A cannula adapter and surgical robot

Abstract

The application discloses a sleeve adapter and a surgical robot. The sleeve adapter comprises an adapter main body, a first guide, a clamping jaw, an operating actuating mechanism and a driven mechanism. The first guide is fixedly arranged in the adapter main body. The clamping jaw is arranged in the adapter main body and is limited by the first guide and can move in translation between a first position and a second position along the direction guided by the first guide. The driven mechanism is driven to move by the operating actuating mechanism. The driven mechanism is linked with the clamping jaw, the clamping jaw is in the first position when the driven mechanism is in a third position, and the clamping jaw is in the second position when the driven mechanism is in a fourth position. The sleeve adapter of the application improves the reliability of clamping by the design of the clamping jaw moving in translation. The arrangement can also make the direction of the clamping force coincide with the center line of the jaw tip, and can reduce the offset error during clamping.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to a cannula adapter and a surgical robot. Background Technology

[0002] Master-slave minimally invasive surgical robots help surgeons achieve precise positioning during operations, offering advantages such as reduced patient wounds and shorter postoperative recovery time. Furthermore, their stable operating platform addresses issues like surgeon tremors, leading to their widespread use in clinical surgery.

[0003] On the patient side, the surgical robot performs surgical procedures using surgical tools equipped with end effectors. Common surgical tools include scissors, clamps, and lamps. The pitch, yaw, and gripping movements of the end effector are typically achieved using a wire rope structure.

[0004] In surgical robotics, an opening is typically made in the abdominal cavity using an instrument called a cannula to create a passage. First, the cannula's marker is placed on the abdominal surface. Then, the surgical instruments are inserted through the cannula's passage, and the cannula's rigidity supports the slender tubes of the instruments, preventing deformation. Early in the abdominal incision process, air is injected into the abdominal cavity through vents on the cannula, causing the cavity to bulge and creating space for the instruments. During surgery, different types and lengths of cannulas are used depending on the type of surgical instrument and the thickness of the patient's abdominal cavity; for example, models for 8mm diameter instruments, models for 5mm diameter instruments, and camera cannulas, etc. Therefore, the cannula plays a crucial role in surgical robotics.

[0005] Correspondingly, the structure that connects the sleeve to the robot arm is called a sleeve adapter. The sleeve adapter needs to be able to easily and quickly engage the sleeve under manual operation, and to connect the sleeve safely and securely without any shaking.

[0006] Because the robotic arm has a large range of motion, and three to four robotic arms are involved in the surgery at the same time, the size of the cannula adapter needs to be as small as possible to prevent interference or pressure on the human body or spatial interference between robotic arms.

[0007] In the initial stages of surgical setup, once the cannula is inserted into the patient, both the patient and the cannula are relatively fixed and immobile. At this point, pressing the control button on the surgical robot's robotic arm allows the arm to be dragged and moved to the vicinity of the cannula for docking. Typically, medical staff use one hand to drag the robotic arm while holding the cannula with the other. Therefore, the ease and coordination between the cannula, the robotic arm, and the cannula adapter directly impacts the length and convenience of surgical preparation.

[0008] However, current bushing adapters suffer from numerous problems, including large space requirements, difficulty in one-handed operation, poor convenience, and complex structure. Furthermore, the grippers in current adapters are mostly pivotally mounted, which can easily lead to misalignment between the direction of the clamping force and the clamping position during rotation, resulting in unstable clamping.

[0009] Therefore, a cannula adapter and a surgical robot are needed to at least partially solve the above problems. Summary of the Invention

[0010] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0011] To at least partially solve the above problems, a first aspect of the present invention provides a sleeve adapter, the solution of which is as follows:

[0012] The sleeve adapter includes:

[0013] Adapter body;

[0014] The first guide component is fixedly installed inside the adapter body;

[0015] The gripper, disposed within the adapter body, is constrained by the first guide member and can translate between a first position and a second position along the direction guided by the first guide member;

[0016] Operate the actuation mechanism;

[0017] The driven mechanism is moved by the operation actuation mechanism;

[0018] The driven mechanism is linked to the gripper. When the driven mechanism is in the third position, the gripper is in the first position. When the driven mechanism is in the fourth position, the gripper is in the second position.

[0019] The sleeve adapter of the present invention features a design in which the jaws move in a translational manner, which improves the reliability of clamping. This design also ensures that the direction of the clamping force coincides with the centerline of the jaw tip, thereby reducing the offset error during clamping.

[0020] A second aspect of the invention also provides a sleeve adapter, the sleeve adapter comprising:

[0021] Adapter body;

[0022] The second guide member is fixedly connected to the adapter body;

[0023] A movable member, the movable member being restricted by the second guide member and movable along the direction of the second guide member, the movable member having a biasing portion, the biasing portion having a first constraint surface;

[0024] A first guide member is fixedly connected to the adapter body. The extension direction of the first guide member intersects the projection of the extension direction of the second guide member onto the same plane, and the intersection angle is 85-90°.

[0025] At least one gripper, the gripper being restricted by the first guide and movable along the direction of the first guide, the gripper having a biasing pair that engages with the biasing portion, the first constraint surface constraining the position of the biasing pair;

[0026] An elastic component, disposed within the adapter body, provides a driving force that causes the movable element to tend to move along the second guide;

[0027] Handle, the handle comprising:

[0028] The handle is hinged to the adapter body via the hinge portion.

[0029] The operating part is located outside the adapter body and is fixedly connected to the hinge part.

[0030] The actuator is located inside the adapter body and is fixedly connected to the hinge.

[0031] The actuator is movably connected to the movable component;

[0032] The handle is configured to pull the movable member along the second guide via the actuator, and then cause the gripper to move along the first guide via the interaction of the biasing part and the biasing pair.

[0033] According to the sleeve adapter of the present invention, the operator can use the handle to perform the clamping and releasing actions of a pair of jaws with one hand, thereby allowing the operator to use the other hand to perform other actions such as operating the matching sleeve, making the operation more convenient; in addition, the design of the jaws moving along the guide rail greatly simplifies the structure, reduces the movement range of the jaws, saves space, and makes it easier to achieve self-locking, improving the reliability of clamping. Moreover, this setting also makes the direction of the clamping force coincide with the center line of the jaw tip, reducing the offset error during clamping.

[0034] Furthermore, the angle between the projections of the extending directions of the first guide member and the second guide member onto the same plane is 89-90°, so that the gripper can translate along the first guide member; and / or

[0035] The elastic component is connected between the adapter body and the movable member to provide a driving force that causes the movable member to tend to move along the second guide, thereby causing the gripper to move along the first guide to a clamping state through the interaction of the biasing portion and the biasing pair.

[0036] Furthermore, the gripper includes a clamping portion and a connecting portion connected to the clamping portion, wherein the connecting portion is movably connected to the first guide member, and the biasing portion is disposed on the connecting portion.

[0037] Furthermore, the end of the clamping part of the gripper is provided with a claw tip facing the sleeve, the included angle of the claw tip is in the range of 80° to 100°, and the midline of the included angle of the claw tip is in the same straight line as the direction of the clamping force of the gripper.

[0038] Furthermore, the connecting portion is provided with a through hole, the cross-sectional shape of the first guide member is adapted to the through hole, and the first guide member extends into the through hole.

[0039] Furthermore, when the biasing pair is located at the first end of the first constraint surface, the gripper is in a clamping state; when the biasing pair is located at the second end of the first constraint surface, the gripper is in an open state. The slope of the tangent plane of the second end relative to the direction of the second guide member is greater than the slope of the tangent plane of the first end relative to the direction of the second guide member.

[0040] Furthermore, at least a portion of the first constraint surface extends from the first end to the second end, and the slope of the tangential section of this portion of the first constraint surface relative to the direction of the second guide gradually increases.

[0041] Furthermore, the slope of the tangential surface at the first end relative to the direction of the second guide member is the smallest.

[0042] Furthermore, the slope of the first end is less than or equal to 0.3.

[0043] Furthermore, the biasing portion also has a second constraint surface, and there is a space between the second constraint surface and the first constraint surface for accommodating the movement of the biasing pair, and the slope change of the second constraint surface is the same as the slope change of the first constraint surface.

[0044] Furthermore, the biasing pair is constructed as a slider or a rolling element.

[0045] Furthermore, when the gripper is in the clamping state, the handle is in the initial position; when the gripper is in the open state, the handle is in the working position; and the initial position and working position of the actuator are located on the same side of the hinge in the vertical direction.

[0046] Furthermore, when the distance between the gripper and the sleeve is at its maximum, the lever arm at the actuator approaches zero.

[0047] Furthermore, the operating part and the actuating part are at least partially odd-symmetrical or centrally symmetrical with respect to the hinge part, and the extending directions of the operating part and the actuating part are both tangent to the hinge part.

[0048] Furthermore, the upper surface of the adapter body is provided with a clearance portion, and when the operating part is in the working position, the operating part can be embedded in the clearance portion.

[0049] A third aspect of the present invention provides a surgical robot comprising the cannula adapter described in the first or second aspect above.

[0050] The robot according to the present invention can achieve similar technical effects to the sleeve adapter described in the first or second aspect above. Attached Figure Description

[0051] The following drawings, which are incorporated herein by reference as part of this invention, are provided for understanding the invention. The drawings illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention.

[0052] In the attached image:

[0053] Figure 1 This is a three-dimensional schematic diagram of a surgical robot component structure according to a preferred embodiment of the present invention;

[0054] Figure 2 for Figure 1 A three-dimensional schematic diagram of a part of the surgical robot from another perspective;

[0055] Figure 3 for Figure 1 An exploded view of some structures of the surgical robot;

[0056] Figure 4 This is a partial structural schematic diagram of a sleeve adapter according to a preferred embodiment of the present invention;

[0057] Figure 5 for Figure 4 A diagram showing the removal of the top panel and handle;

[0058] Figure 6This is a side view of the installation state of the handle and movable part of the sleeve adapter according to a preferred embodiment of the present invention.

[0059] Figure 7 for Figure 4 Schematic diagram of the separation state of the middle part of the structure;

[0060] Figure 8 for Figure 7 A schematic diagram from another perspective of the movable component;

[0061] Figure 9 for Figure 7 A schematic diagram of the middle gripper and the first guide member from another perspective;

[0062] Figure 10 for Figure 7 A schematic diagram of the movable component viewed from below;

[0063] Figure 11 for Figure 7 A schematic diagram of the gripper and the first guide member from a bottom-view perspective; and

[0064] Figure 12 for Figure 7 A three-dimensional schematic diagram of the gripper.

[0065] Explanation of reference numerals in the attached figures:

[0066] 100: Surgical robot; 110: Cannula; 120: Sterile adapter

[0067] 130: Sleeve adapter; 131: Drag control button; 132: Unlock button

[0068] 140: Adapter body; 141: Upper panel; 151: Second guide member

[0069] 160: Gripper; 161: Clamping part; 162: Connecting part

[0070] 163: Offset sub-pair; 165: Claw tip; 164: Through hole

[0071] 170: Movable part; 171: Offset part; 172: Mating groove

[0072] 174: First end; 175: Second end; 176: First constraint surface

[0073] 177: Second constraint surface; 180: Handle; 181: Operating part

[0074] 182: Actuating part; 183: Hinge part; 190: Elastic component

[0075] 184: First arm; 185: Second arm; 152: First guide member Detailed Implementation

[0076] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0077] To fully understand the present invention, a detailed description will be set forth in the following description. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below; however, in addition to these detailed descriptions, the present invention may have other embodiments.

[0078] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0079] The ordinal numbers such as "first" and "second" used in this invention are merely identifiers and do not have any other meaning, such as a specific order. Furthermore, for example, the term "first component" does not imply the existence of a "second component," and the term "second component" does not imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0080] Now, refer to Figures 1 to 12 An exemplary embodiment of the present invention will be described in more detail below.

[0081] First refer to Figures 1 to 5The surgical robot 100 of the present invention has one or more robotic arms. Each robotic arm includes a cannula 110, a cannula adapter 130, and a sterile adapter 120. First, the sterile adapter 120 is attached to and locked onto the cannula adapter 130, with a sterile dressing or similar material separating them. Then, the cannula 110 is attached to the sterile adapter 120, and the cannula 110 is locked by the cannula adapter 130.

[0082] The sleeve adapter 130 includes an adapter body 140. The adapter body 140 can be the outer shell of the sleeve adapter 130. An interactive light (not shown), an unlock button 132, and a drag control button 131, etc., can be mounted on it. For ease of detailed explanation, the end of the sleeve adapter 130 near the sleeve 110 is defined as the front portion, and the end of the sleeve adapter 130 away from the sleeve 110 and opposite to the front portion is defined as the rear portion.

[0083] The drag control button 131 is located at the rear of the sleeve adapter 130 and can serve as a movement control component for the robotic arm. For example, when the drag control button 131 is in its normal state (not pressed), the robotic arm is locked and cannot be moved. When the operator presses the drag control button 131, the robotic arm unlocks and can be dragged by the operator.

[0084] The unlock button 132 is located near the front of the cannula adapter 130 and serves as a connection control component between the sterile adapter 120 and the cannula adapter 130. Exemplarily, the sterile adapter 120 and the cannula adapter 130 are connected by a snap, hook, or other means, and the unlock button 132 is used to unlock this connection. That is, when an operator presses the unlock button 132, the sterile adapter 120 can be detached from the cannula adapter 130.

[0085] The interactive light can display various light signals based on the various sensors installed in the adapter body 140 to indicate the current status of the sleeve adapter 130. It can be set in any easily observable location; in this embodiment, it is set near the unlock button 132.

[0086] The sleeve adapter 130 also includes an operating actuation mechanism, a gripper 160, a first guide, a driven mechanism, and a second guide.

[0087] The clamp 160 is disposed within the adapter body 140. The clamp 160 has a connecting portion 162 and a clamping portion 161. The end of the clamping portion 161 has a claw tip 165 to facilitate clamping the sleeve 110. The clamp 160 clamps the sleeve by a translational movement. In its natural state, it is in a clamping position, referred to as the first position in this embodiment. When manually actuated, the clamp can move to a non-clamping position, referred to as the second position in this embodiment.

[0088] The mechanism that actuates the gripper 160 is an operating actuation mechanism, which can be a lever-type handle or a press-type handle, and has a connecting part that can drag the driven mechanism. In the embodiment, the structure of the handle 180 is given as an example.

[0089] A driven mechanism is a connecting member that can be actuated by an actuating mechanism. In implementation, it can be a cam mechanism or a linkage mechanism, having a part that can be controlled by the actuating mechanism and a part that is linked with the gripper. During the linkage movement of the driven mechanism and the gripper, when the driven mechanism moves to the third position, the gripper is in the first position; when the driven mechanism moves to the fourth position, the gripper is in the second position. In the embodiment, the specific structure of the movable member 170 is given as an example of the driven mechanism.

[0090] The linkage structure between the driven mechanism and the gripper includes a trajectory surface on the driven mechanism and a passive mechanism, such as a roller or bearing, installed with the gripper. The roller or bearing can move back and forth on the trajectory surface. When the driven mechanism moves in the first direction under the control of the operating actuator, the movement of the driven mechanism in the first direction is converted into the translational movement of the gripper in the second direction by the limitation of the trajectory surface.

[0091] For details, please refer to the following: Figures 4 to 6 as well as Figures 7 to 12 The second guide 151 is fixedly connected to the adapter body 140. Preferably, the adapter body 140 has a detachable upper panel 141, and the second guide 151 can be fixedly connected to the inner surface of the upper panel 141, for example, by means of screws.

[0092] In this embodiment, the driven mechanism is a movable member 170. The movable member 170 is disposed on the second guide member 151 and is fitted onto the shoulder of the second guide member 151 from below, thus enabling it to move along the second guide member 151. Alternatively, the second guide member 151 has outwardly protruding tips at both ends, and the movable member 170 has grooves that correspond to these tips, allowing the movable member 170 to be fitted onto the tips of the second guide member 151 from below. Furthermore, the movable member 170 is preferably symmetrical about the second guide member 151. The movable member 170 has an offset portion 171.

[0093] refer to Figures 3 to 5 as well as Figures 7 to 12 The gripper 160 and the first guide 152 are disposed within the adapter body 140, and the extending direction of the first guide 152 is not parallel to the extending direction of the second guide 151. Preferably, the projections of the two on the same plane (or horizontal plane) intersect at an angle of 85-90°. More preferably, the intersecting angle of the projections of the two on the same plane (or horizontal plane) is 89-90°.

[0094] In this embodiment, the first guide member 152 is preferably arranged along the width direction of the sleeve adapter 130, or in other words, arranged laterally. That is, the first guide member 152 is arranged perpendicularly to the second guide member 151. More preferably, the first guide member 152 is connected between two opposing inner walls of the adapter body 140.

[0095] In an alternative embodiment, the first guide 152 may also be configured as a generally symmetrical V-shaped structure, with the tip of the V-shape facing the sleeve 110, so that the gripper 160 moves obliquely forward toward the sleeve 110 as it moves along the first guide 152. In this case, the projections of the first guide 152 and the second guide 151 onto the horizontal plane intersect at the apex of the V-shape, and the intersection angle is 170 to 180°, wherein each wing of the V-shape forms an angle of 85 to 90° with the second guide 151.

[0096] In another alternative embodiment, the first guide 152 is also generally constructed as a symmetrical V-shaped structure, with the tip of the V-shape facing away from the sleeve 110. In this case, the gripper 160 can approach the sleeve 110 at a generally tilted rearward position during closure. This creates a rearward (in the direction the V-shaped tip points) pulling force on the sleeve 110 when gripping it. That is, the gripper 160 exerts not only a force on the sleeve 110 in the gripping direction but also a component force that causes the sleeve 110 to embed towards the rear of the sleeve adapter, further improving gripping stability. The included angle of the V-shape is also 170–180°.

[0097] In the illustrated embodiment, the first guide member 152 has a "-" shaped structure, that is, the extension direction of the first guide member 152 is perpendicular to the extension direction of the second guide member 151.

[0098] The connecting part 162 is connected to the first guide member 152, so that the gripper 160 can move along the first guide member 152.

[0099] The gripper 160 has a biasing pair 163. The biasing portion 171 and the biasing pair 163 can cooperate with each other to operate. The biasing portion 171 has a trajectory surface, which allows the biasing pair to move along the trajectory surface. The trajectory surface has components of both the translational movement direction of the gripper and the movement direction of the movable member. For example, when the movable member 170 moves on the second guide 151, the biasing portion 171 can squeeze the biasing pair 163, causing the gripper 160 to move along the first guide 152. This causes the distance between the pair of grippers 160 to change, allowing the pair of grippers 160 to grip or release the sleeve 110. The biasing pair 163 on the gripper 160 can be provided at any position on the connecting portion 162. Therefore, in this embodiment, the movement mode of the gripper 160 is changed from rotational gripping to translational gripping. This ensures that the gripping force is located exactly on the center line of the gripper tip 165, that is, the two coincide, avoiding the offset error between the direction of the gripping force and the gripping position caused by the deflection of the gripper 160 due to rotation during rotational gripping.

[0100] Specifically, a through hole 164 is provided on the connecting part 162. Figure 12 As shown in the diagram, the shape of the through hole 164 is adapted to the cross-sectional shape of the first guide member 152, so that the connecting portion 162 of the gripper 160 can be fitted onto the first guide member 152. In this embodiment, the cross-sectional shape of the first guide member 152 and the shape of the through hole 164 are constructed as square. It is readily understood that the cross-sectional shape of the first guide member 152 and the shape of the through hole 164 can also be constructed as circular, elliptical, or other shapes.

[0101] In an alternative embodiment, the sleeve adapter 130 has only one clamp 160, in which case the sleeve 110 is clamped between the clamp 160 and the inner wall of the adapter body 140.

[0102] In another alternative embodiment, a gripper 160 and a clamping plate (not shown) may be provided, with the gripping portion 161 of the gripper 160 facing the clamping plate. The clamping plate has a gripping portion, the aforementioned connecting portion 162, and an offset pair 163, and the end of the gripping portion does not have a claw tip. The clamping plate extends beyond the adapter body 140 to the sterile adapter 120 or sleeve 110 and is located to the side of the sterile adapter 120 or sleeve 110 to create a lifting and squeezing effect on the sterile adapter 120 or sleeve 110 to facilitate clamping operations.

[0103] Preferably, for better clamping effect, the sleeve adapter 130 includes a pair of jaws 160. The jaw tips 165 of the clamping portions 161 of each pair of jaws 160 are bent toward each other (or bent inward) to achieve inward clamping of the pair of jaws 160. More preferably, the pair of jaws 160 may also be symmetrical with respect to the second guide member 151.

[0104] In this embodiment, the distance between the pair of grippers 160 is minimized when the sleeve 110 is held by the pair of grippers 160.

[0105] Preferably, the midline of the included angle of the claw tip 165 is collinear with the direction of the clamping force of the claw 160. Preferably, the midline of the included angle of the claw tip 165 is perpendicular to the clamping portion 161 and / or the connecting portion 162. The included angle of the claw tip 165 is in the range of 80° to 100°. Preferably, the included angle of the claw tip 165 is 90°. The above-described arrangement of the claw tip 165 makes it easier for the claw 160 to fit into the sleeve 110 to form a mating engagement.

[0106] Therefore, the appropriate angle setting of the claw tip 165 allows the sleeve 110 to be separated by force even if the mechanism accidentally jams. In addition, the approximately 90° included angle of the claw tip 165 avoids both an excessively small guiding range during the clamping process of the claw 160 and an excessively sharp included angle that would cause the curtain-type sterile adapter 120 to become embedded in the sleeve 110 and unable to detach.

[0107] The clamping configuration of the aforementioned gripper 160, which clamps via horizontal displacement, reduces the range of movement of the gripper 160 during clamping, thereby increasing the installation space within the sleeve adapter 130. Furthermore, the non-pivoting clamping method, or translational clamping method, provides a higher degree of responsiveness to the driving force. In particular, in this embodiment, the component of the driving force in the clamping direction is larger, making operation less strenuous for the user.

[0108] Please refer to the following. Figure 4 , Figure 7 , Figure 8 and Figure 10 The elastic component 190 is disposed within the adapter body 140 and acts on the pair of grippers 160 to provide a driving force so that the pair of grippers 160 move inward toward each other along the first guide 152, or in other words, the gripping portions 161 of the two grippers clamp inward.

[0109] In this embodiment, the elastic component 190 is preferably constructed as a spring. It is disposed longitudinally between the adapter body 140 and the movable member 170 along the length direction of the gripper 160. Specifically, one end of the elastic component 190 is connected to the adapter body 140, and the other end is connected to the movable member 170. This longitudinal arrangement of the spring, utilizing a larger space, facilitates the output of a greater elastic force.

[0110] Optionally, the elastic component 190 can also be connected between a pair of grippers 160, i.e., arranged laterally (not shown). Specifically, it can be arranged laterally at any position on the gripping portion 161, preferably at a position on the gripping portion 161 near the connecting portion 162. This makes it easier for the operator to operate the handle 180. It is readily understood that the elastic component 190 can also be connected between the connecting portions 162 of a pair of grippers 160.

[0111] The following will combine Figures 7 to 12 The structure of the movable member 170 and the biasing portion 171 is described in detail. The biasing portion 171 has a first constraint surface 176. Exemplarily, the first constraint surface 176 can be configured as the side of the movable member 170 facing the biasing pair 163. The biasing portion 171 has a first end 174 and a second end 175. When the distance between the gripper 160 and the sleeve 110 is at its minimum, or in other words, when the distance between a pair of grippers 160 is at its minimum, the gripper 160 clamps the sleeve 110; that is, the gripper 160 can be considered to be in a clamping state. At this time, the biasing pair 163 is located at the first end 174.

[0112] When the distance between the jaws 160 and the sleeve 110 is at its maximum, or when the jaws 160 are separated from the sleeve 110 and the separation is at its maximum, the jaws 160 can be considered to be in the open state. At this time, the biasing pair 163 is located at the second end 175. In other words, the first end 174 corresponds to the clamping state of the jaws 160, and the second end 175 corresponds to the open state of the jaws 160. When the jaws 160 switch between the clamping state and the open state, the biasing pair 163 moves between the first end 174 and the second end 175 of the biasing portion 171. The biasing pair 163 can be constructed as a sliding element or a rolling element. To reduce the influence of friction, the biasing pair 163 is preferably constructed as a rolling element, such as a bearing.

[0113] In one implementation, the first end 174 can correspond to the clamping state, and it is positioned close to the sleeve 110. The second end 175 corresponds to the open state, and it is positioned away from the sleeve 110. It is easy to understand that it is also possible to achieve the second end 175 corresponding to the clamping state and the first end 174 corresponding to the open state, simply by changing the direction of movement of the handle 180 (described in detail below) and / or the direction of the elastic force.

[0114] For ease of understanding, the term "slope" used below, such as "the tangential slope of the first constraint surface 176 at the first end 174 relative to the direction of the second guide member 151", refers to "the slope of the line formed by the intersection of the first constraint surface 176 and the horizontal plane at the first end 174 relative to the longitudinal straight line on the horizontal plane". Other cases can be deduced by analogy.

[0115] Specifically, the slope of the tangential section of the first constraint surface 176 at its first end 174 relative to the direction of the second guide member 151 is greater than the slope of the tangential section of the second end 175 relative to the direction of the second guide member 151. In other words, the slope of the line formed by the intersection of the first constraint surface 176 and the horizontal plane at its first end 174 relative to the longitudinal straight line on the horizontal plane is less than the slope of the line at its second end 175 relative to the longitudinal straight line. It is easy to understand that the slope of the first constraint surface 176 at its first end 174 is less than the slope at its second end 175.

[0116] According to the sleeve adapter 130 of the present invention, the small slope at the first end 174 of the biasing portion 171 and the larger slope at the second end 175 of the biasing portion 171 allow the movable member 170 to move a smaller distance during use, enabling the gripper 160 to move a larger range along the first guide member 152. This reduces the range of hand movement when the user manipulates the handle 180, making one-handed operation more user-friendly. Simultaneously, a smaller elastic force is sufficient to drive the gripper 160 and prevent it from moving away from each other, facilitating clamping. Furthermore, the small slope at the first end 174 also facilitates compatibility with different sleeve sizes, resulting in high adaptability.

[0117] Preferably, the slope of the first constraint surface 176 along the direction from the first end 174 to the second end 175 gradually increases relative to the tangential slope of the second guide member 151. In other words, the slope of the line formed by the intersection of the first constraint surface 176 and the horizontal plane relative to the longitudinal straight line on the horizontal plane gradually increases from the first end 174 to the second end 175. That is, the slope of the first constraint surface 176 from the first end 174 to the second end 175 becomes increasingly larger. Thus, the gradual slope design allows for a smaller movable distance while enabling a greater distance between the pair of grippers 160, and also makes the engagement between the first constraint surface 176 of the movable member 170 and the offset pair 163 smoother, with no jerking during the movement of the offset pair 163, resulting in a better user experience.

[0118] When the biasing portion 171 is only provided with the first constraint surface 176, only one of the spring force and the operator's driving force can act on the grippers 160 or the movable member 170. For example, when the elastic component 190 is connected between the movable member 170 and the adapter body 140 and provides a pulling force, the operator's driving force can cause the pair of grippers 160 to open or move away from each other, while the pulling force cannot cause the grippers 160 to close. In this case, it is necessary to provide the elastic component 190 between the pair of grippers 160 to provide an elastic force that tends to grip.

[0119] exist Figure 7In the illustrated embodiment, the biasing portion 171 further includes a second constraint surface 177, which forms a space with the first constraint surface 176 to accommodate the movement of the biasing pair 163. Preferably, the biasing portion 171 is configured as a waist-shaped groove penetrating the movable member 170, and also includes the second constraint surface 177. The second constraint surface 177 is spaced apart from the first constraint surface 176 and also extends from the first end 174 to the second end 175. Alternatively, the first constraint surface 176 and the second constraint surface 177 are configured as the two inner cylindrical surfaces of the waist-shaped groove. It is readily understood that the slope change of the second constraint surface 177 is the same as that of the first constraint surface 176, that is, the slope of the line formed by the intersection of the second constraint surface 177 and the horizontal plane relative to the longitudinal straight line on the horizontal plane gradually increases from the first end 174 to the second end 175. Alternatively, the first constraint surface 176 may be parallel to the second constraint surface 177. The design of the second constraint surface 177 enables the bias pair 163 to return to the clamping position from the open position of the gripper 160 by following the trajectory of the second constraint surface 177, thereby reducing vibration caused by large elastic force and extending service life.

[0120] Therefore, the two constraint surfaces can interfere with the bias pair 163 in both directions of movement. Specifically, when the elastic component 190 is disposed between the adapter body 140 and the movable member 170 as described above and provides tension, i.e., when the elastic component 190 is a tension spring, the movable member 170 tends to move away from the sleeve 110, and the second constraint surface 177 can push the bias pair 163, causing the pair of grippers 160 to tend to move closer to each other or clamp. Conversely, when the operator overcomes the elastic force and drives the movable member 170 to move closer to the sleeve 110, the first constraint surface 176 will interfere with the bias pair 163, causing the grippers 160 to tend to move away from each other or open. The arrangement of the elastic component 190 connected between the adapter body 140 and the movable part 170, as described above, namely the dual constraint of the first constraint surface 176 and the second constraint surface 177, helps to save space, freeing up space for the installation of other components, making the overall system more integrated and more functional.

[0121] Furthermore, this variable slope design, compared to a constant small slope design, reduces the moving length of the movable component 170 itself, also reduces the relative extension length of the spring, and allows the pair of grippers 160 to move further apart. The aforementioned elastic component 190 can be in the form of a compression spring or other types of springs besides a tension spring; simply adjust the direction of the handle 180 accordingly.

[0122] In this embodiment, the first constraint surface 176 and the second constraint surface 177 are constructed as smooth curved surfaces. In embodiments not shown, the first constraint surface 176 and the second constraint surface 177 can also be constructed as a combination of multiple straight surfaces and curved surfaces, as long as the design of variable slope can be satisfied.

[0123] To further improve the clamping effect and applicability of the gripper 160, the slope of the first constraint surface 176 and / or the second constraint surface 177 at the first end 174 is preferably as small as possible. In other words, the angle between the first constraint surface 176 and / or the second constraint surface 177 at the first end 174 and the central plane P that vertically bisects the second guide member 151 is as small as possible.

[0124] As one implementation, the slope of the line formed by the intersection of the first constraint surface 176 and / or the second constraint surface 177 with the horizontal plane at the first end 174 relative to the longitudinal line on the horizontal plane is less than or equal to 0.3. Preferably, the slope of the line formed by the intersection of the first constraint surface 176 and / or the second constraint surface 177 with the horizontal plane at the first end 174 relative to the longitudinal line on the horizontal plane is less than or equal to 0.1. More preferably, the slope of the line formed by the intersection of the first constraint surface 176 and / or the second constraint surface 177 with the horizontal plane at the first end 174 relative to the longitudinal line on the horizontal plane is less than or equal to 0.05. It is readily understood that the slope of the line formed by the intersection of the first constraint surface 176 and / or the second constraint surface 177 with the horizontal plane at the first end 174 relative to the longitudinal line on the horizontal plane should be as close to 0 as possible.

[0125] In other words, the angle between the first constraint surface 176 and / or the second constraint surface 177 at the first end 174 and the central plane P that vertically bisects the second guide member 151 is preferably less than 5°, or even smaller, approximately equal to 0°.

[0126] Therefore, the slope of the tangential plane of the first end 174 relative to the direction of the second guide member 151 is the smallest. When the offset pair 163 is located at the first end 174, it is in a wedge-tight state with the first constraint surface 176. This makes the force of the spring on the offset pair 163 have the smallest component in the direction of the opening of the gripper 160 and the largest component in the direction of the second guide member 151. The gripper 160 can easily be in a clamped state and maintain this state, making it difficult for the gripper 160 to open unexpectedly.

[0127] Please refer to the following. Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6A handle 180 is pivotally mounted on the adapter body 140 and is installed at the upper panel 141. Specifically, the handle 180 includes a hinge 183, an operating part 181, and an actuating part 182. The operating part 181 is located at the top of the handle 180 and is used for operator operation. The actuating part 182 is located at the bottom of the handle 180 and is movably connected to the movable member 170. The hinge 183 is located between the operating part 181 and the actuating part 182, and the handle 180 is connected to the adapter body 140 via the hinge 183. The upper panel 141 has an opening through which the handle 180 extends at least partially into the adapter body 140, such that the actuating part 182 is at least partially located within the adapter body 140, and the operating part 181 is at least partially located outside the adapter body 140.

[0128] Specifically, the operating part 181 is located outside the adapter body, while the actuating part 182 is located inside the adapter body, and both are connected to the hinge part 183. The operating part 181 includes a first arm 184 integrally connected to the hinge part 183, and the actuating part 182 includes a second arm 185 integrally connected to the hinge part 183. Alternatively, the operating part 181 is connected to the hinge part 183 via the first arm 184, and the actuating part 182 is connected to the hinge part 183 via the second arm 185. The operating portion of the operating part 181 and the actuating portion of the actuating part 182 are located at the ends of the first arm 184 and the second arm 185, respectively. Both the first arm 184 and the second arm 185 have a relatively straight structure. The operating part 181, the hinge part 183, and the actuating part 182 can be integrally formed or constituted as multiple components in a fixed assembly.

[0129] In this embodiment, the movable member 170 is provided with a mating groove 172, and the actuating part 182 is constructed as a sliding member, which is slidably disposed within the mating groove 172; that is, the mating groove 172 can be constructed as a sliding groove. In an embodiment not shown, in order to reduce friction, the actuating part 182 can also be constructed as a rolling member, such as a roller or a bearing. In this case, the actuating part 182 can roll within the mating groove 172.

[0130] When the operator operates the operating part 181, or when the operator pulls the handle 180, the handle 180 can pivot about the hinge part 183. Correspondingly, the actuator 182 of the handle 180 can pull the movable member 170 along the second guide member 151. Specifically, the operating part 181 of the handle 180 performs a first circular arc motion with the distance between the operating part 181 and the hinge part 183 as the radius, with the hinge part 183 as the axis. The actuator 182 of the handle 180 performs a second circular arc motion with the distance between the actuator 182 and the hinge part 183 as the radius, with the hinge part 183 as the axis. The movable member 170 moves linearly under the interference of the actuator 182, and the distance it moves is the horizontal component of the second circular arc motion.

[0131] Thus, the handle 180 can pull the movable member 170 along the second guide member 151 via the actuator 182, thereby changing the position of the gripper 160 through the interaction of the biasing part 171 and the biasing pair 163. Or, in other words, changing the distance between the pair of grippers 160.

[0132] When the gripper 160 is in the gripping state, the handle 180 is in the initial position, or in other words, the actuator 182 and the operating part 181 are in the initial position. When the gripper 160 is in the open state, the handle 180 is in the working position, or in other words, the actuator 182 and the operating part 181 are in the working position. In this embodiment, when the operating part 181 is in the initial position, the first arm 184 is nearly upright, while when the operating part 181 is in the working position, the first arm 184 is horizontal or flat, or nearly horizontal or flat. Similarly, when the actuator 182 is in the initial position, the second arm 185 is nearly upright, while when the actuator 182 is in the working position, the second arm 185 is nearly horizontal or flat. That is, in the initial position, the movable member 170 moves away from the sleeve 110 under the action of elastic force, and the handle 180 is upright under the action of the movable member 170. When the distance between the gripper 160 and the sleeve 110 is at its maximum, the handle 180 is in a flat position, which can also be described as a horizontal or flat position. At this time, the operator moves the handle 180, causing the movable part 170 to approach the sleeve 110 under the interference of the actuator 182, and to become nearly horizontal. In other words, when the handle 180 is nearly horizontal, it is close to a locked state, and the operator does not need to exert much force to press the handle to maintain the gripper 160 in the open state.

[0133] Preferably, the upper surface of the adapter body 140 is also provided with a clearance portion (not shown), and when the operating part 181 is in the working position, the operating part 181 and the first arm part 184 can be embedded in the clearance portion.

[0134] The above-mentioned design of the handle 180 ensures that the user can exert relatively little operating force when pressing the operating part 181 to the limit position of the gripper 160 opening. Thus, the user can concentrate on the docking of the sleeve 110 and the sleeve adapter 130 without having to be distracted by maintaining the force of the handle 180.

[0135] To facilitate smooth rotation of the handle 180 and avoid obstacles, the operating part 181 and the actuating part 182 are at least partially odd-symmetrical or nearly odd-symmetrical with respect to the hinge part 183. That is, the operating part 181, the actuating part 182, and the hinge part 183 are not on a straight line, or in other words, they are not coplanar. Instead, as shown in the figure, the operating part 181 is located on one side of the hinge part 183, while the actuating part 182 is located on the other side of the hinge part 183. In other words, the extending directions of the operating part 181 and the actuating part 182, i.e., the first arm 184 and the second arm 185, are preferably tangent to the hinge part 183.

[0136] Furthermore, the initial position and the working position of the actuator 182 are both located on the same side of the hinge 183. In other words, the positional change of the actuator 182 is minimal when it is in the initial position and when it is in the working position. That is, the lever arm of the actuator 182 between its initial position and its working position is an acute angle, meaning that the travel distance of the actuator 182 is small, which makes it easier for the user to move.

[0137] In some embodiments, the operating part 181 and the execution part 182 may also be in other forms of central symmetry. For example, the angle between the first arm 184 and the second arm 185 is less than 180°. In the initial position, the first arm 184 or the operating part 181 is in a first upright form. In the working position, the first arm 184 or the operating part 181 is in another upright form, while the state of the second arm 185 or the execution part 182 follows the rule of changing from upright to lying flat.

[0138] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the invention. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0139] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, those skilled in the art will understand that the present invention is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A sleeve adapter, characterized in that, The sleeve adapter includes: Adapter body; The first guide component is fixedly installed inside the adapter body; The gripper, disposed within the adapter body, is restricted by the first guide member and can reciprocate between a first position and a second position along the direction guided by the first guide member; Operate the actuation mechanism; The second guide member is fixedly connected to the adapter body; The driven mechanism is driven by the actuating mechanism to reciprocate linearly between a third position and a fourth position. The driven mechanism is configured as a movable member. The movable member is restricted by the second guide member and can move along the direction of the second guide member. The movable member has a biasing portion. The gripper has a biasing pair that cooperates with the biasing portion. The biasing portion has a first constraint surface and a second constraint surface. There is a space between the second constraint surface and the first constraint surface for accommodating the movement of the biasing pair. The slope change of the second constraint surface is the same as the slope change of the first constraint surface. The first constraint surface constrains the position of the offset pair; In this configuration, the driven mechanism is linked to the gripper. When the driven mechanism is in the third position, the gripper is in the first position, the offset pair is located at the first end of the first constraint surface, and the gripper is in a clamping state. When the driven mechanism is in the fourth position, the gripper is in the second position, the offset pair is located at the second end of the first constraint surface, and the gripper is in an open state. The slope of the tangent plane of the first end relative to the direction of the second guide member is the smallest. At least a portion of the first constraint surface extends from the first end to the second end, and the slope of the tangent plane of this portion of the first constraint surface relative to the direction of the second guide member gradually increases. The slope of the tangent plane of the second end relative to the direction of the second guide member is greater than the slope of the tangent plane of the first end relative to the direction of the second guide member. The sleeve adapter further includes an elastic component connected to the driven mechanism and providing a force to the driven mechanism toward the third position. The biasing pair and the first constraint surface interact to convert the elastic force provided by the elastic component into the clamping force of the gripper.

2. The sleeve adapter according to claim 1, characterized in that, The angle between the direction of movement of the gripper and the direction of movement of the driven mechanism is 85~90°.

3. The sleeve adapter according to claim 1, characterized in that, There are two grippers, and the two grippers are driven to translate together by the operating actuation mechanism. The translation directions of the two grippers are on the same straight line.

4. The sleeve adapter according to claim 1, characterized in that, There are two grippers, and the two grippers are driven to translate together by the operation actuation mechanism. The translation directions of the two grippers have an included angle of 170~180°.

5. The sleeve adapter according to any one of claims 1 to 4, characterized in that, The driven mechanism includes a track surface, and a roller or bearing is connected between the gripper and the track surface. The roller or the bearing moves along the track surface, and the track surface simultaneously has components of the translational movement direction of the gripper and the movement direction of the driven mechanism.

6. The sleeve adapter according to claim 5, characterized in that, The direction of translational movement of the gripper is perpendicular to the direction of movement of the driven mechanism.

7. The sleeve adapter according to claim 1 or 2, characterized in that, The sleeve adapter also includes a second guide member, which is fixedly disposed relative to the adapter body. The second guide member supports the driven mechanism, which moves in the direction guided by the second guide member.

8. The sleeve adapter according to claim 1, characterized in that, The sleeve adapter also includes: The first guide is fixedly connected to the adapter body. The extension direction of the first guide intersects the projection of the extension direction of the second guide on the same plane, and the intersection angle is 85~90°. The elastic component is disposed within the adapter body to provide a driving force that causes the gripper to tend to move along the first guide to a clamping state; The sleeve adapter also includes a handle, the handle comprising: The handle is hinged to the adapter body via the hinge portion. The operating part is located outside the adapter body and is fixedly connected to the hinge part. An actuator is located within the adapter body and is fixedly connected to the hinge, and the actuator is movably connected to the movable member; The handle is configured to pull the movable member along the second guide via the actuator, and then cause the gripper to move along the first guide via the interaction of the biasing part and the biasing pair.

9. The sleeve adapter according to claim 8, characterized in that, The angle between the projections of the extending directions of the first guide member and the second guide member onto the same plane is 89-90°, so that the gripper can translate along the first guide member; and / or The elastic component is connected between the adapter body and the movable member to provide a driving force that causes the movable member to tend to move along the second guide, thereby causing the gripper to move along the first guide to a clamping state through the interaction of the biasing portion and the biasing pair.

10. The sleeve adapter according to claim 8, characterized in that, The gripper includes a clamping portion and a connecting portion connected to the clamping portion, wherein the connecting portion is movably connected to the first guide member, and the biasing portion is disposed on the connecting portion.

11. The sleeve adapter according to claim 10, characterized in that, The clamping part of the gripper is provided with a claw tip facing the sleeve. The included angle of the claw tip is in the range of 80° to 100°, and the midline of the included angle of the claw tip is in the same straight line as the direction of the clamping force of the gripper.

12. The sleeve adapter according to claim 10, characterized in that, The connecting part is provided with a through hole, the cross-sectional shape of the first guide member is adapted to the through hole, and the first guide member extends into the through hole.

13. The sleeve adapter according to claim 1, characterized in that, The slope of the first end is less than or equal to 0.

3.

14. The sleeve adapter according to any one of claims 8 to 12, characterized in that, The biasing pair is constructed as a sliding element or a rolling element.

15. The sleeve adapter according to any one of claims 8 to 12, characterized in that, When the gripper is in the clamping state, the handle is in the initial position; when the gripper is in the open state, the handle is in the working position; the initial position and the working position of the actuator are located on the same side of the hinge in the vertical direction.

16. The sleeve adapter according to claim 15, characterized in that, When the distance between the gripper and the sleeve is at its maximum, the lever arm at the actuator approaches zero.

17. The sleeve adapter according to claim 15, characterized in that, The operating part and the actuating part are at least partially odd-symmetrical or centrally symmetrical with respect to the hinge part, and the extending directions of the operating part and the actuating part are both tangent to the hinge part.

18. The sleeve adapter according to claim 15, characterized in that, The adapter body has a clearance portion on its upper surface. When the operating part is in the working position, the operating part can be embedded in the clearance portion.

19. A surgical robot, characterized in that, Includes the sleeve adapter as described in any one of claims 1 to 18.

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