeve 120 and the rotation-stopping end cap 130. The lower portion of the rotation-stopping end cap 130 is axially movable and is disposed at the top of the guide post 110. The outer wall of the lower portion of the rotation-stopping end cap 130 is rotatably connected to the inner wall of the adjustment sleeve 120 and is capable of axial movement with the adjustment sleeve 120.

[0067] The adjustment sleeve 120 rotates relative to the guide post 110 to achieve axial movement relative to the guide post 110, thereby controlling the drilling depth of the end instrument. When the adjustment sleeve 120 rotates relative to the guide post 110, the adjustment sleeve 120 rotates relative to the anti-rotation end cap 130, and the adjustment sleeve 120 does not cause the anti-rotation end cap 130 to rotate. When the adjustment sleeve 120 rotates relative to the guide post 110 to generate axial movement, the adjustment sleeve 120 causes the anti-rotation end cap 130 to move axially relative to the guide post 110. In other words, during the process of rotating to generate axial movement, the adjustment sleeve 120 cannot cause the anti-rotation end cap 130 to rotate, but can only cause the anti-rotation end cap 130 to move axially.

[0068] by Figure 1 Taking the direction shown as a reference, when the adjusting sleeve 120 rotates relative to the guide post 110 to achieve axial movement, it will rotate upward or downward relative to the guide post 110 to adjust the axial movement depth of the terminal instrument; moreover, during the process of the adjusting sleeve 120 rotating upward or downward relative to the guide post 110, it will not drive the anti-rotation end cap 130 to rotate, but can only drive the anti-rotation end cap 130 to move axially. It is worth noting that the present invention mainly studies the adjustment of the descent depth of the terminal instrument by the adjusting sleeve 120 and the guidance of the terminal instrument by the guide post 110 during descent. The following text mainly uses the axial movement of the anti-rotation end cap 130 driven by the adjusting sleeve 120 as an example for explanation. The principle of the adjusting sleeve 120 rotating upward is essentially the same as the principle of the adjusting sleeve 120 rotating downward, and will not be repeated here.

[0069] The anti-rotation end cap 130 has a first mounting hole 131, which is connected to the guide hole 111 of the guide column 110 and is coaxially arranged. Figure 1Taking the direction shown as a reference, the first mounting hole 131 is connected to the guide hole 111 at the top of the guide column 110. The end instrument includes a limiting end and an instrument body, and the top of the instrument body is installed at the bottom of the limiting end. When the end instrument is installed, the lower surface of the limiting end abuts against the top of the anti-rotation end cover 130, or there is a certain distance between the lower surface of the limiting end and the top of the anti-rotation end cover 130, and the instrument body extends through the first mounting hole 131 and the guide hole 111. The position of the end instrument is limited by the limiting end to prevent the end instrument from falling from the first mounting hole 131 and the guide hole 111. Moreover, the limiting end can also be connected to an external power source such as a motor, so that the end instrument such as the drill bit 400 can be driven to rotate.

[0070] After the end effector is mounted on the end effector adjustment mechanism 100, the limiting end abuts against the surface of the anti-rotation end cap 130 or is spaced a certain distance from the surface of the anti-rotation end cap 130. The other end of the end effector (hereinafter referred to as the instrument body for simplicity) extends through the first mounting hole 131 and the guide hole 111. When the other end of the end effector is not abutting the desired position, the top of the end effector abuts against the top of the anti-rotation end cap 130.

[0071] When performing a drilling operation using an end instrument such as a drill bit 400, the end adjustment mechanism 100 is mounted on the end adapter 330 of the surgical robot and moved near the patient's skull 600. The end of the drill bit 400 is brought into contact with the area of ​​skull 600 to be drilled. The adjustment sleeve 120 is then operated, causing the adjustment sleeve 130 to rotate and move axially. As the adjustment sleeve 120 rotates, it also causes the anti-rotation end cap 130 to move axially. At this point, because the drill bit 400 is in contact with the skull 600, it does not move axially, and the distance between the anti-rotation end cap 130 and the drill bit 600 gradually increases. Once the adjustment sleeve 120 has driven the anti-rotation end cap 130 to move axially to the desired depth, which is the depth at which the drill bit 400 is allowed to drill, the adjustment sleeve 120 stops rotating, and the anti-rotation end cap 130 remains stationary.

[0072] When drilling, the power source is connected to the drill bit 400 to drive the drill bit 400 to rotate and move axially. The guide column 110 guides the axial movement of the drill bit 400 through its own guide hole 111, so that the drill bit 400 drills the skull 600. In addition, when the top of the drill bit 400 abuts against the top of the anti-rotation end cover 130, the drill bit 400 cannot continue to move axially, indicating that the drill bit 400 has reached the pre-set drilling depth. If the drilling depth cannot meet the use requirements, remove the power source and continue to operate the adjustment sleeve 120 in the above manner until the drilling depth reaches the required depth. By operating the adjustment sleeve 120 multiple times to limit the drilling depth of the drill bit 400 each time, it is prevented that the drill bit 400 drills through the skull 600 at once, ensuring the safety of the surgical process and preventing the patient from being harmed.

[0073] Of course, the adjustment sleeve 120 can also be operated while drilling. Specifically, the power source abuts the top of the drill bit 400, which in turn abuts the top surface of the anti-rotation end cap 130. As will be appreciated, the force exerted by the power source to rotate the drill bit 400 is not excessive, allowing the user to operate the adjustment sleeve 120 while the drill bit is rotating, thereby enabling real-time adjustment of the axial movement depth of the drill bit 400. Specifically, the power source drives the drill bit 400 to rotate, while simultaneously operating the adjustment sleeve 120 to achieve axial movement. This, in turn, drives the anti-rotation end cap 130 to move axially in tandem. The power source drives the drill bit 400 to rotate axially in tandem with the anti-rotation end cap 130, enabling precise adjustment of the drilling depth based on the axial movement of the drill bit 400 in real time. Furthermore, when the user operates the adjustment sleeve 120, the axial movement of the adjustment sleeve 120 per rotation is minimal, minimizing the risk of drilling through the skull 600 and ensuring maximum safety. In this manner, after the drill bit 400 completes drilling the skull 600, the operation of the adjusting sleeve 120 is stopped to prevent the drill bit 400 from continuing to move axially, thereby ensuring the safety of the surgical process.

[0074] Of course, in other embodiments of the present invention, the two surgical methods described above can also be used in combination. For example, when drilling, the drill bit 400 is first placed against the desired location on the skull 600. The adjustment sleeve 120 is then operated to adjust the axial movement depth of the drill bit 400. At this point, a certain gap exists between the drill bit 400 and the anti-rotation end cap 130. The power source is placed against the drill bit 400 to perform the drilling operation. When the drill bit 400 abuts the anti-rotation end cap 130, it indicates that the drill bit 400 has reached a certain drilling depth. The drilling operation can then be continued while the adjustment sleeve 120 is operated. Specifically, the adjustment sleeve 120 is rotated to drive the anti-rotation end cap 130 to move axially. The drill bit 400, driven by the force of the power source (e.g., an electric tool) and the axial movement of the anti-rotation end cap 130, moves circumferentially until the drilling operation is completed.

[0075] In the following text, in order to better illustrate how the end adjustment mechanism 100 adjusts the axial movement of the end instrument, only the method of adjusting the depth while drilling by the drill bit 400 is used as an example. The above-mentioned adjustment principle is essentially the same as the adjustment principle of the other two methods mentioned above, and will not be repeated here.

[0076] The end adjustment mechanism 100 of the above embodiment combines a guide post 110 with an adjustment sleeve 120, and sets a rotation-stopping end cap 130 at the top between the adjustment sleeve 120 and the guide post 110. The rotation-stopping end cap 130 establishes a relationship between the adjustment sleeve 120 and the end instrument, so that during the rotation of the adjustment sleeve 120, the rotation-stopping end cap 130 can be driven to move axially relative to the guide post 110, thereby adjusting the depth of the end instrument and guiding it so that the end instrument can be accurately inserted into the desired position. The end adjustment mechanism 100 has a simple structure, high integration, and a simple rotation-stopping method. During the operation, no instrument components need to be installed, and no disassembly and debugging are required. It is easy to use. Moreover, when replacing the end instrument, one only needs to remove one end instrument from the rotation-stopping end cap 130 and replace it with another end instrument. It is convenient and easy to operate.

[0077] See also Figures 1 to 17 In one embodiment, the anti-rotation end cover 130 includes an end cover body 133 and a anti-rotation member 134. The end cover body 133 is located above the guide column 110. The anti-rotation member 134 is arranged at the end of the end cover body 133 facing the guide column 110, and the anti-rotation member 134 extends toward one side of the guide column 110. The anti-rotation member 134 cooperates with the guide column 110 to limit the rotation of the anti-rotation member 134 and allow the anti-rotation member 134 to move axially.

[0078] The stopper 134 is disposed at the bottom of the end cap body 133. The end cap body 133 is the upper portion of the stopper end cap 130, and the stopper 134 is the lower portion of the stopper end cap 130. When the stopper end cap 130 is mounted on the guide post 110, the end cap body 133 is located at the top of the guide post 110 and the adjustment sleeve 120. The stopper 134 is located between the guide post 110 and the adjustment sleeve 120. The outer wall of the guide post 110 can limit the rotation and axially guide the stopper 134. In other words, the outer wall of the guide post 110 can limit the rotation of the stopper 134, and when the adjustment sleeve 120 rotates to drive the stopper end cap 130 to move axially, the stopper 134 can move circumferentially along the outer wall of the guide post 110.

[0079] When it is necessary to control the axial movement of the end instrument, when the operating adjustment sleeve 120 rotates relative to the guide column 110, the adjustment sleeve 120 rotates relative to the anti-rotation end cover 130, and the adjustment sleeve 120 rotates to generate axial movement. During the process, it can drive the anti-rotation member 134 to move axially synchronously relative to the guide column 110, and then drive the end instrument to move axially synchronously through the anti-rotation end cover 130, thereby realizing the adjustment of the axial movement depth of the end instrument, and cooperating with the guiding effect of the guide column 110, so that the end instrument can accurately extend into the required position, such as accurately performing drilling operations.

[0080] In one embodiment of the present invention, the outer wall of the guide column 110 has a recessed anti-rotation plane 112, the adjusting sleeve 120 and the anti-rotation plane 112 enclose a anti-rotation space, and the anti-rotation member 134 is located in the anti-rotation space and can move axially along the anti-rotation plane 112. In other words, the outer wall of the guide column 110 has a plane extending along its axial direction, and the plane is the anti-rotation plane 112. After the adjusting sleeve 120 is installed on the guide column 110, a certain space is formed between the adjusting sleeve 120 and the anti-rotation plane 112, and the anti-rotation member 134 is located in the space. The axial movement of the anti-rotation member 134 is guided by the space, and the rotation tendency of the anti-rotation member 134 is limited.

[0081] When the stopper 134 is located in the space, if the stopper 134 tends to rotate, the stopper plane 112 will restrict the rotation of the stopper 134, thereby restricting the rotation of the stopper end cap 130 along with the adjustment sleeve 120. In addition, the stopper 134 can move axially along the stopper plane 112. In other words, when the adjustment sleeve 120 rotates relative to the guide post 110 to achieve axial movement, the adjustment sleeve 120 rotates relative to the guide post 110 due to the cooperation between the stopper 134 and the stopper plane 112, and the adjustment sleeve 120 drives the stopper 134 to move axially along the stopper plane 112.

[0082] Optionally, there are two anti-rotation planes 112, which are symmetrically arranged on the outer wall of the top of the guide column 110. The number of anti-rotation members 134 is the same as the number of anti-rotation planes 112 and are arranged accordingly. Of course, in other embodiments of the present invention, the number of anti-rotation planes 112 can also be one or more.

[0083] In another embodiment of the present invention, the outer wall of the guide column 110 has a guide groove, and the stop member 134 can be slidably disposed in the guide groove. In other words, the outer wall of the guide column 110 has a guide groove extending along its axial direction, and the stop member 134 can be slidably disposed in the guide groove, and the stop member 134 can also be rotatably connected to the adjustment sleeve 120 and move axially with the adjustment sleeve 120. The cooperation between the stop member 134 and the guide groove can limit the rotation of the stop end cover 130, and the stop member 134 can move axially along the guide groove. At this time, when the adjustment sleeve 120 rotates to generate axial movement, the adjustment sleeve 120 will rotate relative to the stop end cover 130 through the cooperation between the stop member 134 and the guide groove, and drive the stop end cover 130 to move axially during the rotation process.

[0084] However, in other embodiments of the present invention, the matching structure between the guide column 110 and the anti-rotation member 134 may also be in other forms that do not affect the rotation of the adjustment sleeve 120 and limit the rotation of the anti-rotation member 134 .

[0085] Optionally, the stopper 134 is a stop pin. Of course, in other embodiments of the present invention, the stopper 134 can also be another component capable of performing a rotation-stopping function. Optionally, there are two stoppers 134, and accordingly, there are also two stop planes 112, to ensure that the force applied to the stopper end cap 130 is uniform when the stopper is stopped.

[0086] See also Figures 1 to 17 In one embodiment, the outer wall of the end cap body 133 or the anti-rotation member 134 has a first mating portion 135, and the inner wall of the adjustment sleeve 120 has a second mating portion 121. When the anti-rotation end cap 130 is installed between the guide post 110 and the adjustment sleeve 120, the adjustment sleeve 120 can rotate in the first mating portion 135 via the second mating portion 121.

[0087] In this embodiment, the first matching portion 135 is arranged on the outer wall of the stop member 134. Of course, in other embodiments of the present invention, the first matching portion 135 can also be arranged on the outer wall of the end cover body 133. The following text only uses the first matching portion 135 on the outer wall of the stop member 134 as an example for explanation. The principles of the first matching portion 135 on the outer wall of the stop member 134 and the first matching portion 135 on the outer wall of the end cover body 133 are essentially the same, and will not be repeated here.

[0088] The second mating portion 121 is provided on the inner wall of the adjustment sleeve 120. When the anti-rotation end cap 130 is mounted on the top of the guide post 110 and the adjustment sleeve 120, the anti-rotation member 134 is located between the adjustment sleeve 120 and the guide post 110. At this time, the first mating portion 135 of the anti-rotation member 134 can be mated and connected with the second mating portion 121 of the adjustment sleeve 120. When the adjustment sleeve 120 rotates relative to the guide post 110 to generate axial movement, the adjustment sleeve 120 rotates relative to the anti-rotation end cap 130 through the rotational mating of the second mating portion 121 and the first mating portion 135. At the same time, the adjustment sleeve 120 drives the anti-rotation member 134 to move axially along the guide post 110 through the mating of the second mating portion 121 and the first mating portion 135.

[0089] In this way, the adjusting sleeve 120 can rotate relative to the anti-rotation end cover 130 and drive the anti-rotation end cover 130 to move axially, so that the anti-rotation end cover 130 can drive the end instrument to move axially, but will not drive the end instrument to rotate. After cooperating with the guiding effect of the guide column 110, the axial movement depth of the end instrument can be adjusted, and the movement accuracy of the end instrument is guaranteed, thereby ensuring that the end instrument accurately penetrates the required position.

[0090] See also Figures 1 to 17In one embodiment, the first mating portion 135 and the second mating portion 121 are mating structures of an arc-shaped protrusion and an annular groove. In this embodiment, the first mating portion 135 is an arc-shaped protrusion and is disposed on the outer wall of the stop member 134, and the second mating portion 121 is an annular groove and is disposed on the inner wall of the adjustment sleeve 120. The adjustment sleeve 120 rotates relative to the stop member 134 through the mating of the annular groove and the arc-shaped protrusion, and drives the stop member 134 to move axially. Of course, in other embodiments of the present invention, the first mating portion 135 may be an arc-shaped groove and the second mating portion 121 may be an annular protrusion.

[0091] In this embodiment, the adjustment sleeve 120 and the anti-rotation end cap 130 are connected by an annular groove and an arc-shaped protrusion, which can slide between the annular groove and the arc-shaped protrusion. A flat surface is cut out on the side surface of the top of the guide post 110, which serves as the anti-rotation plane 112. A certain space is provided between the anti-rotation plane 112 of the guide post 110 and the adjustment sleeve 120, and the anti-rotation member 134 of the anti-rotation end cap 130 is inserted into the anti-rotation space between the adjustment sleeve 120 and the guide post 110.

[0092] When the adjusting sleeve 120 rotates relative to the guide column 110 to adjust the axial movement depth of the end instrument, the anti-rotation end cover 130 will be lifted up by the cooperation of the annular groove and the arc-shaped protrusion, but will not rotate with the adjusting sleeve 120 or the end instrument, thereby avoiding the anti-rotation end cover 130 from rotating when the adjusting sleeve 120 rotates, thereby avoiding affecting the position of the end cover and the depth of insertion of the end instrument, so that the anti-rotation end cover 130 always maintains one direction, so that the anti-rotation positioning end cover can achieve the purpose of preventing rotation.

[0093] Thus, the depth of insertion of the end instrument is adjusted by adjusting the adjustment sleeve 120, and the end instrument, such as the drill bit 400 or the probe 500, is guided by the guide hole 111 of the guide post 110 in cooperation with the end instrument, thereby ensuring the axial movement accuracy of the end instrument. Optionally, the probe 500 is a biopsy needle, a puncture needle, etc.

[0094] See also Figures 1 to 17 In one embodiment, the outer wall of the guide post 110 has external threads, and the inner wall of the adjustment sleeve 120 has internal threads. The guide post 110 and the adjustment sleeve 120 are rotatably connected through the mating of the external and internal threads. In other words, the adjustment sleeve 120 is rotatably mounted on the guide post 110 through the threaded connection. The mating of the internal and external threads enables the adjustment sleeve 120 to rotate along the guide shaft to achieve axial movement. Consequently, the adjustment sleeve 120 can drive the end instrument to synchronously move axially, thereby adjusting the axial movement depth of the end instrument.

[0095] The combination of the external and internal threads allows for infinite adjustment of the axial movement depth of the end-use instrument, simply by controlling the number of rotations of the adjustment sleeve 120 according to actual usage requirements. Furthermore, after the adjustment sleeve 120 is released, the combination of the external and internal threads allows the adjustment sleeve 120 to self-lock, ensuring a stable self-locking state.

[0096] Of course, in other embodiments of the present invention, the adjusting sleeve 120 and the guide shaft can also be connected by a damping connection, and the adjusting sleeve 120 can be moved axially relative to the guide shaft by rotation and / or movement. After the adjusting sleeve 120 is released, the adjusting sleeve 120 is reliably locked on the guide shaft by the damping effect, preventing the adjusting sleeve 120 from falling in the axial direction.

[0097] See also Figures 1 to 17 In one embodiment, the end adjustment mechanism 100 further includes a backlash elimination assembly 140 movably mounted on the anti-rotation end cap 130 and extending into the first mounting hole 131. The backlash elimination assembly 140 is capable of abutting the end instrument. The backlash elimination assembly 140 allows the end instrument to adhere tightly to the inner wall of the first mounting hole 131, eliminating any gap between the end instrument and the inner wall of the first mounting hole 131 and limiting movement of the end instrument within the first mounting hole 131.

[0098] It is worth noting that the backlash elimination assembly 140 primarily eliminates backlash for the end instrument, which is a drill bit 400. Of course, the backlash elimination assembly 140 can also eliminate backlash for the end instrument, which is a probe 500. Typically, backlash elimination is not required for the end instrument, which is a probe 500. Therefore, in the following text, when referring to the backlash elimination assembly 140, the drill bit 400 will be used instead of the end instrument. When backlash elimination is not required, the probe 500, such as a puncture needle or biopsy needle, will be used instead of the end instrument.

[0099] The anti-rotation end cap 130 has an adjustment hole 132 in the radial direction, which is connected to the first mounting hole 131. The anti-backlash assembly 140 is movably arranged in the adjustment hole 132, and the end of the anti-backlash assembly 140 can extend into the first mounting hole 131. When the drill bit 400 extends through the first mounting hole 131 and the guide hole 111, the anti-backlash assembly 140 can abut the drill bit 400 in the first mounting hole 131, causing the drill bit 400 to abut the inner wall of the first mounting hole 131, thereby radially limiting the drill bit 400, preventing the drill bit 400 from radially moving, and ensuring the drilling accuracy of the drill bit 400.

[0100] Furthermore, when it is necessary to adjust the tightening force of the backlash eliminating assembly 140 on the drill bit 400, the backlash eliminating assembly 140 is operated to move the backlash eliminating assembly 140 radially away from the first mounting hole 131 or toward the first mounting hole 131 to reduce or increase the tightening force to meet the usage requirements. Of course, in other embodiments of the present invention, the drill bit 400 can also be replaced with other end instruments that require guaranteed radial accuracy.

[0101] See also Figures 1 to 17 In one embodiment, the cross-section of the first mounting hole 131 is polygonal, and there is only one small subassembly 140. The anti-backlash assembly 140 abuts against the end instrument, allowing the end instrument to fit against the inner wall of the first mounting hole 131. In other words, the drill bit 400 is clamped by the engagement of one anti-backlash assembly 140 with the inner wall of the first mounting hole 131.

[0102] Specifically, the anti-backlash component 140 extends from one side of the polygon into the first mounting hole 131 and extends toward at least one side of the polygon. At this time, the anti-backlash component 140 cooperates with the inner wall of the first mounting hole 131 to clamp the drill bit 400, thereby achieving reliable clamping of the drill bit 400.

[0103] For example, the cross-section of first mounting hole 131 is triangular. That is, the first anti-backlash assembly 140 cooperates with the triangular-shaped first mounting hole 131 to securely clamp drill bit 400. Specifically, anti-backlash assembly 140 extends from one side of the triangle into first mounting hole 131 and toward the vertex of the triangle. At this point, anti-backlash assembly 140 cooperates with the inner wall of the vertex to securely hold drill bit 400.

[0104] Of course, the shape of the first mounting hole 131 can also be a quadrilateral or other regular or irregular shapes, as long as the anti-backlash assembly 140 cooperates with the first mounting hole 131 to reliably clamp the drill bit 400. A component that increases friction, such as damping particles, can also be provided on the inner wall of the first mounting hole 131 to cooperate with the anti-backlash assembly 140 to clamp the drill bit 400.

[0105] Of course, in other embodiments of the present invention, the number of anti-backlash assemblies 140 is multiple, and the multiple anti-backlash assemblies 140 are spaced apart along the circumference of the anti-rotation end cap 130, and the multiple anti-backlash assemblies 140 abut the end instrument. In other words, the multiple anti-backlash assemblies 140 are spaced apart along the circumference of the first mounting hole 131. When the drill bit 400 needs to be backlash-eliminated, the multiple anti-backlash assemblies 140 abut against the drill bit 400 in the circumferential direction, thereby reliably clamping the drill bit 400 and achieving the anti-backlash effect.

[0106] In one embodiment, the anti-rotation end cover 130 has an adjustment hole 132 along the radial direction, and the adjustment hole 132 is interconnected with the first mounting hole 131. The anti-backlash assembly 140 includes an elastic member 142, a tightening member 143 and an adjusting member 141 located in the adjustment hole 132. One end of the elastic member 142 abuts the tightening member 143, and the other end of the elastic member 142 abuts the adjusting member 141. The elastic force of the elastic member 142 causes the end of the tightening member 143 to extend into the first mounting hole 131 and abut the end instrument. The adjusting member 141 can move in or out along the adjustment hole 132 to compress or release the elastic member 142.

[0107] The backlash elimination assembly 140 is located in a radially extending adjustment hole 132 in the anti-rotation end cap 130. Specifically, an elastic member 142 is located in the adjustment hole 132. The end of the elastic member 142 facing the first mounting hole 131 abuts against the pressing member 143, while the end of the elastic member 142 facing away from the first mounting hole 131 is attached to the adjustment member 141. The elastic force of the elastic member 142 causes the end of the pressing member 143 to extend into the first mounting hole 131 and abut against the outer wall of the drill bit 400.

[0108] When the tightening force needs to be adjusted, the adjusting member 141 is operated to compress or stretch the elastic member 142, and the elastic member 142 then drives the tightening member 143 to continue to extend into the first mounting hole 131 or to partially retract. Specifically, when the tightening force needs to be increased, the adjusting member 141 is operated radially inward, and the adjusting member 141 squeezes the elastic member 142, causing the elastic member 142 to stretch, and the elastic member 142 then tightens the drill bit 400. When the tightening force needs to be reduced, the adjusting member 141 is operated radially outward, and the adjusting member 141 releases the elastic member 142, causing the elastic member 142 to stretch, and the force applied by the elastic member 142 to the drill bit 400 is reduced or slightly loosened.

[0109] Here, the example of the anti-backlash assembly 140 mating with the first mounting hole 131, which has a triangular cross-section, is used for illustration. The tensioning member 143 utilizes the elastic force of the elastic member 142 to support the drill bit 400, forcing the drill bit 400 against the two sides of the rigid triangle and accurately positioning it at the axial center. This eliminates the clearance between the drill bit 400 and the guide hole 111, achieving stable rotation, eliminating shake of the drill bit 400, and reducing the area of ​​the drill hole.

[0110] Of course, in other embodiments of the present invention, the backlash elimination assembly 140 can be tightened against the customized probe 500 or other instruments by means of a tightening member 143. Optionally, the tightening member 143 is a push bead, the curved surface of which can extend into the first mounting hole 131. Of course, the tightening member 143 is a tightening post with a pointed end, the tip of which can extend into the first mounting hole 131. Optionally, the diameter of the end of the adjustment hole 132 that communicates with the first mounting hole 131 is smaller than the outer diameter of the tightening member 143. In this way, when the drill bit 400 is removed, the end of the tightening member 143 will press against the end of the adjustment hole 132 and will not fall off.

[0111] Optionally, the elastic member 142 is a spring. Optionally, the inner wall of the adjustment hole 132 has internal threads, and the adjustment member 141 is a threaded member. The threaded member moves along the adjustment hole 132 through the cooperation of the external and internal threads to adjust the tightening force. It is worth noting that the structural form of the tightening member 143 is generally not limited, as long as the tightening member 143 can be pressed against the outer wall of the drill bit 400 by the elastic force of the elastic member 142.

[0112] See also Figures 1 to 17 In one embodiment, the end adjustment mechanism 100 further includes a guide end cover 150, which is disposed at the bottom of the guide column 110. The guide end cover 150 has a mounting through hole, which is coaxially disposed with the guide hole 111, and the end instrument extends through the mounting through hole.

[0113] The guide end cap 150 is located at the bottom end of the guide post 110. Specifically, the anti-rotation end cap 130 and the guide end cap 150 are located at either end of the guide post 110, with the anti-rotation end cap 130 located at the top and the guide end cap 150 located at the bottom. The mounting through-hole, guide hole 111, and first mounting hole 131 are coaxially arranged. The top of the end effector abuts the top surface of the anti-rotation end cap 130, while the bottom of the end effector extends through the first mounting hole 131, the guide hole 111, and the second mounting hole.

[0114] Optionally, the guide end cap 150 is rotatably mounted on the end of the bottom of the guide post 110 by a threaded manner. Of course, in other embodiments of the present invention, the guide end cap 150 can also be mounted to the bottom of the guide post 110 by plugging or other detachable means.

[0115] In one embodiment, a backlash elimination assembly 140 is provided radially along the guide end cap 150. This backlash elimination assembly 140 is capable of extending into the mounting through-hole and abutting the end instrument. In other words, the guide end cap 150 also includes a backlash elimination assembly 140, which is also capable of extending radially into the mounting through-hole and abutting the end instrument, such as the drill bit 400, in the mounting through-hole. It is worth noting that the structure, configuration, and principles of this backlash elimination assembly 140 are substantially identical to those of the backlash elimination assembly 140 in the aforementioned stop-rotation end cap 130, and therefore will not be further elaborated upon.

[0116] In this embodiment, a stop-rotation end cover 130 and a guide end cover 150 are respectively provided at both ends of the guide column 110, and an anti-backlash component 140 is respectively provided in the stop-rotation end cover 130 and the guide end cover 150, so as to limit the position of the drill bit 400 near both ends, cooperate with the guide column 110 to realize gap-free guidance of the drill bit 400, and ensure that the cutting edge of the drill bit 400 rotates stably.

[0117] The end adjustment mechanism 100 of the present invention is provided with a stop-rotation end cap 130 and a guide end cap 150 located at opposite ends of the guide column 110, and a backlash elimination assembly 140 is provided in each of the two end adjustment mechanisms to eliminate backlash of the drill bit 400 in the guide column 110 and prevent the drill bit 400 from shaking. Of course, in other embodiments of the present invention, the end adjustment mechanism 100 may also be provided with the backlash elimination assembly 140 only in the stop-rotation end cap 130 at the top of the guide column 110, or only in the guide end cap 150 at the base of the guide column 110.

[0118] See also Figures 1 to 17 In one embodiment, the guide end cover 150 includes a first mounting body 151 and a second mounting body 152 that are coaxially arranged. The first mounting body 151 has a second mounting hole, and the second mounting body 152 has a third mounting hole 1521. The first mounting hole 131 is connected to the second mounting hole to form the mounting through hole. The first mounting body 151 can be rotatably mounted on the bottom of the guide column 110 through the mounting through hole. The anti-backlash assembly 140 is installed in the second mounting body 152. The third mounting hole 1521 has the same shape as the first mounting hole 131 and is for the end instrument to pass through.

[0119] The first mounting body 151 is mounted on the second mounting body 152 and is integrally formed in a stepped or cylindrical configuration. The first mounting body 151 has a second mounting hole, while the second mounting body 152 has a third mounting hole 1521. The second and third mounting holes 1521 are connected and coaxially arranged with the guide hole 111. When the guide end cap 150 is mounted on the end of the guide post 110, the first mounting body 151 is sleeved onto the outer side of the end of the guide post 110.

[0120] Moreover, the gap elimination component 140 is arranged in the second mounting body 152, and the cross-sectional shape of the third mounting hole 1521 is consistent with the cross-sectional shape of the first mounting hole 131. In this way, when the drill bit 400 extends through the first mounting hole 131, the guide hole 111 and the third mounting hole 1521, the gap elimination component 140 extends into the first mounting hole 131 in the anti-rotation end cover 130 and extends into the third mounting hole 1521 in the guide end cover 150, abutting against the outer wall of the drill bit 400 at different height directions, thereby realizing the gap elimination of the drill bit 400 and preventing the position of the drill bit 400 from moving.

[0121] Optionally, an internal thread is provided on the inner wall of the second mounting hole, an external thread is provided on the end of the guide column 110 away from the anti-rotation end cover 130, and the first mounting body 151 is installed to the end of the guide column 110 through the cooperation of the internal thread and the external thread.

[0122] See also Figures 1 to 17 In one embodiment, the end adjustment mechanism 100 further includes a first locking member 160, which passes through the first mounting body 151 and abuts the guide post 110. The first locking member 160 passes through the first mounting body 151 and abuts the outer wall of the guide post 110, thereby limiting the position of the guide end cap 150. This positional restriction is achieved through a tightening force, preventing movement of the guide end cap 150. In other words, the first locking member 160 passes through the first mounting body 151 of the guide end cap 150, pressing against the guide post 110 to prevent the guide end cap 150 from rotating with the drill bit 400.

[0123] Optionally, the outer wall of the guide post 110 has a locking flat surface 113, and the first locking member 160 passes through the first mounting body 151 and abuts against the locking flat surface 113 of the guide post 110. The cooperation between the first guide member and the locking flat surface 113 can limit the rotation of the guide end cap 150, thereby preventing the guide end cap 150 from rotating. Optionally, the first locking member 160 is a locking screw.

[0124] See also Figure 1 、 Figures 16 to 20 In one embodiment, the outer wall of the guide post 110 has a mounting boss 170. The mounting boss 170 protrudes from the outer wall of the guide post 110 and is disposed in the end adapter 330, through which the guide post 110 extends. The mounting boss 170 protrudes radially from the outer wall of the guide post 110 and is located in the central region of the guide post 110. In other words, after the mounting boss 170 is disposed on the outer wall of the guide post 110, the outer diameter of the guide post 110 at the mounting boss 170 is greater than the outer diameter of the rest of the guide post 110.

[0125] The mounting boss 170 is used to install the end adjustment mechanism 100. The end adapter 330 has a mounting groove 331 for installing the end adjustment mechanism 100, and the mounting boss 170 is located in the mounting boss 170. The end adjustment mechanism 100 is installed in the end adapter 330 by installing the mounting boss 170 in the mounting groove 331.

[0126] See also Figure 1 、 Figures 16 to 20 In one embodiment, the end adjustment mechanism 100 further includes a second locking member 180, which is removably mounted on the mounting boss 170 through the end adapter 330. The second locking member 180 can pass through the end adapter 330 and be mounted on the mounting boss 170, thereby securing the mounting boss 170 to the end adapter 330. Furthermore, when disassembling the end adjustment mechanism 100, the second locking member 180 can be simply removed from the mounting boss 170 and the end adapter 330. Optionally, the second locking member 180 is a screw.

[0127] In one embodiment, the outer wall of the mounting boss 170 has a cut surface that cooperates with the end adapter 330 to limit the rotation of the guide post 110. In other words, the side surface of the outer wall of the mounting boss 170 has a planar cut surface, and the mounting groove 331 also has a limiting surface that cooperates with the cut surface. After the mounting boss 170 is installed in the mounting groove 331, the cut surface abuts the limiting surface, effectively limiting the installation position of the mounting boss 170 and preventing the end adjustment mechanism 100 from rotating within the end adapter 330. Of course, in other embodiments of the present invention, both the second locking member 180 and the cut surface may be provided.

[0128] In one embodiment, the bottom of the mounting groove 331 is a limiting bottom surface. When the mounting boss 170 is installed in the mounting groove 331, the bottom of the mounting boss 170 abuts against the limiting bottom surface. This can prevent the mounting boss 170 from falling from the end adapter 330, thereby ensuring that the end adjustment mechanism 100 is installed reliably.

[0129] like Figure 2 As shown, the end instrument is a drill bit 400, and the top of the drill bit 400 is the limiting end of the end instrument. The bottom of the drill bit 400 is a cutting edge, and the limiting end of the top of the drill bit 400 is a hexagonal nut. When the drill bit 400 is needed to drill a hole in the patient's head, the limiting end of the drill bit 400 is directed toward the top of the anti-rotation end cover 130, and the bottom of the drill bit 400 extends through the first mounting hole 131, the guide hole 111 and the third mounting hole 1521. The anti-backlash assembly 140 in the anti-rotation end cover 130 and the guide end cover 150 can abut against the outer wall of the drill bit 400 to achieve anti-backlash of the drill bit 400, ensure the rotation accuracy of the drill bit 400, and avoid axial movement of the drill bit 400.

[0130] When used by a doctor, a hexagonal post is attached to one end of the electric drill, which is inserted into the limited end of the drill bit 400, which is fitted with a hexagonal nut, providing power for the rotation of the drill bit 400. The hexagonal nut rests against the top surface of the anti-rotation end cap 130, acting as a positioning device for drilling depth and precisely controlling the drilling depth. Specifically, the drilling depth of the drill bit 400 is adjusted by the adjustment sleeve 120 and the top surface of the anti-rotation end cap 130, while the drilling direction is determined by the guide hole 111 within the guide post 110. Preferably, the diameter of the hexagonal nut is larger than the inner diameter of the first mounting hole 131.

[0131] like Figure 2 、 Figure 19 and Figure 20 As shown, the end instrument is a custom probe 500. Probe 500 has a blunt tip at one end and a larger diameter at the other, making it easier to hold. After the drill bit 400 has completed the incision in the skull 600, the drill bit 400 is removed and the probe 500 is installed in the end adjustment mechanism 100 to perform the intracranial surgical procedure. During this procedure, the adjustment sleeve 120 can be operated to adjust the depth of the probe 500's surgical operation in real time.

[0132] The distal end adjustment mechanism 100 of the present invention features a high degree of creative integration, eliminates the need for reciprocating disassembly and assembly for debugging, and is easy to use. Furthermore, it can be manually adjusted in real time, allowing the depth of the distal end instrument to be adjusted while the instrument is operating. The distal end adjustment mechanism 100 also ensures a zero-clearance fit within the guide of the drill bit 400, preventing the cutting edge of the drill bit 400 from shaking and maintaining stability without the need for forceps. Furthermore, the distal end adjustment mechanism 100 can be reused after sterilization, saving costs.

[0133] See also Figure 1 、 Figures 16 to 21 The present invention also provides a surgical robot, including a robotic arm mechanism 300 and an end adjustment mechanism 100 as described in any of the above embodiments, wherein the robotic arm mechanism 300 includes a robotic arm trolley 310, a robotic arm 320 and an end adapter 330, the head end of the robotic arm 320 is arranged on the robotic arm trolley 310, the end end of the robotic arm 320 is installed with the end adapter 330, and the end adjustment mechanism 100 is arranged on the end adapter 330.

[0134] The mounting boss 170 of the end adjustment mechanism 100 is installed in the mounting groove 331 of the end adapter 330. Subsequently, the mounting boss 170 is locked to the end adapter 330 via the second locking member 180, thereby reliably fixing the end adjustment mechanism 100 to the end adapter 330 and ensuring the axis and direction of the end adjustment mechanism 100 after installation. The end instrument is installed at the end of the robotic arm 320, and the head end of the robotic arm 320 is mounted to the robotic arm trolley 310. Optionally, the surgical robot of the present invention is a surgical robot for neurosurgery. Of course, in other embodiments of the present invention, the surgical robot can also be used for other types of surgery.

[0135] See also Figures 1 to 21 The surgical robot of the present invention can cooperate with the optical navigation system 700. The optical navigation system 700 guides the robotic arm trolley 310 to control the robotic arm 320 to move to the position of the skull 600 and then lock it. The doctor uses the electric drill and drill bit 400 to open the skull 600 through the end adjustment mechanism 100, uses the probe 500 to perform the surgical operation, and uses the drainage tube to perform the hematoma drainage operation.

[0136] Specifically, when performing surgery on the patient's head, the robot arm 320 is first controlled by the robot arm trolley 310 to move to the position of the skull 600 for opening a hole and then locked. The doctor selects a drill bit 400 of appropriate diameter and places it in the end adjustment mechanism 100. The end adjustment mechanism 100 can automatically clamp and guide drill bits 400 of different diameters within a certain range. The doctor uses an electric drill to drive the drill bit 400 to open a hole in the skull 600, and adjusts the drilling depth while drilling until the hole in the skull 600 is successfully opened, and then withdraws and removes the drill bit 400.

[0137] After the hole in the skull 600 is successfully opened, the doctor selects a probe 500 of appropriate diameter and places it in the terminal adjustment mechanism 100. The terminal adjustment mechanism 100 can automatically clamp and guide probes 500 of different diameters within a certain range. The doctor slowly pushes the probe 500 forward to perform the surgical operation.

[0138] See also Figures 1 to 21The present invention also provides an end adjustment mechanism 100. When using it: install the anti-rotation end cap 130 to the end of the adjustment sleeve 120 and screw it into one end of the guide column 110; fix the mounting boss 170 of the guide column 110 in the mounting groove 331 of the end adapter 330; control the robot arm 320 to drive the end adapter 330 to move to the drilling position of the skull 600 under the guidance of the optical navigation system 700, lock the robot arm 320; install the end instrument of the drill bit 400 to the end adjustment mechanism The end portion of the drill bit 400 extends through the first mounting hole 131, the guide hole 111, and the third mounting hole 1521, and then the drill bit 400 is controlled to perform a drilling operation. At the same time, the adjusting sleeve 120 is operated to adjust the axial movement depth of the drill bit 400 until the hole in the skull 600 is completed; the drill bit 400 is removed, and the probe 500 is installed in the end adjustment mechanism 100. Then, the surgical operation is performed, and the adjusting sleeve 120 is adjusted to adjust the depth of the probe 500 for the surgical operation in real time.

[0139] See also Figures 1 to 21 When the end adjustment mechanism 100 of the present invention is used, the anti-rotation end cap 130 is clamped onto the top of the adjustment sleeve 120, and then the adjustment sleeve 120 is installed on the top of the guide column 110. The mounting boss 170 of the guide column 110 is installed into the mounting groove 331 of the end adapter 330 and locked and fixed by the second locking member 180. When performing surgery on the patient's head, the robotic arm trolley 310 is first used to control the robotic arm 320 to move to the position of the skull 600 for opening a hole and then locked. The doctor selects a drill bit 400 of appropriate diameter and places it in the end adjustment mechanism 100. The end adjustment mechanism 100 can automatically clamp and guide drill bits 400 of different diameters within a certain range. The doctor uses an electric drill to drive the drill bit 400 to open a hole in the skull 600 and adjusts the drilling depth while drilling until the skull 600 is successfully opened. The doctor then withdraws and removes the drill bit 400.

[0140] After the hole in the skull 600 is successfully opened, the doctor selects a probe 500 of appropriate diameter and places it in the terminal adjustment mechanism 100. The terminal adjustment mechanism 100 can automatically clamp and guide probes 500 of different diameters within a certain range. The doctor slowly pushes the probe 500 forward to perform surgery inside the skull.

[0141] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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.

[0142] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. An end adjustment mechanism, characterized in that: Used to adjust the depth of the end instrument, the end adjustment mechanism includes: A guide post having a through guide hole therein for allowing the end instrument to pass through and guiding the axial movement of the end instrument; a rotation-stopping end cap, located at one end of the guide column, the rotation-stopping end cap having a first mounting hole extending therethrough, the first mounting hole being coaxially arranged with the guide hole, and the rotation-stopping end cap having an adjustment hole in a radial direction, the adjustment hole being in communication with the first mounting hole; an adjusting sleeve rotatably disposed on the outer side of the guide post and a portion of the outer side of the anti-rotation end cap, the adjusting sleeve being capable of moving relative to the anti-rotation end cap and driving the anti-rotation end cap to move axially relative to the guide post, the end instrument passing through the first mounting hole and the guide hole and extending from the other end opposite to the guide hole; and The anti-backlash assembly includes an elastic member, a tightening member and an adjusting member located in the adjusting hole, one end of the elastic member abuts the tightening member, and the other end of the elastic member abuts the adjusting member. The elastic force of the elastic member causes the end of the tightening member to extend into the first mounting hole and abut the end instrument. The adjusting member can move in or out along the adjusting hole to compress or release the elastic member.

2. The end adjustment mechanism according to claim 1, characterized in that: The anti-rotation end cover includes an end cover body and a anti-rotation part. The end cover body is located at one end of the guide column. The anti-rotation part is arranged on the side of the end cover body toward the guide column. The anti-rotation part cooperates with the guide column to limit the rotation of the anti-rotation part and allow the anti-rotation part to move axially.

3. The end adjustment mechanism according to claim 2, characterized in that: The outer wall of the guide column has a concave anti-rotation plane, the adjustment sleeve and the anti-rotation plane enclose a anti-rotation space, the anti-rotation member is located in the anti-rotation space and can move axially along the anti-rotation plane; And / or, the outer wall of the guide column has a guide groove, and the anti-rotation member can be slidably arranged in the guide groove.

4. The end adjustment mechanism according to claim 2, characterized in that: The outer wall of the end cover body or the anti-rotation member has a first matching portion, and the inner wall of the adjustment sleeve has a second matching portion. When the anti-rotation end cover is installed between the guide column and the adjusting sleeve, the adjusting sleeve can rotate in the first matching portion through the second matching portion.

5. The end adjustment mechanism according to claim 1, characterized in that: The outer wall of the guide column has an external thread, the inner wall of the adjustment sleeve has an internal thread, and the guide column and the adjustment sleeve are rotatably connected through the cooperation of the external thread and the internal thread.

6. The end adjustment mechanism according to claim 1, characterized in that: The anti-backlash component is movably arranged on the anti-rotation end cover and extends into the first mounting hole. The anti-backlash component can abut against the end instrument.

7. The end adjustment mechanism according to claim 1, characterized in that: The cross-section of the first mounting hole is polygonal.

8. The end adjustment mechanism according to any one of claims 1 to 5, characterized in that: The end adjustment mechanism further includes a guide end cover, which is arranged at the other end of the guide column. The guide end cover has a mounting through hole, which is coaxially arranged with the guide hole, and the end instrument extends through the mounting through hole.

9. The end adjustment mechanism according to claim 8, characterized in that: An anti-backlash component is provided in the radial direction of the guide end cover, and the anti-backlash component can extend into the mounting through hole and abut against the end instrument.

10. The end adjustment mechanism according to claim 9, characterized in that: The guide end cover includes a first mounting body and a second mounting body arranged coaxially, the first mounting body has a second mounting hole, the second mounting body has a third mounting hole, the first mounting hole and the second mounting hole are connected to form the mounting through hole, the first mounting body can be rotatably mounted on the other end of the guide column through the mounting through hole, the anti-backlash assembly is installed in the second mounting body, and the end instrument passes through the third mounting hole.

11. The end adjustment mechanism according to claim 10, characterized in that: The end adjustment mechanism further includes a first locking member, which passes through the first mounting body and abuts against the guide column.

12. The end adjustment mechanism according to claim 11, characterized in that: The outer wall of the guide column has a locking plane, and the first locking piece passes through the first installation body and abuts against the locking plane on the guide column.

13. The end adjustment mechanism according to any one of claims 1 to 5, characterized in that: The outer wall of the guide column is provided with a mounting boss, the mounting boss protruding from the outer wall of the guide column, the mounting boss being arranged in an end adapter, and the guide column extending through the end adapter.

14. The end adjustment mechanism according to claim 13, characterized in that: The end adjustment mechanism further includes a second locking member, which is detachably mounted on the mounting boss through the end adapter; And / or, the outer wall of the mounting boss has a cut surface, and the cut surface cooperates with the end adapter to limit the rotation of the guide column.

15. A surgical robot, characterized in that: It comprises a robotic arm mechanism and an end adjustment mechanism as described in any one of claims 1 to 14, wherein the robotic arm mechanism comprises a robotic arm trolley, a robotic arm and an end adapter, the head end of the robotic arm is arranged on the robotic arm trolley, the end end of the robotic arm is installed with the end adapter, and the end adjustment mechanism is arranged on the end adapter.

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