Surgical robotic poke card clamp assembly

Abstract

This invention relates to a trocar clamping assembly for a surgical robot, comprising: a trocar, an instrument arm, and a sterile isolation plate located between the instrument arm and the trocar. The trocar includes a sleeve portion and a mounting portion. The trocar and the sterile isolation plate are detachably connected via a first locking mechanism, and the sterile isolation plate is detachably connected to the instrument arm via a second locking mechanism. The first and second locking mechanisms have a locked state and an unlocked state, respectively. In the locked state, the direction of the locking force provided by the first movable member of the first locking mechanism to the sterile isolation plate is opposite to the direction of the locking force provided by the second movable member of the second locking mechanism to the sterile isolation plate in the locked state. The trocar clamping assembly of this application can separate the sterile isolation plate from the instrument arm or the trocar individually, or can achieve rapid assembly and installation of all three components.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a card clamping assembly for surgical robots. Background Technology

[0002] Modern minimally invasive surgical procedures include those using remotely controlled surgical instruments (such as surgical robots) and manually operated surgical instruments (such as laparoscopes and thoracoscopes). During surgery, surgical instruments often extend into the patient's body using trocars inserted into the body. For example, in remotely operated surgical systems, trocars and surgical instruments can be mounted on the robotic arm on the patient's side and remotely operated via a surgeon's console. Trocars can have different configurations useful for various types of surgical procedures, and they need to be attached to the robotic arm.

[0003] Before surgery, the trocar is manually inserted into the patient's incision site, positioned, and then attached to the robotic arm, moving in tandem with it. Therefore, the trocar and robotic arm need to be easily and quickly installed and disconnected, and the connection structure must be safe and reliable to prevent accidental detachment or movement during surgery.

[0004] See CN111281497A, which discloses a surgical cannula installer. Referring to the accompanying drawings, an exploded view of a patient-side trolley cannula, a sterile cannula adapter, and a cannula installer is shown. The cannula installer has a protruding attachment portion with a recess on the opposite side. The recess facilitates the installation of the cannula to the sterile cannula adapter and the cannula installer. The sidewall of the sterile cannula adapter is recessed and forms a protrusion that adapts to the cannula attachment portion to join the two. The cannula installer has an orifice for receiving the attachment portion of the sterile cannula adapter and the cannula. The sterile cannula adapter and / or the cannula are installed into the cannula installer and locked by a movable block and a handle. Summary of the Invention

[0005] The purpose of this application is to provide a card holder assembly that differs from existing technologies.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a trocar clamping assembly for a surgical robot, comprising: a trocar, an instrument arm, and a sterile isolation plate located between the instrument arm and the trocar. The trocar includes a sleeve portion and an installation portion. The trocar and the sterile isolation plate are detachably connected via a first clamping mechanism, and the sterile isolation plate is detachably connected to the instrument arm via a second clamping mechanism. The first and second clamping mechanisms have a locked state and an unlocked state, respectively. The first clamping mechanism includes a first movable member that is movable relative to the trocar or the sterile isolation plate, and the second clamping mechanism includes a second movable member that is movable relative to the sterile isolation plate or the instrument arm. In the locked state, the direction of the locking force provided by the first movable member to the sterile isolation plate is opposite to the direction of the locking force provided by the second movable member to the sterile isolation plate in the locked state.

[0007] In one embodiment, the sterile isolation plate includes a body and an insertion portion protruding from the front surface of the body. The mounting portion has an inner cavity into which the insertion portion can be inserted. The first movable member is arranged outside the mounting portion. When the first snap-fit ​​mechanism is in a locked state, the first movable member can generate a locking force from the outside to the inside on the insertion portion of the sterile isolation plate. The body of the sterile isolation plate has a receiving cavity into which the front end of the instrument arm can be inserted. The second movable member is arranged outside the front end of the instrument arm. When the second snap-fit ​​mechanism is in a locked state, the second movable member is located inside the body of the sterile isolation plate and can generate a locking force from the inside to the outside on the body of the sterile isolation plate.

[0008] In one embodiment, the first movable element includes at least one pair of first locking hooks pivotally connected to the mounting portion, each of the at least one pair of first locking hooks having a first pressing portion exposed on the outer surface of the mounting portion for manual unlocking.

[0009] In one embodiment, at least one pair of first slots adapted to the first locking hooks are respectively provided on the opposite side surfaces of the insertion part. When the tamper is fixedly connected to the sterile isolation plate, the insertion part extends into the inner cavity of the mounting part, and each of the first locking hooks is hooked at each of the first slots.

[0010] In one embodiment, the first locking mechanism further includes at least one pair of first return springs, the first locking hook is rotatably connected to the mounting portion via a first rotating shaft, the first locking hook has a first hook portion that can extend into the inner cavity of the mounting portion, the first pressing portion and the first hook portion are respectively located on both sides of the first rotating shaft, and the two ends of the first return spring respectively abut against the first pressing portion and the mounting portion.

[0011] In one embodiment, the second movable element includes at least one pair of second locking hooks pivotally connected to the instrument arm. Each of the at least one pair of second locking hooks has a second pressing portion exposed on the outer surface of the instrument arm for manual unlocking. The body of the sterile isolation plate is provided with at least one pair of second latches adapted to the at least one pair of second locking hooks. When the sterile isolation plate is fixedly connected to the instrument arm, the front end of the instrument arm is housed in the housing cavity of the sterile isolation plate, and each of the second locking hooks is respectively locked in the corresponding second latch.

[0012] In one embodiment, the aseptic isolation panel is further provided with at least one pair of protrusions located on the sides of each of the second bayonet slots.

[0013] In one embodiment, the second locking hook is rotatably connected to the instrument arm via a second rotating shaft. The second locking hook has a second hook portion that can extend into the receiving cavity of the sterile isolation plate. The second hook portion and the second pressing portion are located on the same side of the second rotating shaft. The second locking mechanism further includes at least one pair of second return springs, and the two ends of the second return springs respectively abut against the second pressing portion and the instrument arm.

[0014] In one embodiment, the front end of the insertion portion has a tapered guide portion with a reduced outer diameter, the tapered guide portion being surrounded by a plurality of guide ramps that surround the insertion portion.

[0015] In one embodiment, the rear end of the insertion portion has a stepped portion with an increased outer diameter.

[0016] Compared to existing technologies, the surgical robot puncture card clamping assembly of this application provides a connection structure for the puncture card, sterile isolation plate, and instrument arm. It connects the puncture card to the sterile isolation plate via a first clamping mechanism, and then connects the sterile isolation plate to the instrument arm via a second clamping mechanism. This puncture card clamping assembly allows for the separate separation of the sterile isolation plate from the instrument arm or the puncture card, and also enables rapid assembly of all three components. Furthermore, because the locking forces provided by the first and second clamping mechanisms are in opposite directions, this application provides a more secure connection between the puncture card, sterile isolation plate, and instrument arm, preventing the accumulation of installation errors and avoiding puncture card movement. Attached Figure Description

[0017] Figure 1 A front view split diagram of an example embodiment provided in this application;

[0018] Figure 2 A rear-view exploded view of an example embodiment provided in this application;

[0019] Figure 3 A front sectional view of an example embodiment provided in this application;

[0020] Figure 4 for Figure 3 Cross-sectional view at point AA (combined state);

[0021] Figure 5 for Figure 3 A cross-sectional view along the center AA (split state).

[0022] Wherein: 10, clasp; 11, mounting part; 111, inner cavity; 12, sleeve part; 13, first snap-fit ​​mechanism; 131, first locking hook; 1311, first hook part; 132, first pressing part; 133, first return spring; 134, first rotating shaft;

[0023] 20. Sterile isolation panel; 21. Body; 211. Receiving cavity; 22. Insertion part; 221. Conical guide part; 222. Stepped part; 23. First bayonet; 24. Second bayonet; 25. Raised strip;

[0024] 30. Instrument arm; 31. Second locking mechanism; 311. Second locking hook; 3111. Second hook part; 312. Second pressing part; 313. Second return spring; 314. Second rotating shaft; 32. Front end face; 33. Control button;

[0025] 40. Detection device; 41. Probe; 42. Conductive strip; 43. Detection circuit; 50. Sterile bag. Detailed Implementation

[0026] To illustrate the technical content, structural features, achieved objectives, and effects of the invention in detail, the technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. In the following description, for illustrative purposes, numerous specific details are set forth to provide a detailed description of various exemplary embodiments or implementations of the invention. However, various exemplary embodiments may also be implemented without these specific details or in one or more equivalent arrangements. Furthermore, the various exemplary embodiments may differ, but are not necessarily exclusive. For example, the specific shape, structure, and characteristics of the exemplary embodiments may be used or implemented in another exemplary embodiment without departing from the inventive concept of the application.

[0027] In the following description, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0028] Furthermore, in this application, spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side” (e.g., as in a “sidewall”) are used to describe the relationship between one element and another (other) element as shown in the accompanying drawings. Spatial relative terms are intended to include different orientations of the device in use, operation, and / or manufacture other than those depicted in the drawings. For example, if the device in the drawings is flipped, an element described as “below” or “under” another element or feature would then be positioned “above” said other element or feature. Thus, the exemplary term “below” can include both above and below orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0029] The horizontal direction mentioned below refers to a direction that is roughly horizontal, such as a direction whose angle with the horizontal plane is 0 or within a single-digit range. The same applies to the vertical direction, which is a direction that is roughly perpendicular to the horizontal plane.

[0030] The terms "front" and "back" mentioned below refer to relative positional relationships, where "front side" refers to the adjacent side. Figure 3 "Left side" refers to the horizontal direction, while "back side" refers to the horizontal direction.

[0031] See Figure 1The illustration shows an example of a puncture card holding assembly for a surgical robot, which includes a puncture card 10, a sterile isolation plate 20, and an instrument arm 30. The puncture card 10 is detachably connected to the sterile isolation plate 20 via a first engagement mechanism 13, and the sterile isolation plate 20 is detachably connected to the front end of the instrument arm 30 via a second engagement mechanism 31.

[0032] The trocar 10 includes a mounting part 11 and a cannula part 12. The cannula part 12 has a hollow structure, allowing surgical instruments to be inserted into the patient's body through a central hole for surgical procedures. The mounting part 11 connects the sterile isolation plate 20 and the instrument arm 30, ensuring a stable connection of the trocar 10 and allowing it to move with the instrument arm 30. See also... Figure 2 As shown, the mounting part 11 has a hollow inner cavity 111, and a first snap-fit ​​mechanism 13 is also provided on the mounting part. When the sterile isolation plate 20 is connected to the stamp card 10, a portion of the sterile isolation plate 20 is inserted into the inner cavity 111 of the stamp card 10 and is fixed by the first snap-fit ​​mechanism.

[0033] See Figure 1-5 The sterile isolation plate 20 includes a body 21 and an insertion portion 22 protruding from the front surface of the body; the rear surface of the body 21 is recessed inward to form a receiving cavity 211 for accommodating the front end of the instrument arm 30. When the sterile isolation plate 20 is connected to the tamper 10 and the instrument arm 30, the insertion portion 22 of the sterile isolation plate 20 is inserted into the inner cavity 111 of the mounting portion, and the front end of the instrument arm 30 extends into the receiving cavity 211, with the sterile bag 50 sandwiched between the sterile isolation plate and the tamper 10.

[0034] The first latching mechanism 13 and the second latching mechanism 31 have locked and unlocked states, respectively. The first latching mechanism 13 includes a first movable member that can open or clamp relative to the sterile isolation plate 20. In this embodiment, the first movable member is specifically an inner claw structure. The first movable member is arranged outside the mounting part 11. When the first latching mechanism is in the locked state, the first movable member can generate a locking force from the outside to the inside on the insertion part 22 of the sterile isolation plate.

[0035] Please see details. Figure 4-5The first locking mechanism 13 includes a pair of first rotating shafts 134, a pair of first locking hooks 131 pivotally connected to the first rotating shafts 134, and a pair of first return springs 133. The pair of first locking hooks form first movable members and can cooperate to achieve opening and closing movements. Each first locking hook 131 has a first hook portion 1311 that can extend into the inner cavity 111 of the mounting portion 11, and a first pressing portion 132 exposed on the outer surface of the mounting portion 11 for manual unlocking. The first pressing portion 132 and the first hook portion 1311 are located on opposite sides of the first rotating shafts 134. The two ends of the first return springs 133 abut against the first pressing portion 132 and the mounting portion 11. The opening of the first hook portion 1311 faces downwards and partially extends into the inner cavity 111. The first return spring 133 is a compression spring. Under the action of the first return springs 133, the first locking hooks 131 are normally in the locked position. When a pair of first pressing parts 132 are pressed, a pair of first hook parts 1311 open outward and disengage from the cavity 111 to unlock.

[0036] On the opposite side surface of the insertion part 22, a pair of first slots 23 adapted to the first locking hooks 1311 are respectively provided. When the card 10 is fixedly connected to the sterile isolation plate 20, the insertion part 22 extends into the inner cavity 111 of the installation part, and each first locking hook 131 hooks onto each first slot 23.

[0037] To facilitate rapid assembly of the embossed card, the front end of the insertion part 22 has a tapered guide part 221 with a reduced outer diameter. The tapered guide part 221 is formed by multiple guide slopes surrounding the insertion part 22. The first hook part 1311 of the first locking hook 131 has a first guide surface that gradually extends outward from front to back, which facilitates the sliding of the insertion part 22. When the sterile isolation plate is aligned with the embossed card, the insertion part 22 is pushed into the inner cavity 111 of the mounting part 11 from back to front. The tapered guide part 211 contacts the first hook part 1311 and pushes open the first locking hook 131, so that the insertion part 22 smoothly enters the inner cavity 111, and the pair of first locking hooks 1311 slide into the corresponding first slots 23.

[0038] To prevent the aseptic isolation plate from rotating after installation, the insertion part 22 has a rectangular cross-section. In addition, the rear end of the insertion part 22 also has a stepped part 222 with an increased outer diameter, which can further ensure a tight fit between the aseptic isolation plate and the tamper after installation.

[0039] The sterile isolation plate 20 has at least one pair of second latches 24 adapted to at least one pair of second latching mechanisms 31, and protrusions 25 located on the sides of each second latch 24. When the sterile isolation plate is fixedly connected to the instrument arm 30, the front end of the instrument arm 30 is housed in the housing cavity 211 of the sterile isolation plate, and each second locking hook 311 is respectively locked in the corresponding second latch 24.

[0040] The instrument arm 30 has a pair of second locking mechanisms 31 at its front end. Each second locking mechanism 31 includes a second movable member that can open or clamp relative to the sterile isolation plate 20 and the instrument arm 30. In this embodiment, the second movable member has an outer gripper structure that locks onto the sterile isolation plate when the gripper opens outwards. The second movable member is located on the outer side of the front end of the instrument arm 30. When the second locking mechanism is in the locked state, the second movable member is located inside the sterile isolation plate body and can exert a locking force from the inside out on the sterile isolation plate body.

[0041] The second locking mechanism 31 includes a pair of second rotating shafts 314, a pair of second locking hooks 311 pivotally connected to the second rotating shafts 314, and a pair of second return springs 313. The pair of second locking hooks 311 constitute the second movable element, each having a second hook portion 3111 and a second pressing portion 312 exposed on the outer surface of the instrument arm 30 for manual unlocking. The second hook portion 3111 and the second pressing portion 312 are located on the same side of the second rotating shafts 314, and the two ends of the second return springs 313 abut against the second pressing portion 312 and the instrument arm 30, respectively. The opening of the second hook 3111 faces upward, and the front end of the second hook 3111 has a second guide surface that gradually extends outward from front to back. When the front end of the instrument arm 30 is inserted into the receiving cavity 211 of the sterile isolation plate 20, the second hook 3111 can retract inward and be pressed into the outer surface of the instrument arm 30, allowing the instrument arm to slide smoothly into the receiving cavity. The second hook 3111 hooks onto the second latch 24 and the protrusion 25. When the second pressing part 312 is pressed to unlock, the second hook 3111 retracts inward and disengages from the second latch 24, allowing the instrument arm to separate from the sterile isolation plate.

[0042] The instrument arm 30 is also equipped with a control button 33 for adjusting the posture of the instrument arm and a detection mechanism 40 for detecting whether the sterile isolation plate 20 and the tamper 10 have been properly installed. The detection mechanism 40 includes a detection circuit 43 on the instrument arm 30, a probe 41 on the sterile isolation plate 20, and a conductive strip 42 on the tamper 10. After the sterile isolation plate 20, the tamper 10, and the instrument arm 30 are installed, the detection circuit 43 forms a circuit and sends an electrical signal indicating that the installation is complete.

[0043] In one embodiment of this application, a pair of first latches 13 are symmetrically arranged. A pair of second latches 32 are symmetrically arranged. In other embodiments, the number of first latching mechanisms and second latching mechanisms may be two or more.

[0044] This application has the advantages of simple and reliable structure, quick installation, and convenient disassembly. During installation, the sterile isolation plate can be directly pushed into the front end of the instrument arm using the second guide surface of the second locking hook. Similarly, when the sterile isolation plate is inserted into the cavity of the puncture card from the rear, the tapered guide portion of the insertion part and the first guide surface of the first locking hook allow the sterile isolation plate to be directly pushed into the puncture card for installation. When it is necessary to separate the sterile isolation plate from the instrument arm or the puncture card, the first or second locking mechanism can be unlocked individually, thereby separating the three components.

[0045] Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this application. Various changes and modifications may be made to this application without departing from the spirit and scope of the invention. The scope of protection claimed by this application is defined by the appended claims, specification and their equivalents.

Claims

1. The card holder assembly for a surgical robot, comprising: A tamper, an instrument arm, and a sterile isolation plate located between the instrument arm and the tamper, wherein the tamper includes a sleeve portion and an mounting portion, characterized in that: the tamper and the sterile isolation plate are detachably connected by a first locking mechanism, and the sterile isolation plate and the instrument arm are detachably connected by a second locking mechanism; the first and second locking mechanisms respectively have a locked state and an unlocked state; the first locking mechanism includes a first movable member movable relative to the tamper or the sterile isolation plate, and the second locking mechanism includes a second movable member movable relative to the sterile isolation plate or the instrument arm; in the locked state, the direction of the locking force provided by the first movable member to the sterile isolation plate is opposite to the direction of the second locking mechanism in the locked state. The locking force provided by the movable component to the sterile isolation plate is in the opposite direction; the sterile isolation plate includes a body and an insertion portion protruding from the front surface of the body, the mounting portion has an inner cavity into which the insertion portion can be inserted, the first movable component is arranged outside the mounting portion, and when the first snap-fit ​​mechanism is in the locked state, the first movable component can generate a locking force from the outside to the inside of the insertion portion of the sterile isolation plate; the body of the sterile isolation plate has a receiving cavity into which the front end of the instrument arm can be inserted, the second movable component is arranged outside the front end of the instrument arm, and when the second snap-fit ​​mechanism is in the locked state, the second movable component is located inside the body of the sterile isolation plate and can generate a locking force from the inside to the outside of the body of the sterile isolation plate.

2. The puncture card clamping assembly of the surgical robot according to claim 1, characterized in that: The first movable element includes at least one pair of first locking hooks pivotally connected to the mounting portion, each of the at least one pair of first locking hooks having a first pressing portion exposed on the outer surface of the mounting portion for manual unlocking.

3. The puncture card clamping assembly of the surgical robot according to claim 2, characterized in that: At least one pair of first slots adapted to the first locking hooks are respectively opened on the opposite side surfaces of the insertion part. When the tamper is fixedly connected to the sterile isolation plate, the insertion part extends into the inner cavity of the installation part, and each of the first locking hooks is hooked at each of the first slots.

4. The puncture card clamping assembly of the surgical robot according to claim 2, characterized in that: The first locking mechanism further includes at least one pair of first return springs. The first locking hook is rotatably connected to the mounting part via a first rotating shaft. The first locking hook has a first hook portion that can extend into the inner cavity of the mounting part. The first pressing portion and the first hook portion are respectively located on both sides of the first rotating shaft. The two ends of the first return spring respectively abut against the first pressing portion and the mounting part.

5. The puncture card clamping assembly of the surgical robot according to claim 1, characterized in that: The second movable component includes at least one pair of second locking hooks pivotally connected to the instrument arm. Each of the at least one pair of second locking hooks has a second pressing portion exposed on the outer surface of the instrument arm for manual unlocking. The body of the sterile isolation plate is provided with at least one pair of second latches adapted to the at least one pair of second locking hooks. When the sterile isolation plate is fixedly connected to the instrument arm, the front end of the instrument arm is housed in the housing cavity of the sterile isolation plate, and each of the second locking hooks is respectively locked in the corresponding second latch.

6. The puncture card clamping assembly of the surgical robot according to claim 5, characterized in that: The sterile isolation panel is also provided with at least one pair of protrusions located on the side of each of the second bayonet slots.

7. The puncture card clamping assembly of the surgical robot according to claim 5, characterized in that: The second locking hook is rotatably connected to the instrument arm via a second rotating shaft. The second locking hook has a second hook portion that can extend into the receiving cavity of the sterile isolation plate. The second hook portion and the second pressing portion are located on the same side of the second rotating shaft. The second locking mechanism also includes at least one pair of second return springs, and the two ends of the second return springs respectively abut against the second pressing portion and the instrument arm.

8. The puncture card clamping assembly of the surgical robot according to claim 1, characterized in that: The front end of the insertion part has a tapered guide with a reduced outer diameter, which is formed by a plurality of guide slopes surrounding the insertion part.

9. The puncture card clamping assembly of the surgical robot according to claim 1, characterized in that: The rear end of the insertion part has a stepped portion with an increased outer diameter.

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