Quick change device and surgical robot

Abstract

This invention relates to a quick-change device and a surgical robot. The quick-change device includes: a first mounting assembly including a first mounting base mounted on the end of a robotic arm; a second mounting assembly including a second mounting base disposed on the end of a surgical instrument, the second mounting base being detachably mounted on the first mounting base; and a wireless transmission assembly including a transmitting component and a receiving component. The transmitting component is disposed on the first mounting base and electrically connected to the controller of the robotic arm, and the receiving component is disposed on the second mounting base. After the first and second mounting bases are connected, the transmitting component and the receiving component wirelessly power and transmit signals. This enables the rapid installation, removal, and replacement of surgical instruments. Simultaneously, the use of a wireless transmission component for non-contact transmission of power, control, and other signals ensures the entire quick-change device is sealed, reducing blood contamination.

Description

Technical Field

[0001] This invention relates to the field of medical equipment technology, and in particular to a quick-change device and a surgical robot. Background Technology

[0002] The emergence of surgical robots aligns with the development trend of precision surgery. Surgical robots have become powerful tools to assist doctors in performing surgeries, and various surgical robots suitable for different indications have already been developed across multiple departments and fields. The design philosophy of surgical robots is to perform complex surgical procedures precisely and skillfully using a minimally invasive approach, offering high precision and safety.

[0003] Surgical robots are also widely used in neurosurgery. Currently, the robotic arms and end effectors of neurosurgical robots are generally fixed together by threaded connections. During neurosurgery, different end effectors and tools are required to perform various procedures such as drilling, puncture, and electrode implantation, necessitating repeated manual disassembly and replacement by surgeons.

[0004] Currently, neurosurgical robots use threaded connections to fix the robotic arm and end effector, a method that is stable and reliable. However, the threaded connection installation process is cumbersome and lengthy, hindering surgeons from operating under high-stress conditions and impacting efficiency. Furthermore, the power and signal transmission between the robot and the end effector uses pin and socket structures, which are directly exposed to the environment, posing a risk of contamination and malfunction due to blood or other contaminants, thus presenting certain safety hazards. Summary of the Invention

[0005] Therefore, it is necessary to address the problems of inconvenience in changing the end-effector tools of current neurosurgical robots and the risk of contamination, and to provide a quick-change device and surgical robot that can rapidly install and replace surgical instruments and reduce the risk of contamination.

[0006] A quick-change device, comprising:

[0007] The first mounting component includes a first mounting base, which is mounted on the end of the robotic arm;

[0008] The second mounting assembly includes a second mounting base disposed at the end of a surgical instrument, and the second mounting base is detachably mounted to the first mounting base;

[0009] A wireless transmission component includes a transmitting component and a receiving component. The transmitting component is disposed on a first mounting base and electrically connected to the controller of the robotic arm. The receiving component is disposed on a second mounting base. After the first mounting base and the second mounting base are connected, the transmitting component and the receiving component wirelessly power and transmit signals.

[0010] A locking component is disposed on the first mounting base and the second mounting base respectively, and the locking component can unlock or lock the connection between the first mounting base and the second mounting base.

[0011] In one embodiment, the quick-change device further includes a connector, one end of which is electrically connected to the transmitting component, and the other end of which is inserted into the end interface of the robotic arm and electrically connected to the controller through the end interface.

[0012] In one embodiment, the locking assembly includes a locking component and a locking slot, one of the locking component and the locking slot being disposed on the first mounting base and the other being disposed on the second mounting base, and the end of the locking component being capable of locking or unlocking in the locking slot.

[0013] In one embodiment, the locking component includes a locking member and a reset member. The locking member is movably disposed on the first mounting base or the second mounting base, and the end of the locking member can move into or out of the locking groove. The reset member is disposed between the locking member and the first mounting base or the second mounting base for driving the locking member to reset.

[0014] In one embodiment, the locking element includes a locking button and a latch, the latch being disposed on the side of the locking button, the locking button being exposed outside the first mounting base and the second mounting base, and the latch extending into the first mounting base or the second mounting base.

[0015] In one embodiment, the locking component further includes a pivot shaft disposed in the central region of the locking component and rotatably mounted on the first mounting base or the second mounting base.

[0016] In one embodiment, the locking component further includes a limiting portion disposed on the side of the locking component, and the first mounting base or the second mounting base has a limiting groove, wherein the limiting portion is movably disposed in the limiting groove.

[0017] In one embodiment, the locking component further includes an unlocking power source, which is rotatably connected to the locking member and drives the locking member to rotate. The unlocking power source is electrically connected to the controller or the receiving component, and the unlocking power source drives the locking member to rotate so that the locking member moves out of the locking slot.

[0018] In one embodiment, the quick-change device further includes an instrument rack having multiple placement positions for holding at least two different surgical instruments.

[0019] In one embodiment, the instrument rack includes a support frame and a plurality of placement components, the support frame being disposed on a robotic arm trolley, and the plurality of placement components being disposed at intervals on the support frame;

[0020] The placement component includes a third mounting base and a first positioning member. The third mounting base has a recessed placement groove, and the first positioning member is disposed in the placement groove. The end face of the second mounting base away from the first mounting base has a second positioning member. The second mounting base is placed in the placement groove, and the first positioning member and the second positioning member are positioned and connected.

[0021] In one embodiment, the instrument rack further includes a clamping member disposed on the third mounting base, the clamping member being capable of pressing or disengaging from the locking member, the clamping member pressing the locking member to unlock the locking member;

[0022] The clamping component includes a drive power source and a gripper. The drive power source is disposed on the third mounting base and electrically connected to the control system of the surgical robot. The gripper is disposed at the output end of the drive power source. The control system controls the drive power source to drive the gripper to open or close.

[0023] The gripper has a pressing protrusion that presses against the locking member.

[0024] In one embodiment, the first mounting component further includes a first limiting member, and the second mounting component further includes a second limiting member. The first limiting member is disposed on the first mounting base, and the second limiting member is disposed on the second mounting base. When the first mounting base and the second mounting base are installed, the first limiting member and the second limiting member cooperate to limit the movement.

[0025] The first limiting member and the second limiting member are a combination of a limiting protrusion and a limiting hole.

[0026] A surgical robot includes a control system, a robotic arm system, a navigation system, and a quick-change device as described in any of the foregoing technical features. The robotic arm system includes a robotic arm carriage and a robotic arm. The quick-change device is disposed at the end of the robotic arm. The navigation system includes a navigation carriage and a navigation camera. The navigation camera is disposed on the navigation carriage. The control system is electrically connected to the controller of the robotic arm, the instrument rack of the quick-change device, and the navigation system.

[0027] In one embodiment, the controller has a storage module that pre-stores the preset position of the instrument rack and the type and corresponding position of the surgical instruments carried on the instrument rack. The controller controls the robotic arm to move to the preset position according to the control command of the control system, and replaces the corresponding surgical instrument at the preset position.

[0028] By adopting the above technical solution, the present invention has at least the following technical effects:

[0029] The present invention relates to a quick-change device and a surgical robot. The quick-change device uses a second mounting base that is detachably mounted on a first mounting base to allow surgical instruments to be attached to the end of a robotic arm. When changing surgical instruments, the second mounting base is simply detached from the first mounting base, and then a second mounting base with the new surgical instrument is installed. This detachable connection between the first and second mounting bases enables rapid instrument replacement. Simultaneously, wireless transmission components are used for contactless transmission of power, control, and other signals, ensuring the entire quick-change device is sealed. This allows for automatic control of the surgical instruments during surgical operations, reducing the possibility of device malfunction due to blood contamination. The quick-change device has a simple structure, is convenient and quick to use, and has a wide range of applications. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the quick-change device and the robotic arm in cooperation according to an embodiment of the present invention;

[0031] Figure 2 for Figure 1 A schematic diagram of the first embodiment of the quick-change device in which the first mounting component and the second mounting component cooperate;

[0032] Figure 3 for Figure 2 The diagram shows the cut-out of the first mounting component and the second mounting component after they are assembled.

[0033] Figure 4 for Figure 2 A perspective view of the first mounting component in the quick-change device shown;

[0034] Figure 5 for Figure 2 A perspective view of the second mounting component in the quick-change device shown;

[0035] Figure 6 for Figure 2 A schematic diagram of the second embodiment of the quick-change device in which the first mounting component and the second mounting component cooperate;

[0036] Figure 7 for Figure 6 A partial schematic diagram of the first mounting component shown;

[0037] Figure 8 for Figure 1 A schematic diagram of one embodiment of the quick-change device for mounting surgical instruments on an instrument rack;

[0038] Figure 9 This is a schematic diagram showing the placement and clamping components in the instrument rack shown in Figure 8;

[0039] Figure 10 for Figure 8 A schematic diagram of another embodiment of the instrument rack shown;

[0040] Figure 11 for Figure 1 A schematic diagram of the quick-change device for changing surgical instruments;

[0041] Figure 12 for Figure 1 The diagram shows a quick-change device applied to a surgical robot.

[0042] Figure 13 for Figure 1 The diagram shows the quick-change device with an automatic skull drill installed.

[0043] Figure 14 for Figure 1 The diagram shown illustrates the installation of the electric electrode micropusher in the quick-change device.

[0044] Figure 15 For use Figure 12 The flowchart shown illustrates a surgical robot performing neurosurgery. Detailed Implementation

[0045] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0046] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0050] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0051] See Figures 1 to 15 This invention provides a quick-change device 10. The quick-change device 10 is applied to a surgical robot A and installed at the end of the robotic arm 702 of the surgical robot A to install surgical instruments 60 at the end of the robotic arm 702. It is worth noting that the type of surgical instrument 60 is not limited in principle and can be a scalpel, drill bit, puncture needle, etc. This quick-change device 10 enables the rapid installation of surgical instruments 60 to the end of the robotic arm 702 and also enables the rapid replacement of surgical instruments 60, improving operational efficiency and ease of use; simultaneously, it also enables non-contact power, control, and other signal transmission, reducing safety hazards. The specific structure of a quick-change device 10 according to one embodiment is described below.

[0052] See Figures 1 to 14 In one embodiment, the quick-change device 10 includes a first mounting assembly 100, a second mounting assembly 200, and a wireless transmission assembly 300. The first mounting assembly 100 includes a first mounting base 110, which is mounted on the end of the robotic arm 702. The second mounting assembly 200 includes a second mounting base 210, which is disposed on the end of the surgical instrument 60 and is detachably mounted on the first mounting base 110. The wireless transmission assembly 300 includes a transmitting component 310 and a receiving component 320. The transmitting component 310 is disposed on the first mounting base 110 and electrically connected to the controller of the robotic arm 702. The receiving component 320 is disposed on the second mounting base 210. After the first mounting base 110 and the second mounting base 210 are connected, the transmitting component 310 and the receiving component 320 wirelessly power and transmit signals.

[0053] The first mounting assembly 100 is a mounting component at the end of the robotic arm 702, and is mounted to the end of the robotic arm 702. The second mounting assembly 200 is a mounting component at the tool end, used for mounting surgical instruments 60, and is detachably mounted to the first mounting assembly 100. Specifically, the first mounting assembly 100 includes a first mounting base 110, which is mounted to the end flange of the robotic arm 702 to securely mount the first mounting base 110 to the end of the robotic arm 702. The second mounting assembly 200 includes a second mounting base 210, one surface of which is detachably connected to the first mounting base 110, and the other surface of which is provided with the surgical instruments 60.

[0054] Understandably, multiple types of surgical instruments 60 are typically required during surgery, and each type of surgical instrument 60 corresponds to a second mounting base 210. Thus, when a particular surgical instrument 60 is needed during surgery, the second mounting base 210 corresponding to that instrument can be directly installed onto the first mounting base 110. In other words, the quick-change device 10 connects one first mounting base 110 to multiple second mounting bases 210, enabling rapid installation, removal, and replacement of surgical instruments 60. This simplifies the procedure for changing surgical instruments 60, improves operational efficiency, and facilitates use by medical personnel.

[0055] It is worth noting that the structural form of the first mounting base 110 and the second mounting base 210 is not limited in principle, as long as the first mounting base 110 and the second mounting base 210 can support the corresponding structure and can achieve a detachable connection. For example... Figure 2 As shown, the first mounting base 110 and the second mounting base 210 are seats with a circular cross-section. Of course, in other embodiments of the present invention, the first mounting base 110 and the second mounting base 210 may also be seats with a polygonal cross-section or other shapes.

[0056] To achieve contactless power supply and communication between the robotic arm 702 and the surgical instrument 60, the quick-change device 10 of the present invention further includes a wireless transmission component 300. Specifically, the wireless transmission component 300 includes a transmitting component 310 and a receiving component 320. The transmitting component 310 is disposed on the side of the first mounting base 110, and the receiving component 320 is disposed on the side of the second mounting base 210. The transmitting component 310 is electrically connected to the controller of the robotic arm 702, and the receiving component 320 is electrically connected to the surgical instrument 60. Optionally, the wireless transmission component 300 is an in-situ irradiation system, which is a system that simultaneously provides power supply and communication at close range through high-frequency coupling transmission. Of course, in other embodiments of the present invention, the wireless transmission component 300 may also be an infrared transmission component or other components capable of transmitting signals and power.

[0057] After the second mounting base 210 is installed on the first mounting base 110, the transmitting component 310 corresponds to the receiving component 320. There is a preset distance between the transmitting component 310 and the receiving component 320. At this time, the transmitting component 310 can wirelessly power the receiving component 320 and wirelessly transmit control signals to the receiving component 320. In turn, the receiving component 320 can power the surgical instrument 60 and control the surgical instrument 60 to perform surgical operations according to the control signals.

[0058] In this invention, the wireless transmission component 300 is applied to the quick-change device 10 to achieve contactless power supply and signal transmission. Since the wireless transmission component 300 can perform contactless power supply, control and other signal transmission, the transmitting component 310 and the receiving component 320 cooperate while the surgical instrument 60 is installed at the end of the robotic arm 702.

[0059] Optionally, after the second mounting base 210 is installed on the first mounting base 110, the preset distance between the transmitting component 310 and the receiving component 320 is in the range of 1mm to 2mm. That is to say, when the preset distance between the transmitting component 310 and the receiving component 320 is in the range of 1mm to 2mm, wireless transmission of power supply, control and other signals can be carried out, which facilitates the control of various electric surgical instruments 60.

[0060] See Figures 1 to 14 The quick-change device 10 of the above embodiment uses a second mounting base 210 that is detachably mounted on the first mounting base 110 to mount the surgical instrument 60 to the end of the robotic arm 702. When the surgical instrument 60 needs to be replaced, the second mounting base 210 is simply removed from the first mounting base 110, and then a second mounting base 210 with another surgical instrument 60 is installed. The detachable connection between the first mounting base 110 and the second mounting base 210 enables rapid replacement of the surgical instrument 60. Simultaneously, a wireless transmission component 300 is used for non-contact transmission of power, control, and other signals, ensuring the entire quick-change device 10 is sealed. This allows the surgical instrument 60 to automatically perform surgical operations, reducing the possibility of failure due to blood contamination. This quick-change device 10 has a simple structure, is convenient and quick to use, and has a wide range of applications.

[0061] In one embodiment, the quick-change device 10 further includes a connector, one end of which is electrically connected to the transmitting component 310, and the other end of which is plugged into the end interface of the robotic arm 702 and electrically connected to the controller through the end interface.

[0062] In other words, the end of the robotic arm 702 has an end-effector interface that can be electrically connected to the controller in the robotic arm 702. After the first mounting base 110 is installed at the end of the robotic arm 702, the transmitting component 310 on the side of the first mounting base 110 can be installed into the end-effector interface through a connector. Then, the transmitting component 310 and the controller of the robotic arm 702 are electrically connected through the connector and the end-effector interface, so that the transmitting component 310 is connected to the controller of the robotic arm 702, and the controller of the robotic arm 702 provides power and communication to the transmitting component 310.

[0063] Furthermore, the controller of the robotic arm 702 can be electrically connected to the control system of the surgical robot. This control system can send control commands to the controller, enabling the controller to control the robotic arm 702 to perform corresponding operations to meet surgical needs.

[0064] See Figure 1 and Figure 2 In one embodiment, the second mounting assembly 200 further includes an instrument mounting bracket 220, which is disposed on the surface of the second mounting base 210 opposite to the first mounting base 110. The instrument mounting bracket 220 is used to mount instruments. That is, the surgical instrument 60 is mounted onto the second mounting base 210 via the instrument mounting bracket 220. By mounting the surgical instrument 60 onto the second mounting base 210 via the instrument mounting bracket 220, the position of the surgical instrument 60 is fixed, preventing the surgical instrument 60 from shifting during the operation.

[0065] See Figure 1 and Figure 2 Optionally, the instrument mounting bracket 220 includes a connecting rod 221, a first connecting seat 222, and a second connecting seat 223. One end of the connecting rod 221 is connected to the second mounting seat 210, and the other end of the connecting rod 221 is connected to the first connecting seat 222. The first connecting seat 222 and the second connecting seat 223 are mated together for clamping the surgical instrument 60. The surgical instrument 60 is clamped and fixed by the first connecting seat 222 and the second connecting seat 223, preventing the position of the surgical instrument 60 from shifting and ensuring the stability of the surgical instrument 60 during the operation. The connecting rod 221 allows the surgical instrument 60 to be moved away from the second mounting seat 210, creating a certain distance between the surgical instrument 60 and the second mounting seat 210, preventing interference between the surgical instrument 60 and the second mounting seat 210. Optionally, the first connecting seat 222 and the second connecting seat 223 are connected by a snap-fit ​​or other means.

[0066] Of course, in other embodiments of the present invention, the instrument mounting bracket 220 may also adopt other structural forms, as long as it can realize the installation of the surgical instrument 60. Optionally, the first connecting base 222 has a socket, which is plugged into the surgical instrument 60 so that the receiving component 320 can be electrically connected to the surgical instrument 60, so as to facilitate power supply to the surgical instrument 60 and control the surgical instrument 60 to perform surgical operations.

[0067] See Figures 1 to 7 In one embodiment, the quick-change device 10 further includes a locking component 400, which is disposed on the first mounting base 110 and the second mounting base 210. The locking component 400 can unlock or lock the connection between the first mounting base 110 and the second mounting base 210. The locking component 400 is used to lock and unlock the first mounting base 110 and the second mounting base 210, so that the second mounting base 210 is reliably installed on the first mounting base 110, thereby achieving reliable installation of the surgical instrument 60.

[0068] The locking assembly 400 has one part located on the first mounting base 110 and another part located on the second mounting base 210. When the second mounting base 210 is mounted on the first mounting base 110, the two parts of the locking assembly 400 are locked together, reliably locking the second mounting base 210 to the first mounting base 110, thus fixing the surgical instrument 60 to the end of the robotic arm 702. When the surgical instrument 60 needs to be replaced, the locking assembly 400 is unlocked, and the second mounting base 210 can be removed from the first mounting base 110. Subsequently, a second mounting base 210 with a different surgical instrument 60 is replaced, and the second mounting base 210 is locked to the first mounting base 110 by the locking assembly 400. The corresponding surgical instrument 60 is then used for surgical operations. After the surgery is completed, the second mounting base 210 is detached from the end of the robotic arm 702, thus removing the surgical instrument 60.

[0069] See Figures 1 to 7 In one embodiment, the locking component 400 includes a locking member 410 and a locking groove 420. One of the locking member 410 and the locking groove 420 is disposed on a first mounting base 110 and the other is disposed on a second mounting base 210. The end of the locking member 410 can be locked or unlocked in the locking groove 420.

[0070] In other words, the locking assembly 400 is a mating structure of the locking member 410 and the locking groove 420. When the end of the locking member 410 is hooked into the locking groove 420, it can lock the second mounting base 210 to the first mounting base 110. When the end of the locking member 410 moves out of the locking groove 420, the locking member 410 unlocks the first mounting base 110 and the second mounting base 210, and the second mounting base 210 can be removed from the first mounting base 110. Moreover, the locking member 410 is movable so that it can cooperate with the locking groove 420 to perform locking or unlocking operations.

[0071] Optionally, a locking member 410 is disposed in the second mounting base 210, and a locking groove 420 is disposed on the inner wall of the first mounting base 110. When the second mounting base 210 is installed onto the first mounting base 110, the locking member 410 extends into the first mounting base 110, and the locking member 410 can engage with the locking groove 420 of the first mounting base 110. The second mounting base 210 is locked onto the first mounting base 110 through the engaging connection between the locking groove 420 and the locking member 410. When removing the second mounting base 210, pressing the locking member 410 causes the locking member 410 to move toward the inner side of the second mounting base 210, causing the end of the locking member 410 to move out of the locking groove 420, thereby removing the second mounting base 210 from the first mounting base 110. Moreover, when installing the second mounting base 210, pressing the locking member 410 moves the second mounting base 210 closer to the first mounting base 110, causing the end of the locking member 410 to gradually extend into the first mounting base 110. When the second mounting base 210 contacts the first mounting base 110, the locking component 410 is released and moves toward the outside of the second mounting base 210. At this time, the end of the locking component 410 will be engaged in the locking groove 420 of the first mounting base 110, locking the second mounting base 210 to the first mounting base 110.

[0072] It is worth noting that the locking component 410 can also be provided in the first mounting base 110, and the locking groove 420 can be provided in the inner wall of the second mounting base 210. The principle is essentially the same as that described above, where the locking component 410 is provided in the second mounting base 210 and the locking groove 420 is provided in the inner wall of the first mounting base 110. It will not be repeated here.

[0073] See Figures 1 to 7 In one embodiment, the locking component 410 includes a locking member 411 and a reset member 412. The locking member 411 is movably disposed on the first mounting base 110 or the second mounting base 210. The end of the locking member 411 can move into or out of the locking groove 420. The reset member 412 is disposed between the locking member 411 and the first mounting base 110 or the second mounting base 210, and is used to drive the locking member 411 to reset.

[0074] A reset member 412 is disposed between the locking member 411 and the first mounting base 110 or the second mounting base 210. The elastic force of the reset member 412 causes the locking member 411 to reset. When the locking member 411 is pressed, the force applied to the locking member 411 is greater than the elastic force of the reset member 412. At this time, the locking member 411 overcomes the elastic force of the reset member 412, and the end of the locking member 411 can move out of the locking groove 420. When the locking member 411 is released, the locking member 411 is no longer subjected to external force. At this time, the elastic force of the reset member 412 pushes the locking member 411 outward, causing the locking member 411 to reset. At this time, the end of the locking member 411 is locked in the locking groove 420, realizing the locking of the first mounting base 110 and the second mounting base 210. Furthermore, when installing the second mounting base 210, first press the locking member 411 so that the locking member 411 moves into the inside of the locking groove 420, and then release the locking member 411. At this time, the locking member 411 can be locked into the locking groove 420.

[0075] Optionally, the locking member 411 is disposed on the side of the second mounting base 210, and the reset member 412 is disposed between the locking member 411 and the second mounting base 210. When unlocking, pressing the locking member 411 compresses the reset member 412, causing the locking member 411 to move towards the inside of the second mounting base 210. At this time, the locking member 411 disengages from the locking groove 420, the locking assembly 400 unlocks, and the second mounting base 210 can be removed from the first mounting base 110. When the second mounting base 210 needs to be installed on the first mounting base 110, the locking member 411 can also be pressed, making it easier for the locking member 411 to enter the first mounting base 110. After releasing the locking member 411, the reset member 412 will cause the locking member 411 to reset, causing the locking member 411 to engage in the locking groove 420.

[0076] Optionally, the locking element 411 is disposed on the side of the first mounting base 110, and its principle is essentially the same as that of the locking element 411 located on the side of the second mounting base 210, which will not be described in detail here.

[0077] Optionally, the reset member 412 is a spring. The locking member 411 has a first spring hole, and the first mounting base 110 or the second mounting base 210 has a second spring hole. One end of the spring is installed in the first spring hole, and the other end is installed in the second spring hole to achieve a fixed installation of the spring. Of course, in other embodiments of the present invention, the reset member 412 may also be an elastic post or other structure capable of resetting the locking member 411.

[0078] See Figures 1 to 7In one embodiment, the locking member 411 includes a locking button 4111 and a latch 4112. The latch 4112 is disposed on the side of the locking button 4111. The locking button 4111 is exposed on the outside of the first mounting base 110 and the second mounting base 210. The latch 4112 extends into the first mounting base 110 or the second mounting base 210.

[0079] The reset member 412 contacts the locking button 4111, and the elastic force of the reset member 412 causes the locking button 4111 to protrude from the first mounting base 110 and the second mounting base 210. The latch 4112 is located on the side of the locking button 4111, and the surface of the locking button 4111 protrudes from the latch 4112. That is, the latch 4112 is cantilevered on the side of the locking button 4111. When the reset member 412 is in a free state, the surface of the latch 4112 is recessed into the surface of the locking button 4111, facilitating the installation of the latch 4112 into the first mounting base 110 or the second mounting base 210. When the locking button 4111 is pressed, the locking button 4111 compresses the reset member 412 and causes the latch 4112 to move inward. When the locking button 4111 is released, the elastic force of the reset member 412 causes the locking button 4111 to move outward, thereby causing the latch 4112 to move outward.

[0080] When the locking member 411 is set on the second mounting base 210, pressing the locking button 4111 causes the locking button 4111 to move the latch 4112 toward the inside of the second mounting base 210. During the process of installing the second mounting base 210 onto the first mounting base 110, the latch 4112 can extend into the first mounting base 110. When the locking button 4111 is released, the reset member 412 causes the locking button 4111 and the latch 4112 to move toward the outside of the second mounting base 210, so that the latch 4112 is engaged in the locking groove 420.

[0081] The principle of locking element 411 in the first mounting base 110 is essentially the same as that of locking element 411 in the second mounting base 210, and will not be described again here. When unlocking, press the locking button 4111. The locking button 4111 causes the latch 4112 to disengage from the locking groove 420. At this time, the latch 4112 no longer restricts the locking groove 420, and the second mounting base 210 can be moved out of the first mounting base 110.

[0082] Optionally, the first mounting base 110 has a first partial hole, and the second mounting base 210 has a second partial hole. After the second mounting base 210 is installed, the first partial hole and the second partial hole align to form a locking hole, and the locking button 4111 is located in the locking hole. Thus, the locking button 4111 can be exposed through the locking hole, facilitating pressing the locking button 4111 for unlocking and locking operations. Of course, in other embodiments of the present invention, the locking hole and the locking member 411 are positioned in the same location. When the locking member 411 is located on the second mounting base 210, the locking hole may only be located on the second mounting base 210. When the locking member 411 is located on the first mounting base 110, the locking hole may only be located on the first mounting base 110.

[0083] Optionally, after the locking button 4111 is installed into the locking hole, the surface of the locking button 4111 is flush with the surfaces of the first mounting base 110 and the second mounting base 210. Of course, in other embodiments of the present invention, after the locking button 4111 is installed into the locking hole, the surface of the locking button 4111 may protrude or be recessed and flush with the surfaces of the first mounting base 110 and the second mounting base 210.

[0084] Optionally, the surface of the latch 4112 facing the locking groove 420 is a hook. The latch 4112 is hooked into the locking groove 420 by the hook, so that the locking member 411 is reliably locked in the locking groove 420. Optionally, the locking button 4111 and the latch 4112 are integrated into one structure, which reduces the number of parts while ensuring structural strength and facilitating assembly.

[0085] Optionally, the locking button 4111 is a locking button. This increases the tactile feedback when pressing the locking member 411. Optionally, the locking button 4111 is circular. Of course, in other embodiments of the present invention, the locking button 4111 may also be square or other shapes, etc.

[0086] See Figure 5In one embodiment, the locking component 410 further includes a pivot 413, which is disposed in the middle region of the locking component 411 and rotatably mounted on the first mounting base 110 or the second mounting base 210. The pivot 413 enables the locking component 411 to be rotatably mounted on the first mounting base 110 or the second mounting base 210, and the pivot 413 is mounted on the end of the latch 4112 near the locking button 4111. That is, after the pivot 413 is set, the locking component 411 forms a lever-like structure through the pivot 413. When the locking button 4111 is pressed, the locking button 4111 causes the latch 4112 to be rotatably set through the pivot 413, so that the latch 4112 moves out of the locking groove 420. When the locking button 4111 is released, the reset component 412 causes the locking button 4111 to reset, thereby causing the latch 4112 to be rotatably set through the pivot 413, so that the latch 4112 is engaged in the locking groove 420.

[0087] When the locking element 411 is positioned on the second mounting base 210, the latch 4112 of the locking element 411 is rotatably mounted on the second mounting base 210 via the rotating shaft 413. After pressing the locking button 4111, the latch 4112 moves out of the locking groove 420 via the rotational support of the rotating shaft 413, thus unlocking. After releasing the locking button 4111, the reset element 412 pushes the locking button 4111, causing the latch 4112 to rotate and reset via the rotating shaft 413, so that the latch 4112 is locked in the locking groove 420, thus locking.

[0088] The locking principle of the locking element 411 located on the first mounting base 110 is essentially the same as that of the locking element 411 located on the second mounting base 210, and will not be described again here.

[0089] Optionally, the first mounting base 110 and the second mounting base 210 have mounting bosses that protrude to support and rotatably mount the latch 4112 of the locking member 411. In other words, the mounting boss and the locking member 411 are mounted on the same component, and the rotating shaft 413 is rotatably mounted through the mounting boss, thereby providing rotational support for the locking member 411.

[0090] See Figures 3 to 7In one embodiment, the locking component 410 further includes a limiting part 414, which is disposed on the side of the locking member 411. The first mounting base 110 or the second mounting base 210 has a limiting groove, and the limiting part 414 is movably disposed in the limiting groove. The cooperation between the limiting part 414 and the limiting groove can limit the reset position of the locking member 411 and prevent the locking member 411 from overtraveling. When the reset member 412 drives the locking member 411 to reset, the locking member 411 drives the limiting part 414 to move in the limiting groove. When the limiting part 414 abuts against the edge of the limiting groove, the locking member 411 can no longer move outward. At this time, the locking member 411 is reset in place, and the latch 4112 of the locking member 411 can be engaged in the locking groove 420.

[0091] Optionally, the limiting part 414 and the locking member 411 are an integral structure. Optionally, the limiting part 414 is a protrusion at the end of the locking member 411. Of course, in other embodiments of the present invention, the positions of the limiting groove and the limiting part 414 can also be interchanged, as long as the resetting of the locking member 411 can be limited.

[0092] See Figures 3 to 5 In the first embodiment of the present invention, by applying external force to the locking button 4111 of the locking member 411, the latch 4112 moves out of the locking groove 420, thereby realizing the unlocking operation. In this embodiment, the locking member 410 is disposed in the second mounting base 210, and the locking groove 420 is disposed in the inner wall of the first mounting base 110. When the second mounting base 210 with surgical instruments 60 is installed, the locking button 4111 is pressed by external force, the locking button 4111 compresses the reset member 412, and drives the latch 4112 to rotate around the rotating shaft 413. At this time, the second mounting base 210 is inserted into the first mounting base 110, and the latch 4112 gradually extends into the first mounting base 110. When the first mounting base 110 abuts against the second mounting base 210, the locking button 4111 is released. The elastic force of the reset member 412 pushes up the locking button 4111, causing the locking button 4111 to drive the latch 4112 to rotate and reset. At this time, the latch 4112 is locked in the locking groove 420.

[0093] When surgical instrument 60 needs to be replaced, press the locking button 4111. The locking button 4111 compresses the reset piece 412 and causes the latch 4112 to rotate around the pivot 413, causing the latch 4112 to move out of the locking groove 420. At this time, the second mounting base 210 can be removed from the first mounting base 110. Subsequently, install the second mounting base 210 of another surgical instrument 60 according to the above process to replace the surgical instrument 60. After the surgical operation is completed, the second mounting base 210 can be removed from the first mounting base 110.

[0094] It is worth noting that the locking component 410 operates on the same principle as the first mounting base 110 in the second mounting base 210, and will not be elaborated further here. Furthermore, the external force applied to the locking component 411 can be applied manually by medical personnel or by an electric instrument. When medical personnel manually press the locking component 411, the surgical instrument 60 can be manually changed; pressing the locking component 411 and pulling out the second mounting base 210 allows for the manual replacement of the surgical instrument 60. When an electric instrument is used, the electric instrument automatically presses the locking component 411, automatically changing the surgical instrument 60; this will be mentioned later.

[0095] See Figure 6 and Figure 7 In the second embodiment of the present invention, the rotating shaft 413 can also be directly driven to rotate, causing the latch 4112 to move out of the locking groove 420, thereby realizing the unlocking operation. Specifically, the locking component 410 also includes an unlocking power source 415, which is rotatably connected to the locking component 411 and drives the locking component 411 to rotate. The unlocking power source 415 is electrically connected to the controller or the receiving component 320, and the unlocking power source 415 drives the locking component 411 to rotate, causing the locking component 411 to move out of the locking groove 420.

[0096] In other words, the rotating shaft 413 is connected to the unlocking power source 415. When the unlocking power source 415 outputs rotational motion, it drives the rotating shaft 413 to rotate, which in turn causes the latch 4112 to move out of the locking groove 420. When installing the surgical instrument 60, the unlocking power source 415 drives the rotating shaft 413 to rotate, causing the latch 4112 to move inward, installing the second mounting base 210 onto the first mounting base 110. Subsequently, the unlocking power source 415 is de-energized, and the elastic force of the reset component 412 drives the locking button 4111 to reset, which in turn drives the latch 4112 to reset via the rotation of the rotating shaft 413, causing the latch 4112 to engage in the locking groove 420, thus achieving rapid installation of the surgical instrument 60. Optionally, the unlocking power source 415 is a motor.

[0097] In this embodiment, the unlocking power source 415 is disposed in the first mounting base 110, the locking component 410 is disposed in the first mounting base 110, the locking groove 420 is disposed on the inner wall of the second mounting base 210, and the output end of the unlocking power source 415 is connected to the rotating shaft 413. Furthermore, the unlocking power source 415 is electrically connected to the controller of the robotic arm 702, and the controller supplies power to the unlocking power source 415. That is, the unlocking power source 415 is connected to the end interface of the robotic arm 702, thereby achieving electrical connection with the controller, which controls whether the unlocking power source operates.

[0098] When the surgical instrument 60 needs to be quickly installed, the unlocking power source 415 drives the rotating shaft 413 to move the latch 4112 toward the inside of the first mounting base 110, aligning the second mounting base 210 with the first mounting base 110. Subsequently, the unlocking power source 415 is de-energized, and the elastic force of the reset component 412 resets the locking button 4111, which in turn causes the latch 4112 to rotate and reset via the rotating shaft 413, locking the latch 4112 into the locking groove 420, thus enabling the rapid installation of the surgical instrument 60. For disassembly, the unlocking power source 415 drives the rotating shaft 413 to move the latch 4112 out of the locking groove 420, at which point the second mounting base 210 can be removed from the first mounting base 110.

[0099] Of course, in other embodiments of the present invention, the unlocking power source 415 may also be disposed in the second mounting base 210, in which case the locking component 410 is disposed in the second mounting base 210. To ensure the power supply of the unlocking power source 415, the receiving component 320 may be used to supply power to the unlocking power source 415, or a battery may be used for power supply, etc. The principle of the unlocking power source 415 in the second mounting base 210 is essentially the same as that in the first mounting base 110, and will not be described again here. Optionally, the locking component 400 also includes a control button, which is electrically connected to the unlocking power source 415, and the unlocking power source 415 is controlled to operate by the control button.

[0100] See Figure 3 Optionally, there are two locking components 400, which are symmetrically arranged on the sides of the first mounting base 110 and the second mounting base 210. The two locking components 400 lock the first mounting base 110 and the second mounting base 210, so that the second mounting base 210 is reliably fixed to the first mounting base 110, preventing it from falling off-center and thus ensuring the position of the surgical instrument 60 is fixed.

[0101] See Figure 1 , Figures 8 to 10 In one embodiment, the quick-change device 10 further includes an instrument rack 500 having multiple placement positions for holding at least two different surgical instruments 60.

[0102] The instrument rack 500 can support multiple second mounting seats 210 with surgical instruments 60. Each second mounting seat 210 holds one surgical instrument 60, and the types of surgical instruments 60 on each second mounting seat 210 are different to meet surgical needs. Each placement position holds one second mounting seat 210 with a surgical instrument 60. Moreover, according to the type of surgery, the required surgical instruments 60 can be installed onto the instrument mounting brackets 220 of each second mounting seat 210. The instrument mounting brackets 220 are installed onto the robotic arm trolley 701 of the surgical robot A. When installing or replacing surgical instruments 60, the second mounting seats 210 on the instrument rack 500 can be directly installed onto the first mounting seat 110.

[0103] It is worth noting that the location of the instrument rack 500 is not limited in principle, as long as the instrument rack 500 can cooperate with the robotic arm 702 to achieve automatic replacement of surgical instruments 60. For example, the instrument rack 500 is disposed on the robotic arm trolley 701. Of course, in other embodiments of the present invention, the instrument rack 500 may also be disposed in other locations.

[0104] See Figure 1 and Figure 8 When manually installing surgical instrument 60, press the locking piece 411 to remove the second mounting base 210 from the instrument rack 500 and install it directly onto the first mounting base 110. When manually changing surgical instrument 60, press the locking piece 411 to remove the second mounting base 210 from the first mounting base 110 and install the second mounting base 210 into the placement position of the instrument rack 500. Then, remove the second mounting base 210 of another surgical instrument 60 and install it onto the first mounting base 110.

[0105] See Figure 1 , Figure 8 and Figure 11 When automatically installing the surgical instrument 60, the robotic arm 702 moves to the instrument rack 500 and aligns with the second mounting seat 210 of the required surgical instrument 60. The locking element 411 is pressed by a power-operated device (mentioned later). Simultaneously, the robotic arm 702 descends and automatically docks with the second mounting seat 210, thus installing the surgical instrument 60. Subsequently, the robotic arm 702 drives the surgical instrument 60 to perform surgical operations. When it is necessary to change the surgical instrument 60, the robotic arm 702 moves back to the instrument rack 500 and to an empty placement position. The power-operated device presses the locking element 411, disengaging the second mounting seat 210 from the first mounting seat 110 and storing it in the placement position. Subsequently, the robotic arm 702 moves and aligns with the second mounting seat 210 of the required surgical instrument 60, automatically docking with the second mounting seat 210, thus achieving rapid replacement of the surgical instrument 60.

[0106] See Figures 8 to 10In one embodiment, the instrument rack 500 includes a support frame 510 and a plurality of placement components 520. The support frame 510 is disposed on the robotic arm trolley 701, and the plurality of placement components 520 are spaced apart from the support frame 510. The support frame 510 is the main supporting body of the instrument rack 500 and is disposed on top of the robotic arm trolley 701. The plurality of placement components 520 are spaced apart from the support frame 510. The support frame 510 can separate the placement components 520 from the robotic arm trolley 701, so that there is a certain space between the placement components 520 and the robotic arm trolley 701, preventing the surgical instruments 60 of the second mounting seat 210 from contacting the robotic arm trolley 701 after the second mounting seat 210 is placed on the placement component 520.

[0107] It is worth noting that the structural form of the support frame 510 is not limited in principle, as long as the support frame 510 can reliably support the placement component 520 and the second mounting base 210. In this embodiment, the support frame 510 is formed by splicing crossbeams and longitudinal beams. Of course, in other embodiments of the present invention, the support frame 510 may also be a frame structure or other structural forms.

[0108] like Figure 8 As shown, the support frame 510 has three placement components 520, which are spaced apart to accommodate second mounting bases 210 with different surgical instruments 60. Of course, in other embodiments of the invention, the number of placement components 520 on the support frame 510 can be fewer or even more to meet the storage requirements of the surgical instruments 60. Optionally, the multiple placement components 520 on the support frame 510 face the same direction, facilitating the control of the robotic arm 702 in installing and changing surgical instruments 60.

[0109] See Figures 8 to 10 In one embodiment, the placement component 520 includes a third mounting base 521 and a first positioning member 522. The third mounting base 521 has a recessed placement groove 523, and the first positioning member 522 is disposed in the placement groove 523. The end face of the second mounting base 210 away from the first mounting base 110 has a second positioning member 240. The second mounting base 210 is placed in the placement groove 523, and the first positioning member 522 and the second positioning member 240 are positioned and connected.

[0110] The edge of the third mounting base 521 is mounted on the support frame 510, and the remaining components of the third mounting base 521 extend away from the support frame 510. The third mounting base 521 has a placement groove 523 for placing the second mounting base 210. The second mounting base 210 is placed into the placement groove 523, with its bottom abutting against the bottom of the groove 523, thus supporting the second mounting base 210. Furthermore, the placement groove 523 extends through the third mounting base 521, allowing the instrument mounting bracket 220 below the second mounting base 210 to extend through the groove 523, so that the surgical instrument 60 is located below the placement component 520, i.e., the second mounting base 210 and the surgical instrument 60 are suspended from the third mounting base 521.

[0111] Furthermore, to prevent the second mounting base 210 from shifting position, a first positioning element 522 is provided in the placement groove 523, and a second positioning element 240 is provided at the bottom of the second mounting base 210. When the second mounting base 210 is placed into the placement groove 523, the second positioning element 240 of the second mounting base 210 is aligned with the first positioning element 522 of the first mounting base 110. The cooperation between the first positioning element 522 and the second positioning element 240 ensures that the second mounting base 210 is reliably positioned in the placement groove 523, preventing radial movement of the second mounting base 210 during installation and disassembly, and ensuring that the position of the second mounting base 210 is fixed.

[0112] Optionally, the first positioning member 522 is a protrusion, and the second positioning member 240 is a groove. The second mounting base 210 is positioned in the placement groove 523 by the cooperation of the protrusion and the groove. Of course, in other embodiments of the present invention, the second positioning member 240 may also be a groove, and the first positioning member 522 may be a protrusion. Optionally, the placement groove 523 is U-shaped. This facilitates the access of the instrument mounting frame 220 and the surgical instrument 60.

[0113] See Figure 8 and Figure 9 In one embodiment, the instrument rack 500 further includes a clamping member 530, which is disposed on the third mounting base 521 and electrically connected to the control system of the surgical robot. The control system controls the clamping member 530 to press or disengage from the locking member 411, and the clamping member 530 presses the locking member 411 to unlock the locking member 411.

[0114] The clamping component 530 here is an electric instrument, which automatically presses the locking component 411, thereby enabling the automatic installation and replacement of the surgical instrument 60. Specifically, the clamping component 530 is located on the third mounting base 521, and is electrically connected to the controller of the surgical robot A. The controller controls the clamping component 530 to perform pressing or releasing operations.

[0115] See Figure 3 , Figure 8 , Figure 9 and Figure 11 Referring to the locking component 410 of the first embodiment, the process of automatically installing and changing surgical instruments 60 is described. The clamping component 530 needs to press the locking member 411 of the second mounting base 210 so that the second mounting base 210 can be installed onto or removed from the first mounting base 110. That is, when it is necessary to automatically install, remove, or change surgical instruments 60, the clamping component 530 provides external power for the automatic and rapid installation and removal of the first mounting base 110 and the second mounting base 210.

[0116] Specifically, when a surgical instrument 60 needs to be installed, the robotic arm 702 moves the first mounting base 110 above the surgical instrument 60. The controller controls the clamping component 530 to press the locking member 411. Simultaneously, the controller of the robotic arm 702 controls the robotic arm 702 to descend, aligning the first mounting base 110 with the second mounting base 210. The clamping component 530 releases the locking member 411, locking it in the locking groove 420 of the first mounting base 110, thus locking the first mounting base 110 and the second mounting base 210 together, completing the automatic installation of the surgical instrument 60. The robotic arm 702 then moves the surgical instrument 60 to the surgical position to perform the surgical procedure.

[0117] When the surgical instrument 60 needs to be automatically disassembled or replaced, the robotic arm 702 moves the surgical instrument 60 to an empty placement position on the instrument rack 500. The clamping component 530 presses the locking member 411 and fixes the second mounting base 210. At this time, the robotic arm 702 moves upward, causing the first mounting base 110 to separate from the second mounting base 210. Then, the clamping component 530 resets, completing the automatic disassembly of the surgical instrument 60. Subsequently, the robotic arm 702 moves to the placement position corresponding to another surgical instrument 60. The clamping component 530 presses the locking member 411 corresponding to the second mounting base 210, causing the first mounting base 110 to engage with the second mounting base 210. After the clamping component 530 releases the locking member 411, the automatic and rapid replacement of the surgical instrument 60 is completed. The robotic arm 702 moves the surgical instrument 60 to the surgical position to perform the surgical operation.

[0118] Furthermore, the clamping component 530 is controlled by the control system of the surgical robot A. After receiving the positioning signal from the robotic arm 702 via the controller, the control system controls the clamping component 530 to press the locking member 411 corresponding to the second mounting base 210, causing the first mounting base 110 to mate with the second mounting base 210. It should be noted that when the locking member 410 is located on the first mounting base 110, the clamping component 530 can also be located on the third mounting base 521. In this case, the clamping component 530 only needs to be able to move up and down synchronously with the first mounting base 110 to ensure that the first mounting base 110 can accurately mate with the second mounting base 210. This will not be elaborated further here.

[0119] See Figure 6 , Figure 7 and Figure 10 It is worth noting that in the second embodiment, when the locking member 411 is pressed using the unlocking power source 415, the instrument rack 500 can be a regular mechanical frame, without the need for clamping components 530. That is, the placement position in the instrument rack 500 of this embodiment is used for suspending and installing the second mounting base 210. When automatically installing or replacing the surgical instrument 60, the locking member 411 is pressed by the unlocking power source 415, causing the robotic arm 702 to install or replace the second mounting base 210 with the surgical instrument 60 at the instrument rack 500.

[0120] Specifically, when quickly installing the surgical instrument 60, pressing the control button powers the unlocking power source 415, controlling the movement of the locking member 411. The robotic arm 702 then abuts the first mounting base 110 against the second mounting base 210. Subsequently, releasing the control button de-energizes the unlocking power source 415, and the elastic force of the reset member 412 resets the locking member 411, causing the latch 4112 to engage in the locking groove 420, thus achieving quick installation of the surgical instrument 60. When automatically disassembling or replacing the surgical instrument 60, the control button activates the unlocking power source 415, which drives the locking member 411 to separate and lock the first mounting base 110 and the second mounting base 210, achieving automatic disassembly and replacement of the surgical instrument 60.

[0121] See Figure 8 and Figure 9 In one embodiment, the clamping component 530 includes a drive power source 531 and a gripper 532. The drive power source 531 is disposed on the third mounting base 521, and the gripper 532 is disposed on the output end of the drive power source 531. The drive power source 531 drives the gripper 532 to open or close.

[0122] The drive power source 531 is connected to the gripper 532, driving the gripper 532 to move. Since there are two locking components 400, the opening and closing of the gripper 532 achieves simultaneous control of the two locking components 400. Here, the gripper 532 is a parallel gripper. Specifically, when the parallel gripper is aligned with the two locking components 400 and the surgical instrument 60 is installed, the drive power source 531 drives the gripper 532 to close, and the gripper 532 will press the corresponding locking element 411. At the same time, the robotic arm 702 docks the first mounting base 110 with the second mounting base 210. Subsequently, the drive power source 531 drives the gripper 532 to open, releasing the locking element 411, so that the first mounting base 110 and the second mounting base 210 are locked.

[0123] In one embodiment, the gripper 532 has a pressing protrusion 533 for pressing the locking member 411. That is, the inner side of the gripper 532 has a protruding pressing protrusion 533. When clamping and closing, the gripper 532 presses the locking member 411 through the pressing protrusion 533.

[0124] Furthermore, when installing the surgical instrument 60, the control system of the surgical robot sends a control command to the controller of the robotic arm 702. That is, after the controller receives the control command to install or replace the surgical instrument 60, the controller will control the robotic arm 702 to move to the required position and then install or replace the surgical instrument.

[0125] Specifically, regarding the process of automatically installing surgical instruments 60, the controller of the robotic arm 702 pre-stores the position of the instrument rack 500. When it is necessary to install the surgical instrument 60, the controller receives the control command to install the surgical instrument 60, reads the position of the instrument rack 500, and controls the robotic arm 702 to move to the instrument rack 500. After the robotic arm 702 moves into position, the controller controls the unlocking power source 415 to move to unlock, or the control system controls the drive power source 531 of the instrument rack 500 to move to unlock, so that the first mounting base 110 and the second mounting base 210 can be docked to realize the installation of the surgical instrument.

[0126] When surgical instrument 60 needs to be replaced, the controller receives a control command to replace surgical instrument 60. The controller reads the position of the instrument rack 500 and controls the robotic arm 702 to move to the instrument rack 500. Once the robotic arm 702 is in position, the controller controls the unlocking power source 415 to unlock, or the control system controls the drive power source 531 of the instrument rack 500 to unlock, allowing the controller to control the robotic arm 702 to place the surgical instrument 60 at its end into the empty placement slot 523 of the instrument rack 500. The controller controls the robotic arm 702 to move to the corresponding position of the surgical instrument 60, and the controller controls the unlocking power source 415 to unlock, or the control system controls the drive power source 531 of the instrument rack 500 to unlock, allowing the first mounting base 110 to mate with the second mounting base 210, thus installing the surgical instrument 60.

[0127] See Figures 4 to 7 In one embodiment, the first mounting component 100 further includes a first limiting member 120, and the second mounting component 200 further includes a second limiting member 230. The first limiting member 120 is disposed on the first mounting base 110, and the second limiting member 230 is disposed on the second mounting base 210. When the first mounting base 110 and the second mounting base 210 are installed, the first limiting member 120 and the second limiting member 230 cooperate to limit the movement.

[0128] The first limiting member 120 and the second limiting member 230 are used to position and install the first mounting base 110, ensuring accurate engagement between the first mounting base 110 and the second mounting base 210, achieving axial guidance and radial positioning, and preventing misalignment of the first mounting base 110 and the second mounting base 210. When installing the first mounting base 110 and the second mounting base 210, firstly, align the first limiting member 120 of the first mounting base 110 with the second limiting member 230 of the second mounting base 210, and then connect the ends of the first limiting member 120 and the second limiting member 230. Subsequently, the first mounting base 110 and the second mounting base 210 are engaged and connected through the guidance of the first limiting member 120 and the second limiting member 230. After the first mounting base 110 and the second mounting base 210 are installed, the engagement of the first limiting member 120 and the second limiting member 230 also restricts relative movement of the second mounting base 210, ensuring reliable fixation of the second mounting base 210.

[0129] In one embodiment, the first limiting member 120 and the second limiting member 230 are fitted together by a limiting protrusion and a limiting hole. That is, the first limiting member 120 and the second limiting member 230 achieve installation limiting through the fit between the limiting protrusion and the limiting hole. For example, the first limiting member 120 is a limiting hole, the second limiting member 230 is a limiting protrusion, and the second mounting base 210 is installed into the limiting hole of the first mounting base 110 through the limiting protrusion. Of course, in other embodiments of the present invention, the first limiting member 120 may also be a limiting protrusion, and the second limiting member 230 may be a limiting hole.

[0130] See Figure 4 In one embodiment, the first mounting assembly 100 further includes an elastic pad 130, and a reset member 412 is disposed in a limiting hole. After the first mounting base 110 and the second mounting base 210 are guided and assembled by the first limiting member 120 and the second limiting member 230, the limiting protrusion is installed in the limiting hole, and the limiting protrusion abuts against the elastic pad 130 in the limiting hole. The elastic pad 130 eliminates the small axial gap caused by the movement space of the locking member 411, making the connection tighter and more reliable.

[0131] See Figures 1 to 11 In use, the quick-change device 10 of the present invention allows the second mounting base 210 to be inserted into the first mounting base 110 by automatically or manually pressing the locking member 411 along the direction of the positioning pin of the second mounting base 210. After releasing the locking member 411, the latch 4112 of the locking member 411 engages in the locking groove 420 of the first mounting base 110, thereby locking the first mounting base 110 and the second mounting base 210. By automatically or manually pressing the locking member 411, the latch 4112 of the locking member 411 disengages from the locking groove 420, allowing the second mounting base 210 to be pulled outwards, thus enabling the rapid disassembly of the surgical instrument 60. This quick-change device 10, through the quick-disassembly connection between the first mounting base 110 and the second mounting base 210, enables the rapid replacement of the surgical instrument 60. Furthermore, when the instrument rack 500 of the quick-change device 10 has a clamping component 530, the surgical instrument 60 can be automatically changed, or the surgical instrument 60 can also be automatically changed by unlocking the power source 415 in conjunction with the instrument rack 500 which does not have a clamping component 530; when the instrument rack 500 does not have a clamping component 530, it can be operated manually to achieve quick change of the surgical instrument 60.

[0132] The quick-change device 10 is located at the end of the surgical robot A, enabling automatic quick-change in conjunction with the instrument rack 500, as well as manual quick-change and independent use, thus broadening its applicability. Simultaneously, after the first mounting base 110 and the second mounting base 210 are installed and locked, the transmitting component 310 and the receiving component 320 of the wireless transmission component 300 are also installed and engaged, enabling various signal transmissions, including power supply and control signals, in a non-contact manner. The design of the wireless transmission component 300 ensures the entire system is sealed and reliable, reducing the possibility of failure of the quick-change device 10 due to blood contamination or other factors.

[0133] See Figure 1 , Figures 12 to 15 The present invention also provides a surgical robot A, including a control system, a robotic arm system 70, a navigation system 80, and a quick-change device 10 as described in any of the above embodiments. The robotic arm system 70 includes a robotic arm carriage 701 and a robotic arm 702. The quick-change device 10 is disposed at the end of the robotic arm 702. The navigation system 80 includes a navigation carriage 801 and a navigation camera 802. The navigation camera 802 is disposed on the navigation carriage 801. The control system is electrically connected to the controller of the robotic arm 702, the instrument rack 500 of the quick-change device 10, and the navigation system 80.

[0134] The surgical robot A of the present invention, after adopting the quick-change device 10 of the above embodiment, can realize the rapid installation, disassembly, and automatic replacement of surgical instruments 60, thereby improving operational efficiency. Here, the navigation system 80 is an optical navigation system 80. The navigation system 80 also includes an optical marker 803, which is disposed on the instrument mounting bracket 220 of the second mounting base 210. Thus, the navigation camera 802 can locate the position of the surgical instrument 60 via the optical marker 803.

[0135] After the quick-change device 10 is installed at the end of the robotic arm 702, the control system of the surgical robot A sends a control command to the controller of the robotic arm 702, controlling the robotic arm 702 to move to the surgical position and lock the robotic arm 702. The controller of the robotic arm 702 controls the surgical instrument 60 to start and perform surgical operations through the cooperation of the transmitter 310 and receiver 320 of the wireless transmission component 300. When it is necessary to change the surgical instrument 60, the control system sends a control command to the controller, which controls the robotic arm 702 to move to the instrument rack 500 and change the surgical instrument 60. The quick-change device 10 is used to change different types of surgical instruments 60 to meet the surgical needs of different stages of different surgical procedures and automatically complete the surgical operation. Considering the sterilization requirements during surgery, the present invention covers the robotic arm 702 and the instrument rack 500 with sterile bags, lays sterile cloth on the robotic arm trolley 701, and sterilizes the quick-change device 10, surgical instruments 60, etc. Typically, sterilization is carried out using ethylene oxide or irradiation sterilization methods.

[0136] Taking neurosurgery using surgical robot A as an example: Based on the patient's CT and MRI scans, medical staff utilize the pre-operative planning system of surgical robot A to segment and fuse data, confirming the entry point, target point, and puncture path, thus completing the surgical path planning. Subsequently, the navigation system 80 registers the robotic arm 702 with the navigation camera 802, and the patient's head position with the navigation camera 802, ensuring that the robotic arm 702, the patient's head, and the navigation camera 802 are in the same coordinate system. Furthermore, the position of the instrument rack 500 and the position of the surgical instruments 60 it carries are recorded in the controller of the robotic arm 702. Following control commands from the control system, the robotic arm 702 moves to the instrument rack 500, equips the corresponding surgical instrument 60, and the controller guides the robotic arm 702 to the planned path and position, controlling the surgical instrument 60 to begin automatic operation. Simultaneously, the quick-change device 10 can automatically change different types of surgical instruments 60 to complete different surgical procedures.

[0137] In one embodiment, the controller has a storage module that stores the preset position of the instrument rack 500 and the type and corresponding position of the surgical instruments 60 carried on the instrument rack 500. The controller controls the robotic arm 702 to move to the preset position according to the control command of the control system, and replaces the corresponding surgical instrument 60 at the preset position.

[0138] In other words, the controller of the robotic arm 702 stores the position of the instrument rack 500 in advance before the operation. In this way, after receiving the control command from the control system to replace or install the surgical instrument 60, the controller can control the robotic arm 702 to move to the instrument rack 500 and be in the corresponding position on the instrument rack 500, so that the robotic arm 702 can perform the operation of installing or replacing the surgical instrument 60.

[0139] See Figure 1 , Figures 12 to 15 The present invention also provides a control method for a surgical robot A, applied to the surgical robot A as described in the above embodiments, the control method comprising the following steps:

[0140] After receiving the control command from the control system, the controller controls the quick-change device 10 of the robotic arm 702 to install a second mounting base 210 with a type of surgical instrument 60 on the instrument rack 500;

[0141] The controller controls the robotic arm 702 to move the surgical instrument 60 to the surgical position according to the planning of the navigation system 80 to perform the first stage of surgical operation;

[0142] After the first stage of the surgical procedure is completed, the controller receives the control command from the control system and controls the robotic arm 702 to return to the instrument rack 500 and replace it with a second mounting base 210 with another type of surgical instrument 60.

[0143] The controller controls the robotic arm 702 to move the surgical instrument 60 to the surgical position to perform the second stage of the surgical procedure;

[0144] After the surgery is completed, the controller receives the control command from the control system and controls the robotic arm 702 to drive the surgical instrument 60 back to the instrument rack 500 and put the surgical instrument 60 back into the instrument rack 500.

[0145] When the surgical robot A of the present invention is used, an instrument rack 500 is set on the robotic arm carriage 701, and second mounting seats 210 for various types of surgical instruments 60 used in different stages of the surgery are placed in the placement positions of the instrument rack 500. During the operation, after receiving the control command from the control system, the controller controls the quick-change device 10 of the robotic arm 702 to install the second mounting seat 210 with one type of surgical instrument 60 on the instrument rack 500. Subsequently, according to the preoperative planning of the navigation system 80, the controller controls the robotic arm 702 to move the surgical instrument 60 to the surgical position, the controller locks the robotic arm 702 and performs the first stage of the surgical operation. When the first stage of the surgical operation is completed and the surgical instrument 60 needs to be changed, after receiving the control command from the control system, the controller controls the robotic arm 702 to return to the instrument rack 500, places the third mounting seat 521 of the used surgical instrument 60 in the empty placement position, and replaces the second mounting seat 210 with another type of surgical instrument 60. The controller controls the robotic arm 702 to move the surgical instrument 60 to the surgical position to perform the second stage of the surgical operation. After the surgery is completed, the controller receives the control command from the control system and controls the robotic arm 702 to drive the surgical instrument 60 back to the instrument rack 500 and put the surgical instrument 60 back into the instrument rack 500.

[0146] It is worth noting that if there are multiple surgical stages during the operation, the second mounting base 210 is replaced sequentially according to the order of the surgical instruments 60 used in each stage, so as to achieve rapid replacement of the surgical instruments 60 to meet the surgical needs.

[0147] In one embodiment, the steps of installing and replacing surgical instruments 60 using the quick-change device 10 of the robotic arm 702 include:

[0148] The first mounting base 110 of the quick-change device 10 is installed at the end of the robotic arm 702, and the surgical instruments 60 required for the surgery are placed on the instrument rack 500.

[0149] When installing surgical instrument 60, the controller controls the robotic arm 702 to move to the instrument rack 500, and the control system controls the clamping component 530 to press the locking component 411, so that the first mounting base 110 and the second mounting base 210 are locked together.

[0150] The controller controls the robotic arm 702 to drive the surgical instruments 60 to perform surgical operations according to the planning of the navigation system 80;

[0151] When it is necessary to change surgical instrument 60, the controller controls the robotic arm 702 to return to the placement position of the instrument rack 500, and the control system controls the clamping component 530 to press the locking component 411, so that the second mounting seat 210 at the end of the robotic arm 702 is placed on the instrument rack 500. Then, the robotic arm 702 moves to another placement position of the instrument rack 500, and the control clamping component 530 presses the locking component 411, so that the second mounting seat 210 is locked and installed on the first mounting seat 110.

[0152] The controller controls the robotic arm 702 to drive the surgical instruments 60 to perform subsequent surgical operations according to the planning of the navigation system 80.

[0153] When the surgical instrument 60 is installed at the end of the robotic arm 702, the controller controls the robotic arm 702 to move to the instrument rack 500. The control system controls the clamping component 530 to press the locking member 411, aligning the first mounting base 110 with the second mounting base 210. Releasing the locking member 411 locks the first mounting base 110 and the second mounting base 210 together. Subsequently, the controller, according to the pre-operative planning of the navigation system 80, controls the robotic arm 702 to move the surgical instrument 60 to perform the surgical operation. When it is necessary to change the surgical instrument 60, the controller controls the robotic arm 702 to return to an empty position on the instrument rack 500. The control system controls the clamping component 530 to press the locking member 411, causing the second mounting base 210 to detach from the first mounting base 110 and be placed on the instrument rack 500. Then, the robotic arm 702 moves to another position on the instrument rack 500, and the control system controls the clamping component 530 to press the locking member 411, locking the second mounting base 210 onto the first mounting base 110. The controller continues to control the robotic arm 702 to drive the surgical instruments 60 to perform subsequent surgical operations.

[0154] See Figure 1 , Figures 12 to 15 The surgical robot A of the present invention performs neurosurgical procedures; the control method includes the following steps:

[0155] After receiving instructions from the control system, the controller controls the quick-change device 10 of the robotic arm 702 to install the second mounting base 210 with the automatic skull drill 601 on the instrument rack 500.

[0156] The controller controls the robotic arm 702 to move the surgical instrument 60 to the surgical position according to the planning of the navigation system 80. The automatic skull drill 601 starts drilling. When the drill bit of the automatic skull drill 601 penetrates the skull, the automatic skull drill 601 automatically stops.

[0157] After receiving the control command from the control system, the controller controls the robotic arm 702 to return to the instrument rack 500 to put back the automatic cranial drill 601 and replace the second mounting seat 210 of the electric electrode micropusher 602 for installing electrodes and puncture needles.

[0158] The controller controls the robotic arm 702 to move the surgical instrument 60 to the surgical position. The robotic arm 702 then moves the puncture needle to perform a cranial puncture operation. After the puncture reaches the target position, the robotic arm 702 stops locking.

[0159] The electric electrode micro-pusher 602 automatically implants the electrode to the set position according to the preoperative planned depth, and the controller controls the electrode to perform surgical operations.

[0160] After the surgical procedure is completed, the electrodes are fixed, and the controller receives control instructions from the control system and controls the robotic arm 702 to return to the instrument rack 500 to place the electric electrode micropusher 602.

[0161] The surgical robot A of this invention is mainly used for neurosurgical procedures. Its control method is as follows: After receiving control commands from the control system, the controller controls the quick-change device 10 of the robotic arm 702 to install a second mounting base 210 with an automatic cranial drill 601 on the instrument rack 500. After the robotic arm 702 automatically changes and installs the automatic cranial drill 601, it moves to the surgical position according to the direction and path pre-planned by the navigation system 80. According to the control commands, the automatic cranial drill 601 starts and begins automatic drilling. Simultaneously, the robotic arm 702 slowly feeds downwards along the direction of the automatic cranial drill 601, measuring the skull thickness according to the pre-planned algorithm. When the drill bit of the automatic cranial drill 601 penetrates the skull, the automatic cranial drill 601 automatically stops and simultaneously sends feedback to the robotic arm 702 to stop moving, completing the automatic drilling operation.

[0162] After the automated cranial drill 601 completes drilling, the robotic arm 702 receives control commands from the control system and returns to the instrument rack 500 to put back the automated cranial drill 601. It then replaces the second mounting base 210 of the electric electrode micro-retractor 602, which houses the electrode and puncture needle. After automatically replacing the electric electrode micro-retractor 602, the robotic arm 702 moves the pre-installed puncture needle along the drilled hole to insert it into the skull. Once the target position is reached, the robotic arm 702 stops and locks. At this point, the electric electrode micro-retractor 602 begins to move, automatically implanting the electrode into the preset position along the puncture-established channel. The controller then controls the electrode to perform surgical operations such as electrical discharge. After the surgical procedure is completed, medical staff assist in fixing the electrode, and the robotic arm 702 returns to the instrument rack 500 to place the electric electrode micro-retractor 602. This completes the entire automated surgical process.

[0163] The surgical robot A of this invention houses various automated surgical devices, such as an automated cranial drill 601, puncture needles, and electric micro-pushers, on an instrument rack 500. Guided by a navigation system 80, it guides a robotic arm 702 to perform automated drilling, puncture, and electrode implantation, thereby automatically completing neurosurgical procedures. The quick-change device 10 of this invention, used in conjunction with the robotic arm 702, surgical instruments 60, and navigation system 80, enables the surgical robot A to achieve highly intelligent automated surgery.

[0164] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0165] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A quick-change device, characterized in that, include: The first mounting component includes a first mounting base, which is mounted on the end of the robotic arm; The second mounting assembly includes a second mounting base disposed at the end of a surgical instrument, and the second mounting base is detachably mounted to the first mounting base; A wireless transmission component includes a transmitting component and a receiving component. The transmitting component is disposed on the first mounting base and electrically connected to the controller of the robotic arm. The receiving component is disposed on the second mounting base. After the first mounting base and the second mounting base are connected, the transmitting component and the receiving component wirelessly power supply and transmit signals. A locking component is disposed on the first mounting base and the second mounting base. The locking component can unlock or lock the connection between the first mounting base and the second mounting base. The locking component includes a locking part, which includes a locking element and a reset element. The locking element is movably disposed on the first mounting base or the second mounting base. The reset element is disposed between the locking element and the first mounting base or the second mounting base and is used to drive the locking element to reset. as well as An instrument rack includes a support frame, multiple placement components, and a clamping component. The support frame is mounted on a robotic arm trolley. The multiple placement components are spaced apart on the support frame. Each placement component includes a third mounting base with a recessed placement groove. A second mounting base is placed in the placement groove. The clamping component is mounted on the third mounting base and electrically connected to the control system of the surgical robot. The control system controls the clamping component to press or disengage from a locking element. Pressing the locking element with the clamping component unlocks the locking element.

2. The quick-change device according to claim 1, characterized in that, The quick-change device also includes a connector, one end of which is electrically connected to the transmitting component, and the other end of which is inserted into the end interface of the robotic arm and electrically connected to the controller through the end interface.

3. The quick-change device according to claim 1, characterized in that, The locking assembly further includes a locking groove, one of the locking component and the locking groove is disposed on the first mounting base and the other is disposed on the second mounting base, and the end of the locking component can move into or out of the locking groove.

4. The quick-change device according to claim 1, characterized in that, The locking element includes a locking button and a latch. The latch is disposed on the side of the locking button. The locking button protrudes from the outside of the first mounting base and the second mounting base. The latch extends into the first mounting base or the second mounting base.

5. The quick-change device according to claim 1, characterized in that, The locking component also includes a rotating shaft, which is disposed in the central region of the locking component and can be rotatably mounted on the first mounting base or the second mounting base.

6. The quick-change device according to claim 1, characterized in that, The locking component further includes a limiting part, which is disposed on the side of the locking component. The first mounting base or the second mounting base has a limiting groove, and the limiting part is movably disposed in the limiting groove.

7. The quick-change device according to claim 3, characterized in that, The locking component also includes an unlocking power source, which is rotatably connected to the locking member and drives the locking member to rotate. The unlocking power source is electrically connected to the controller or the receiving component, and drives the locking member to rotate so that the locking member moves out of the locking slot.

8. The quick-change device according to any one of claims 1 to 7, characterized in that, The instrument rack has multiple placement positions, and at least two different surgical instruments are placed in the multiple placement positions.

9. The quick-change device according to claim 8, characterized in that, The placement component includes a third mounting base and a first positioning member. The first positioning member is disposed in the placement groove. The end face of the second mounting base away from the first mounting base has a second positioning member. The first positioning member and the second positioning member are positioned and connected.

10. The quick-change device according to claim 9, characterized in that, The clamping component includes a drive power source and a gripper. The drive power source is disposed on the third mounting base and electrically connected to the control system of the surgical robot. The gripper is disposed at the output end of the drive power source. The control system controls the drive power source to drive the gripper to open or close. The gripper has a pressing protrusion that presses against the locking member.

11. The quick-change device according to any one of claims 1 to 7, characterized in that, The first mounting component further includes a first limiting member, and the second mounting component further includes a second limiting member. The first limiting member is disposed on the first mounting base, and the second limiting member is disposed on the second mounting base. When the first mounting base and the second mounting base are installed, the first limiting member and the second limiting member cooperate to limit the movement. The first limiting member and the second limiting member are a combination of a limiting protrusion and a limiting hole.

12. A surgical robot, characterized in that, The system includes a control system, a robotic arm system, a navigation system, and a quick-change device as described in any one of claims 1 to 11. The robotic arm system includes a robotic arm trolley and a robotic arm. The quick-change device is disposed at the end of the robotic arm. The navigation system includes a navigation trolley and a navigation camera. The navigation camera is disposed on the navigation trolley. The control system is electrically connected to the controller of the robotic arm, the instrument rack of the quick-change device, and the navigation system.

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