Punch card holder and minimally invasive surgical robot therefor

Abstract

The present application relates to a kind of punch card fixing device and its minimally invasive surgery robot, wherein punch card fixing device includes locking mechanism, the locking mechanism is suitable for being driven to set position punch card body;Trigger mechanism, the trigger mechanism is linked with the locking mechanism;Wherein when the trigger mechanism triggers the locking mechanism, the locking mechanism is suitable for setting position punch card body.This application provides a good positioning condition for the positioning of punch card body by locking mechanism, and provides a good trigger driving condition for locking mechanism by the setting of trigger mechanism, so as to facilitate trigger mechanism to control locking mechanism to set position / release punch card body, and the working process is simple, efficient.

Description

Technical Field

[0001] This invention relates to minimally invasive robots, specifically to a puncture fixation device and a minimally invasive surgical robot thereof. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure, and the fatigue and tremors experienced by the surgeon during prolonged operations are amplified. These factors have become key constraints on the development of minimally invasive surgical techniques. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming these shortcomings while inheriting the advantages.

[0003] In robot-assisted minimally invasive surgery, a dedicated channel is typically established using a trocar (also known as a cannula). Surgeons then use thin, minimally invasive surgical instruments to enter this channel and perform surgical procedures within the abdominal cavity. Because the trocar must be sterilized after each surgery, it is essential that it be detachably attached to the minimally invasive surgical robot.

[0004] Chinese invention patent CN106102642B (hereinafter referred to as Prior Artwork Document 1) discloses a surgical cannula mounting device and related systems and methods, comprising: a body having an orifice for receiving a portion of a cannula; a pivotable clamping arm that engages the portion of the cannula received within the orifice; the clamping arm including a cam follower surface; and a block movable between a first position and a second position, the block including a cam surface. The cam surface of the block can engage the cam follower surface of the clamping arm in the first position to actuate the clamping arm to a closed position, in which the clamping arm engages the portion of the cannula received in the orifice. When the block is in the second position, the clamping arm can be allowed to move to an open position, in which the clamping arm does not engage the cannula.

[0005] Chinese invention patent application CN112494142A (hereinafter referred to as Prior Artwork 2) discloses an instrument clamping device, an operating device, and a surgical robot, including a clamping arm, a drive block, an elastic element, and an operating mechanism. The drive block is driven by the elastic element and the operating mechanism to move. During the movement of the drive block, the end of the clamping arm opens and clamps the instrument by abutting different parts of the drive block. The principle of this solution is similar to that of Patent 1, both using a handle to drive a slider to move, and utilizing the cooperation between the slider and the clamping arm to clamp the cannula.

[0006] Chinese invention patent CN106037933B (hereinafter referred to as prior art 3) discloses a catheter clamping mechanism for a minimally invasive surgical robot, including a base and a cover on the mounting base, a catheter clamping linkage device, and a clamping lock release device. Pressing one side (or a pair) of the clamps in the catheter clamping linkage device causes the opposing rotational motion of the pair of clamps to drive a linear motion link hinged to the link to move linearly along a slide bar. The pressure head in the clamping lock release device locks the linear motion link under the drive of an elastic component, thereby locking the pair of clamps. Pressing the pressure head down unlocks the linear motion link, causing the linear motion link to reset under the action of a spring force, thereby releasing the catheter from the pair of clamps.

[0007] Chinese utility model patent CN212118197U (hereinafter referred to as prior art 4) discloses a stamp card fixing device for quick loading and unloading, including a stamp card connector, a platform and a stamp card fixing assembly. The stamp card connector is fitted onto the upper part of the stamp card rod. The platform is connected to the stamp card connector through the stamp card fixing assembly. The platform back cover is installed on the platform.

[0008] Although existing technologies offer various methods for fixing stamped cards, these technologies still have at least the following drawbacks:

[0009] 1. Both Comparison Document 1 and Comparison Document 2 use the frictional motion of the cam structure to open and close the locking tongue. During long-term use, wear will occur, leading to a decrease in reliability and locking force.

[0010] 2. Both Comparison Document 2 and Comparison Document 3 use two grippers to clamp the stamping card, which results in poor clamping reliability compared to the overall fixed type (Comparison Document 1 and Comparison Document 4).

[0011] 3. Both comparison documents 3 and 4 use a single-sided locking mechanism, which results in poor reliability;

[0012] 4. Comparison documents 2, 3 and 4 all use the elasticity of springs to limit the structure. Over time, the springs will age, which will lead to a decrease in the reliability of the locking. Furthermore, when the tamper is subjected to a large external force, it may fall off.

[0013] In summary, existing technical solutions have various problems, and there is an urgent need to invent a better card fixing device that can solve the above problems. Summary of the Invention

[0014] The purpose of this invention is to provide a card fixing device to solve the above-mentioned technical problems.

[0015] The first aspect of the present invention provides a stamp card fixing device for positioning a stamp card body, comprising:

[0016] Locking mechanism, the locking mechanism being adapted to be driven to lock the positioning stamp card body;

[0017] A triggering mechanism is employed in conjunction with the locking mechanism; wherein...

[0018] When the triggering mechanism triggers the locking mechanism, the locking mechanism is adapted to position the card body with the stamp.

[0019] Preferably, the triggering mechanism includes a rotating column;

[0020] The locking mechanism includes two locking parts arranged in a mirror image, and the two locking parts forming a locking space suitable for locking the stamp card body; wherein

[0021] When the rotating column rotates to the tensioning position, the rotating column is adapted to open the locking space;

[0022] When the rotating column is reset, the rotating column is adapted to retract the locking space to lock the clamping card body.

[0023] Preferably, the card fixing device includes a fixing bracket suitable for supporting the locking mechanism and the triggering mechanism, and a locking portion is provided on the upper end surface of the fixing bracket;

[0024] The rotating column extends out of the fixed bracket;

[0025] The triggering mechanism also includes a handle fixed to the upper end of the rotating column; and

[0026] When the locking space is contracted to hold the card body tightly, the handle is locked and fixed inside the locking part.

[0027] Preferably, the handle includes a knob with an open front end and a hollow interior, a locking spring and a sliding block located within the open end; and

[0028] The knob is fixedly connected to the rotating cylinder;

[0029] One end of the locking spring abuts against the bottom side of the inner cavity of the knob, and the other end abuts against the sliding block;

[0030] The locking part includes a stop on the fixed bracket, and the stop has a groove suitable for locking the sliding block; wherein

[0031] When the card body is held in place, the sliding block is located within the retaining groove.

[0032] Preferably, the handle includes a knob with a rotating head hinged to its end; and

[0033] The rotating head has a locking body; the locking part includes a locking cavity formed on the upper end face of the fixed bracket; wherein

[0034] The lock body is adapted to be confined within the lock cavity.

[0035] Preferably, the locking part includes a locking tongue rotatably connected within the fixed bracket, and a torsion spring column to which the torsion spring body is sleeved and fixed; and

[0036] The latch has a torsion spring groove, and the torsion arm of the torsion spring body is engaged in the torsion spring groove.

[0037] The lower end of the rotating column is hinged and linked to the locking tongue.

[0038] When the rotating cylinder rotates in coordination with the locking tongue, the torsion arm is compressed.

[0039] Preferably, at least one vertical steel column groove is formed on the side wall of the torsion spring groove, and at least one horizontal steel column groove is formed on the bottom wall of the torsion spring groove.

[0040] A steel column body is respectively provided in each of the vertical steel column slots and each of the horizontal steel column slots, wherein

[0041] The circumferential direction of the torsion arm is adapted to maintain continuous contact with the steel column body.

[0042] Preferably, a sheet group is mirror-arranged at the lower end of the rotating cylinder, and each sheet group is further provided with a linkage component;

[0043] The sheet assembly includes sheet bodies arranged in parallel to each other;

[0044] The linkage component includes a connector and four turntable recesses. A set of recesses is mirror-image-formed on the connector, each set of recesses corresponding to two recess bodies. A turntable recess is rotatably disposed within each recess body.

[0045] Two of the turntable recesses on one side are rotatably disposed between the two plate bodies, and two of the turntable recesses on the other side are hinged to the locking tongue.

[0046] Preferably, the side wall of the fixing bracket has an installation opening suitable for mounting the sleeve body;

[0047] The upper surface of the fixed bracket is a platform surface;

[0048] or

[0049] The side wall of the fixed bracket has an installation opening suitable for mounting the sleeve body;

[0050] A body is located on the upper end surface of the fixed bracket;

[0051] or

[0052] The side wall of the fixed bracket has an installation opening suitable for mounting the sleeve body;

[0053] A platform is located on the upper surface of the fixed bracket, and a light hole suitable for light transmission is opened on the side wall of the platform.

[0054] The present invention has at least the following beneficial effects:

[0055] 1. This invention provides a good positioning condition for the stamp card body through the locking mechanism, and provides a good triggering driving condition for the locking mechanism through the setting of the triggering mechanism, thereby prompting the triggering mechanism to control the locking mechanism to lock / release the stamp card body. The working process is simple and efficient.

[0056] 2. The locking mechanism of the present invention forms a rigid limit by means of the locking part and the handle part that cooperates with it, which can prevent the original torsion spring (or the spring in the prior art) from falling off due to insufficient locking force when subjected to large external force due to accident.

[0057] 3. The locking mechanism of the present invention has a compact structure. In particular, the structure of Embodiment 3 occupies little longitudinal space, which can save space at the end of the instrument movement platform, making the equipment more conducive to miniaturization, which is in line with the development trend of surgical robots.

[0058] A second aspect of the present invention also provides a minimally invasive surgical robot, including a base, a trolley handle located at the rear end of the base, a lifting column fixed on the base, a robotic arm connected to the lifting column, and an instrument movement platform located at the end of the robotic arm; a puncture fixation device as described above is fixed at the end of the instrument movement platform.

[0059] This minimally invasive surgical robot uses a puncture-and-fixation device to facilitate the entire work process, improve work efficiency, and is easy to assemble and disassemble. Attached Figure Description

[0060] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0061] Figure 1 This is a perspective view of a preferred embodiment of the stamp card body of the present invention;

[0062] Figure 2 This is an exploded view of a stamp card fixing device with a stamp card body according to the present invention;

[0063] Figure 3 This is a schematic diagram of a preferred embodiment of the card fixing device of the present invention;

[0064] Figure 4 This is a partial structural schematic diagram of a card fixing device according to the present invention;

[0065] Figure 5 This is a schematic diagram of the structure of the upper cover of the present invention;

[0066] Figure 6 This is a partial structural schematic diagram of the locking mechanism and triggering mechanism of the present invention;

[0067] Figure 7 This is a schematic diagram of the rotating cylinder of the present invention;

[0068] Figure 8 This is a schematic diagram of the linkage component of the present invention;

[0069] Figure 9 This is a schematic diagram of the locking tongue of the present invention;

[0070] Figure 10 This is an exploded view of the knob in Embodiment 1 of the present invention;

[0071] Figure 11 These are schematic diagrams of the structure of a card fixing device according to Embodiments 2 and 3 of the present invention;

[0072] Figure 12 This is a schematic diagram of the structure of a knob with a rotating head according to Embodiment 3 of the present invention;

[0073] Figure 13 This is a schematic diagram of the upper cover body according to Embodiment 2 of the present invention;

[0074] Figure 14 This is a schematic diagram of the structure of the card sleeve body according to Embodiment 1 of the present invention;

[0075] Figure 15 This is a structural schematic diagram of the card holder body from another perspective of Embodiment 1 of the present invention.

[0076] In the picture:

[0077] 100. Stamp card body; 101. Stamp card slot; 102. Tilted inverted surface;

[0078] 200 Locking mechanism, 210 Locking tongue, 211 Receiving compartment, 212 Torsion spring groove, 213 Vertical steel column groove, 214 Horizontal steel column groove, 215 Locking head, 220 Torsion spring column, 230 Torsion spring body, 231 Torsion arm, 240 Guide column.

[0079] 300. Triggering mechanism; 310. Rotating column; 311. Recessed annular groove; 312. Waist-shaped column; 313. Plate body; 320. Linkage assembly; 321. Connector; 322. Recessed body; 323. Turntable recess; 324. Linkage column; 330. Knob; 331. Button; 332. Base; 3321. Sliding groove; 3322. Retractable opening; 3323. Support platform; 333. Sliding component; 3331. T-shaped port; 3332. T-shaped long arm; 334. Locking spring; 335. Rotating head; 336. Lock body; 3361. Guide contact surface; 337. Groove cavity;

[0080] 400, Card sleeve body; 410, Annular piece; 420, Flanged edge; 430, Card sleeve slot; 440, Contouring protrusion; 450, Card sleeve head;

[0081] 500. Fixed bracket; 510. Upper cover; 511. Upper sloping platform; 512. Horizontal covering surface; 513. Lamp hole; 514. Clearance groove; 515. Block; 516. Block groove; 517. Platform; 518. Locking cavity; 520. Middle cover; 530. Lower bottom cover; 531. Mounting port; 532. Slip unlocking part; 5321. Bracket clip head; 533. Lower sloping platform; 534. Lamp hole. Detailed Implementation

[0082] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0083] like Figures 1-10 As shown in Figures 14 and 15, the present invention provides a stamp card fixing device for positioning the stamp card body 100, comprising:

[0084] Locking mechanism 200 is adapted to be driven to position the card body 100 for stamping; triggering mechanism 300 is linked with locking mechanism 200; wherein when triggering mechanism 300 triggers locking mechanism 200, locking mechanism 200 is adapted to position the card body 100 for stamping.

[0085] The card fixing device is mainly used to fix the card body 100. A connecting block is located on the side wall of the card body 100, and a card slot 101 is mirror-shaped on the side wall of this connecting block. The edge of the card slot 101 has an inclined chamfer 102, which provides good guidance for subsequent installation. Preferably, the cross-section of the card slot 101 is an oblong hole, resulting in relatively high overall structural stability. The trigger mechanism 300 is an active mechanism, serving as a drive source. The transmission form of this drive source includes, but is not limited to, rotational output or pressing output. The locking mechanism 200 mainly functions to position or release the card body 100, and its overall positioning and release states are ensured by the trigger mechanism 300. The locking mechanism 200 and the trigger mechanism 300 are both supported within the fixed bracket 500, and the card body 100 first establishes a connection with the fixed bracket 500 before connecting with the locking mechanism 200.

[0086] Specifically, the fixing bracket 500 includes an upper cover 510, a lower bottom cover 530, and a middle cover 520. The lower bottom cover 530 has an installation space for installing the locking mechanism 200, and has an installation port 531 on the side and is open at the top for fixing the upper cover 510. In order to better position and fix the various components in the locking mechanism 200 without affecting the aesthetics of the overall structure, a middle cover 520 is provided simultaneously below the upper cover 510. The middle cover 520 is mainly used to support and limit the locking mechanism 200 from the top, while the lower bottom cover 530 mainly supports and limits the locking mechanism 200 from the bottom.

[0087] In the structure of the lower cover 530, two locking sleeves 532 are mirror-imagely arranged on the outer wall of its mounting opening 531. The locking sleeves 532 are plate-shaped and are locked onto the side wall of the lower cover 530. A bracket head 5321 is provided on the locking sleeves 532. The other side of the lower cover 530 away from the mounting opening 531 has a lower inclined platform 533; correspondingly, the upper cover 510 has an upper inclined platform 511 and a horizontal covering surface 512.

[0088] In order to facilitate the indication of the status of the instrument movement platform and the card body 100, a lamp head is provided inside the lower cover 530, and lamp holes 513 are respectively provided on the upper inclined platform 511 and the horizontal covering surface 512, and a lamp opening 534 is also provided on both sides of the bottom position of the lower cover 530.

[0089] The connection between the lower cover 530 and the upper cover 510 employs various methods, including key-locking, nut locking, and sidewall fitting. Specifically, the upper cover 510 has a clearance groove 514 near the upper inclined platform 511, which primarily provides ample movement space for the trigger mechanism 300. Simultaneously, to lock the trigger mechanism 300, the upper cover 510 has a stop 515 with a stop groove 516 in its center. Of course, other different structures can also be used to lock the trigger mechanism 300, which will be described in subsequent embodiments.

[0090] The specific structure of the triggering mechanism 300 includes a rotating column 310, which is rod-shaped and has a concave annular groove 311 at its waist to form a cylindrical structure. A bearing is fixedly fitted at the upper and lower ends of the concave annular groove 311, that is, the inner wall of the bearing's inner ring is tightly fitted with the cylindrical structure, the outer wall of the upper bearing's outer ring is tightly fitted with the upper cover 510, and the outer wall of the lower bearing's outer ring is tightly fitted with the middle cover 520. A waist-shaped column 312 is provided at the upper end of the rotating column 310; a plate group is mirror-imagely provided at the lower end of the rotating column 310, each plate group including two parallel plate bodies 313; to facilitate subsequent connection; a linkage component 320 is also provided on the plate group, the linkage component 320 including a connector 321, the connector 321 having a recessed group mirror-imagely provided, each recessed group corresponding to two recessed bodies 322, the recessed bodies 322 being recessed to form a frustum of a cone; a turntable recess 323 is rotatably provided in each recessed body 322, the turntable recess 323 being adapted to the recessed body 322; the upper and lower turntable recesses 323 are limited by a linkage column 324; one set of turntable recesses 323 on one side is located between the two plate bodies 313 and the ends of the linkage column 324 are respectively inserted and fixed in the plate bodies 313. A bearing is synchronously provided at the bottom of the rotating column 310 and fixedly connected to the lower cover 530. The outer ring of the bearing is tightly fitted to the lower cover 530, and the inner ring is fixedly connected to the rotating column 310. This embodiment provides a preferred structure of the linkage component 320. As long as the linkage between the rotating column 310 and the locking part can be realized (that is, when the rotating column 310 rotates in one direction, the locking part will lock, and when it rotates in another direction, the locking part will release), other similar structures can also be used in this invention.

[0091] A knob 330 is fixed on the end of the rotating column 310 that extends out of the upper cover 510. The knob 330 facilitates the rotation of the rotating column 310. In order to prevent the knob 330 from rotating relative to the rotating column 310, the upper end of the rotating column 310 is provided with an oblong shape, which facilitates a good anti-rotation effect after the knob 330 is inserted. Specifically, the knob 330 and the rotating column 310 can also be positioned by snap-fit ​​or other means, which is not limited.

[0092] Once the knob 330 has moved to its designated position, this embodiment employs a corresponding structure to lock and position the knob 330, ensuring the stability of the overall structure and preventing it from detaching due to insufficient locking force of the original torsion spring (or the spring in the prior art) in the event of a large external force caused by an accident. This structure consists of a hollow interior knob 330 with an opening at the front end. A locking spring 334 is installed within this opening. One end of the locking spring 334 abuts against the bottom side of the inner cavity of the knob 330, while the other end abuts against a sliding block, which is slidably positioned at the opening.

[0093] Specifically, the knob 330 includes a handle 331 with the aforementioned hollow interior and a base 332. A sliding groove 3321 is formed on the base 332, and a contraction opening 3322 is located at the end of the sliding groove 3321. A support platform 3323 is provided on the surface of the base 332 away from the contraction opening 3322. A base 332 connection port for connecting with the rotating column 310 is formed on the base 332. The slider 333 has a T-shaped cross-section, and the T-shaped port 333 of the slider 333... 1. Located within the sliding groove 3321, which provides a sliding space for the T-shaped port 3331, while the T-shaped long arm 3332 of the slider 333 is located within the constriction. The locking spring 334 is supported on the support platform 3323 and can extend and retract relative to the support platform 3323. Specifically, under the action of the locking spring 334, the slider 333 can be pushed to slide relative to the sliding groove 3321 until the T-shaped long arm 3332 is locked into the retaining groove 516. When the trigger mechanism 300 needs to be operated, the doctor only needs to press the slider 333 to disengage it from the retaining groove 516 on the upper cover 510, and then turn the knob 330.

[0094] The locking mechanism 200 includes two locking parts arranged in a mirror image. The locking parts are carried and placed inside the lower cover 530, while the triggering mechanism 300, i.e., the rotating column 310, is disposed between the two locking parts. Specifically, the locking mechanism includes a locking tongue 210 rotatably connected within the lower cover 530 and a torsion spring column 220 fitted with and fixed torsion spring body 230. A torsion spring groove 212 is provided on the side of the locking tongue 210 near the torsion spring column 220, and the torsion arm 231 of the torsion spring body 230 is engaged in the torsion spring groove 212. A receiving chamber 211 is provided near the torsion spring groove 212 on the locking tongue 210. The receiving chamber 211 is mainly used to accommodate the linkage component 320. That is, the linkage column 324 in the linkage component 320 is inserted and engaged in the receiving chamber 211, and the turntable recess 323 is rotatably disposed in the receiving chamber 211. A locking head 215 is provided at the end of the locking tongue 210 away from the torsion spring column 220. The locking head 215 is suitable for engaging and fixing the locking plate body 100. The gap between the two locking heads 215 forms a locking space.

[0095] Generally, the latch 210 is made of aluminum, which has a lower hardness than the torsion arm 231 of the torsion spring. Therefore, it may damage the torsion spring groove 212 during use. To facilitate processing and extend the service life of the latch 210, the torsion spring groove 212 is preferably mirror-shaped for easy replacement. At least one vertical steel column groove 213, preferably three, is formed on the side wall of the torsion spring groove 212, and at least one horizontal steel column groove 214, preferably one, is formed on the bottom wall of the torsion spring groove 212. A steel column body is provided in each horizontal steel column groove 214 and each vertical steel column groove 213. The torsion arm 231 of the torsion spring extends into the torsion spring groove 212 and is supported by the steel column body in the horizontal steel column groove 214 and abuts against the steel column body in the vertical steel column groove 213. This transforms the overall line friction into point contact, effectively reducing friction and improving the wear resistance of the torsion spring groove 212. The reason for setting up three vertical steel column grooves 213 is primarily to ensure that the torsion arm 231 continuously abuts against different steel column bodies during the rotation of the rotating column 310. In some sidewalls of the aforementioned torsion spring groove 212, there is no contact between the rotating column 310 and the torsion arm 231 during operation, therefore, the vertical steel column grooves 213 are unnecessary.

[0096] Furthermore, the torsion spring column 220 and the locking tongue 210 are respectively connected at their lower ends to the lower bottom cover 530 and at their upper ends to the middle cover 520 around the rotating guide column 240.

[0097] Specifically, before the card body 100 is connected to the locking mechanism 200, in order to strengthen the overall connection and ensure a good connection effect, a card sleeve body 400 is also provided on the fixed bracket 500.

[0098] The card sleeve body 400 includes an annular piece 410 with a through opening, a flange 420 adapted to the annular piece 410, a card sleeve groove 430 adapted to the bracket card head 5321 mirror-shaped on the flange 420, the through opening and the installation opening 531 adapted to each other, a contoured protrusion 440 adapted to the stamp card body 100 extending from the inner edge of the annular piece 410 into the inner cavity of the fixed bracket 500, the card sleeve groove 430 mirror-shaped on both sides of the contoured protrusion 440, a card sleeve head 450 for connecting with the stamp card body 100 on the other side surface of the contoured protrusion 440, and an avoidance recess adapted to the shape of the stamp card body 100 on the annular piece 410.

[0099] At least the contoured protrusion 440 in the card sleeve body 400 is made of flexible material. When the contoured protrusion 440 is connected to the card body 100 and engaged with the locking mechanism 200, its inherent damping properties greatly enhance the overall connection strength.

[0100] Example 2

[0101] The difference between Example 2 and Example 1 lies in the different fixed bracket 500.

[0102] like Figure 11 , 13 As shown, in this embodiment, the upper cover 510 on the fixed bracket 500 is specifically a platform surface, meaning that the knob 330 can rotate freely without any other interference. This design effectively reduces the height dimension, thereby ensuring and expanding the overall movement range.

[0103] As an alternative embodiment, a platform 517 can be provided on the upper cover 510. This platform 517 is preferably a platform surface, and to avoid interfering with the operation of the knob 330, a clearance groove 514 is provided on the platform 517 near the knob 330. Preferably, the vertical height of the platform 517 is lower than or flush with the vertical height of the knob 330, thereby greatly ensuring and expanding the overall movement stroke of the instrument's motion platform.

[0104] Example 3

[0105] like Figure 11 , 12 As shown, the difference between Embodiment 3 and Embodiments 1 and 2 lies in the different limiting form of the knob 330.

[0106] A rotating head 335 is hinged to the end of the knob 330. A matching lock body 336 is provided at the end of the rotating head 335. A lock cavity 518 is provided on the end face of the upper cover 510. The lock body 336 can be locked in the lock cavity 518.

[0107] A groove 337 is formed at the end of the knob 330. A shaft runs through the groove 337. A rotating head 335 is disposed in the groove 337 and is rotatably disposed relative to the shaft. A smooth guide contact surface 3361 is provided near the groove 337 on the rotating head 335. The guide contact surface 3361 facilitates the rotation of the rotating head 335 in the groove 337.

[0108] Correspondingly, the lock body 336 is engaged within the lock cavity 518 to position the rotating head 335, thereby preventing the knob 330 from rotating. After the lock body 336 disengages from the lock cavity 518, the rotating head 335 will be at a higher level relative to the horizontal plane of the knob 330, making it easier for a person to grip and promoting the rotation of the knob 330.

[0109] It should be noted that the structure of the lock body 336 and the lock cavity 518 includes, but is not limited to, the form of a key or latch. As a preferred embodiment, a first magnet can be installed in the lock cavity 518, that is, the first magnet is installed on the back of the upper cover 510, while a second magnet is installed at the lock body 336. That is, when the lock body 336 is located in the lock cavity 518, the two are attracted and fixed by magnetic force, thereby improving the stability of the structure and preventing the lock body 336 from separating from the lock gun 518 due to shaking or other factors during the operation of the equipment.

[0110] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A stamp card fixing device for positioning the stamp card body, characterized in that, include: Locking mechanism, the locking mechanism being adapted to be driven to lock the positioning stamp card body; Triggering mechanism, which is linked to locking mechanism; in When the triggering mechanism triggers the locking mechanism, the locking mechanism is adapted to position the card body with the stamp. The triggering mechanism includes a rotating column; The locking mechanism includes two locking parts arranged in a mirror image, and the two locking parts form a locking space suitable for locking the stamp card body; in When the rotating column rotates to the tensioning position, the rotating column is adapted to open the locking space; When the rotating column is reset, the rotating column is adapted to retract the locking space to lock the clamping card body; The card fixing device includes a fixing bracket adapted to support the locking mechanism and the triggering mechanism, and a locking part is provided on the upper end surface of the fixing bracket; The rotating column extends out of the fixed bracket; The triggering mechanism also includes a handle fixed to the upper end of the rotating column; and When the locking space is contracted to hold the card body tightly, the handle is locked and fixed in the locking part; The handle includes a knob with an open front end and a hollow interior, a locking spring and a sliding block located within the open end; and The knob is fixedly connected to the rotating cylinder; One end of the locking spring abuts against the bottom side of the inner cavity of the knob, and the other end abuts against the sliding block; The locking part includes a stop on the fixed bracket, and a groove suitable for locking the sliding block is provided on the stop; in When the card body is held tightly, the sliding block is located in the retaining groove and the locking spring is in a compressed state; Alternatively, the handle may include a knob with a rotating head hinged to its end; and The rotating head has a locking body; the locking part includes a locking cavity formed on the upper end face of the fixed bracket. in The lock body is adapted to be confined within the lock cavity.

2. The card fixing device as described in claim 1, characterized in that, The locking part includes a locking tongue rotatably connected within the fixed bracket, and a torsion spring column to which the torsion spring body is sleeved and fixed; and The latch has a torsion spring groove, and the torsion arm of the torsion spring body is engaged in the torsion spring groove. The lower end of the rotating column is hinged and linked to the locking tongue. When the rotating cylinder rotates in coordination with the locking tongue, the torsion arm is compressed.

3. The card fixing device as described in claim 2, characterized in that, At least one vertical steel column groove is formed on the side wall of the torsion spring groove, and at least one horizontal steel column groove is formed on the bottom wall of the torsion spring groove. A steel column body is respectively provided in each of the vertical steel column slots and each of the horizontal steel column slots, wherein The circumferential direction of the torsion arm is adapted to maintain continuous contact with the steel column body.

4. The card fixing device as described in claim 3, characterized in that, A sheet assembly is mirror-imagely disposed at the lower end of the rotating column, and a linkage component is also disposed on each sheet assembly; The sheet assembly includes sheet bodies arranged in parallel to each other; The linkage component includes a connector and four turntable recesses. A set of recesses is mirror-image-formed on the connector, each set of recesses corresponding to two recess bodies. A turntable recess is rotatably disposed within each recess body. Two of the turntable recesses on one side are rotatably disposed between the two plate bodies, and two of the turntable recesses on the other side are hinged to the locking tongue.

5. The card fixing device as described in claim 4, characterized in that, The fixed bracket is provided with a ferrule body, and the side wall of the fixed bracket has an installation opening suitable for installing the ferrule body; The upper surface of the fixed bracket is a platform surface; or, A body is located on the upper end surface of the fixed bracket; A platform is located on the upper surface of the fixed bracket, and a light hole suitable for light transmission is opened on the side wall of the platform.

6. A minimally invasive surgical robot, comprising a base, a trolley handle located at the rear end of the base, a lifting column fixed to the base, a robotic arm connected to the lifting column, and an instrument motion platform located at the end of the robotic arm; Its features are, A card fixing device as described in any one of claims 1-5 is fixed at the end of the motion platform of the instrument.

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