Isolation plate and surgical robot

Abstract

The application relates to the technical field of medical devices, in particular to an isolation plate and a surgical robot. The isolation plate comprises a first mounting plate, a second mounting plate, a lock catch unit matched with the first mounting plate and the second mounting plate, and the lock catch unit can reciprocate along a straight line direction parallel to the isolation plate to realize clamping and fixing of surgical instruments and / or instrument driving seats on the isolation plate in the state that the lock catch unit is clamped between the first mounting plate and the second mounting plate. The surgical robot comprises the above-mentioned isolation plate. The lock catch unit is unlocked by pushing, only the elastic force of the elastic member needs to be overcome, a large pushing force is not needed, and the hand is convenient to press; the lock catch unit is not integrally formed with the isolation plate, the processing and manufacturing are simple, the production cost is low, the structure is simple to assemble; the lock catch unit can be directly matched with the convex part, can be extended into a long size, has no risk of loosening, and has no gap in height, so that the tightness of the matching is ensured.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to isolation panels and surgical robots. 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] A typical minimally invasive surgical robot consists of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates the input device on the surgeon's console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. Based on the surgeon's input at the surgeon's console, the remotely operated surgical instruments are actuated at the patient-side trolley to perform surgery on the patient, thus establishing a master-slave control relationship between the surgeon's console and the surgical instruments on the patient-side trolley. Typically, surgical instruments are detachably connected to the instrument movement platform of the patient-side trolley via a partition, allowing for individual sterilization of the instruments and selection of the required instruments. A sterile shield is attached to the partition, separating the sterile and contaminated environments. This partition also needs to be detachably connected to the instrument movement platform to allow for the installation of the sterile shield before surgery and its removal after surgery.

[0004] Chinese invention patent CN106132342B discloses a latch for securing a remotely operated surgical instrument to an actuator, wherein an instrument sterile adapter 310, i.e., an isolator, includes an instrument plate 430, i.e., an upper isolator plate, and a latch plate 400, i.e., a lower isolator plate, which engages with the instrument plate 430. The instrument plate provides a first surface for receiving the surgical instrument 120. The latch plate 400 includes a second surface for receiving the instrument slide 130 and a latch structure, i.e., a locking structure. Each latch structure has a slide latch arm 410 extending away from the second surface of the latch plate 400 and an instrument latch arm 405 engaging with the slide latch arm 410. The instrument latch arm 405 extends through the instrument plate 430 and away from the first surface of the instrument plate 430. A connecting member 425 flexibly connects the slide latch arm 410 and the instrument latch arm 405 to the remainder of the latch plate 400.

[0005] The above solution has the following drawbacks:

[0006] 1. The above solution uses a locking structure integrally formed with the lower isolation plate to connect the instrument box, i.e., the surgical instruments and the instrument drive seat. Due to the requirement of miniaturization of the instrument box, the height of the locking structure protruding from the surface of the upper isolation plate is small, less than 1cm. The contact area with the human hand is small, and the deformation is small. A lot of force is required, and it is inconvenient to press the isolation plate by hand when disassembling it, which affects the user experience of medical staff.

[0007] 2. The above-mentioned locking structure is integrally molded on the lower isolation plate, which requires high processing and manufacturing technology and has correspondingly higher production costs;

[0008] 3. The above solution can only be used with a snap-on mechanism. The snap-on mechanism cannot be too long, otherwise it will not be able to lock in and there is a risk of it coming loose. In order to install it, there must be a gap in height. When pressing 405, 410 will move diagonally upward. The installation process is the opposite. After installation, 410 will move diagonally downward, creating a vertical gap between the lock and the snap-on mechanism, making it difficult to fit tightly and allowing it to wobble up and down.

[0009] Therefore, it is hoped that an improvement plan can be proposed to solve the above problems. Summary of the Invention

[0010] In view of the above-mentioned problems in the prior art, the present invention provides an isolation plate and a surgical robot.

[0011] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0012] Firstly, a partition plate is provided, the partition plate comprising:

[0013] The first mounting plate is used to connect surgical instruments;

[0014] The second mounting plate is connected to the first mounting plate and is used to connect the instrument drive seat;

[0015] The locking unit cooperates with the first mounting plate and the second mounting plate;

[0016] With the locking unit clamped between the first mounting plate and the second mounting plate, the locking unit can reciprocate along a straight line parallel to the partition plate to achieve the snap-fit ​​fixation between the surgical instrument and / or the instrument drive seat and the partition plate.

[0017] Preferably, the locking unit includes at least one locking element and at least one elastic element.

[0018] The locking fastener cooperates with the first fastener on the surgical instrument and / or the second fastener on the instrument drive seat;

[0019] The locking element moves along the linear direction to allow the surgical instrument and / or the instrument drive seat to be mounted or dismounted from the isolation plate through the cooperation of the locking element with the first fastener and / or the second fastener.

[0020] Preferably, the locking element includes,

[0021] The first connector has one end extending toward the surgical instrument and protruding from the first mounting plate, and is detachably connected to the surgical instrument.

[0022] The second connector has one end extending toward the instrument drive seat and protruding out of the second mounting plate, and is detachably connected to the instrument drive seat.

[0023] A connecting rod connects the first connecting member and the second connecting member.

[0024] Preferably, the first connector and / or the second connector are provided with a fastening groove and / or an L-shaped fastener; the first connector is connected to the first fastener through the fastening groove and / or the L-shaped fastener, and the second connector is connected to the second fastener through the fastening groove and / or the L-shaped fastener.

[0025] Preferably, one end of the elastic element cooperates with the locking element, and the other end cooperates with the first mounting plate and / or the second mounting plate, so that the locking element can be reset based on the elastic properties of the elastic element.

[0026] Preferably, the locking element is provided with at least one mounting element.

[0027] One end of the elastic element cooperates with the mounting element to achieve a stable connection between the elastic element and the locking element.

[0028] Preferably, the first mounting plate and / or the second mounting plate are provided with a slot at the position corresponding to the elastic member for engaging the other end of the elastic member, so as to achieve a stable connection of the elastic member to the first mounting plate and / or the second mounting plate.

[0029] Preferably, the first mounting plate and / or the second mounting plate are provided with a locking groove for accommodating the locking member on the plate surface near the connector.

[0030] Preferably, the connection between the first connector and / or the second connector and the connecting rod is provided with an arc-shaped transition portion; the first mounting plate and / or the second mounting plate are provided with an arc-shaped portion that cooperates with the arc-shaped transition portion.

[0031] In a second aspect, a surgical robot is provided, including the aforementioned isolation panel; it also includes a main control console and a slave operator, the isolation panel being detachably mounted on the slave operator.

[0032] This invention has at least the following beneficial effects:

[0033] 1. This application uses a push-type locking mechanism to unlock, which only requires overcoming the elastic force of the elastic element and does not require too much pushing force, making it more convenient for manual pressing.

[0034] 2. The locking fastener and the isolation plate of this application are separate structures, which makes the processing and manufacturing simpler and the production cost lower. Moreover, the structure is also very simple to assemble.

[0035] 3. The locking fastener of this application can be directly used with the locking groove and the L-shaped fastener. The L-shaped fastener can be inserted into the locking groove with a longer length without the risk of loosening. Moreover, there can be no gap in height, which can ensure the tightness of the two. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the first type of isolation plate in this application;

[0037] Figure 2 This is a schematic diagram of the isolation plate in this application with the first mounting plate hidden.

[0038] Figure 3 This is a second schematic diagram of the isolation plate in this application;

[0039] Figure 4 This is a schematic diagram of the first fastener in this application;

[0040] Figure 5 This is a schematic diagram of the locking mechanism in this application;

[0041] Figure 6 This is a schematic diagram showing the isolation plate with the second mounting plate hidden in this application;

[0042] Figure 7 for Figure 6 A magnified view of a section at point A in the middle;

[0043] Figure 8 This is an exploded schematic diagram of the isolation plate in this application;

[0044] Figure 9 This is a first schematic diagram of the first mounting plate in this application;

[0045] Figure 10 This is a second schematic diagram of the first mounting plate in this application;

[0046] Figure 11 for Figure 10 A magnified view of a section at point B in the middle;

[0047] Figure 12 This is a first schematic diagram of the second mounting plate in this application;

[0048] Figure 13 This is a second schematic diagram of the second mounting plate in this application.

[0049] The names of the parts referred to by the numbers in the attached diagram are as follows:

[0050] 100. Isolation plate; 110. First mounting plate; 111. First through hole; 120. Second mounting plate; 130. Transmission component; 140. Locking component; 141. First connecting component; 142. First locking groove; 143. Arc-shaped transition part; 150. First mounting hole; 160. Protruding edge structure; 210. Second through hole; 220. Connecting rod; 230. Elastic component; 310. Second connecting component; 311. Second locking groove; 320. Second mounting hole; 410. First fastener; 411. Protrusion; 412. Connecting part; 510. Mounting protrusion; 610. Slot; 620. Locking groove; 630. Arc-shaped part. Detailed Implementation

[0051] To further understand the content of this invention, a detailed description of the invention will be provided in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the invention.

[0052] like Figures 1-2 , Figures 7-13 As shown, this embodiment provides an isolation plate 100, the isolation plate 100 comprising,

[0053] The first mounting plate 110 is used to connect surgical instruments;

[0054] The second mounting plate 120 is connected to the first mounting plate 110 and is used to connect the instrument drive seat;

[0055] The locking unit cooperates with the first mounting plate 110 and the second mounting plate 120;

[0056] With the locking unit clamped between the first mounting plate 110 and the second mounting plate 120, the locking unit can reciprocate along a straight line parallel to the isolation plate 100 to achieve the snap-fit ​​fixation between the surgical instrument and / or the instrument drive seat and the isolation plate 100.

[0057] In this embodiment, during the fabrication of the isolation plate 100, a first mounting plate 110, a second mounting plate 120, and a locking unit are fabricated respectively. The locking unit is then clamped between the first mounting plate 110 and the second mounting plate 120. Finally, the first mounting plate 110 and the second mounting plate 120 are fixed together to obtain the isolation plate 100.

[0058] By manipulating the movement of the locking unit, the locking unit can be connected or separated from the surgical instrument or the instrument drive seat, thereby enabling the surgical instrument to be mounted or dismounted on the first mounting plate 110 and the instrument drive seat to be mounted or dismounted on the second mounting plate 120.

[0059] To further explain the linear direction of movement of the locking unit, this linear direction lies within the plane formed by the length and width directions of the partition plate 100. That is, during the movement of the locking unit, the locking unit does not undergo displacement in the height direction relative to the partition plate 100.

[0060] It is understood that in this embodiment, when assembling and disassembling surgical instruments and instrument drive seats, it is only necessary to push the locking unit so that the locking unit changes position by sliding, without the locking unit itself needing to deform, which makes it easier for manual operation.

[0061] Furthermore, by dividing the isolation plate 100 into three parts—the first mounting plate 110, the second mounting plate 120, and the locking unit—the disassembly, assembly, and maintenance of the isolation plate 100 can be better achieved, thereby reducing the difficulty of the manufacturing process and the production cost of the isolation plate 100.

[0062] It is worth mentioning that, since the locking unit does not move in the height direction during its movement, there will be no gap between the locking unit and the surgical instrument and / or instrument drive seat after the locking unit is connected to the surgical instrument and / or instrument drive seat, thus achieving a better tight fit and avoiding the shaking of the surgical instrument and / or instrument drive seat.

[0063] In this embodiment, at least one transmission component 130 is also provided at the isolation plate 100 to connect the surgical instrument and the instrument drive seat, so as to drive the surgical instrument to perform surgery. Specifically, at least one first through hole 111 is provided on the first mounting plate 110, and at least one second through hole 210 corresponding to the first through hole 111 is provided on the second mounting plate 120. The drive seat is located in the first through hole 111 and the second through hole 210.

[0064] In this embodiment, the locking unit includes at least one locking element 140 and at least one elastic element 230.

[0065] The locking fastener 140 cooperates with the first fastener 410 on the surgical instrument and / or the second fastener on the instrument drive seat;

[0066] The locking member 140 moves along the linear direction to allow the surgical instrument and / or the instrument drive seat to be mounted and dismounted from the isolation plate 100 through the cooperation of the locking member 140 with the first fastener 410 and / or the second fastener.

[0067] In this embodiment, the locking element 140 includes,

[0068] The first connector 141 extends at one end toward the surgical instrument and protrudes from the first mounting plate 110, and is detachably connected to the surgical instrument.

[0069] The second connector 310 extends at one end toward the instrument drive seat and protrudes from the second mounting plate 120, and is detachably connected to the instrument drive seat.

[0070] The connecting rod 220 connects the first connecting member 141 and the second connecting member 310.

[0071] In this embodiment, the first connector 141 and / or the second connector 310 are provided with a fastening groove and / or an L-shaped fastener; the first connector 141 is connected to the first fastener 410 through the fastening groove and / or the L-shaped fastener, and the second connector 310 is connected to the second fastener through the fastening groove and / or the L-shaped fastener.

[0072] In this embodiment, both the first connector 141 and the second connector 310 are provided with snap-fit ​​grooves. For ease of explanation, the snap-fit ​​groove on the first connector 141 is referred to as the first snap-fit ​​groove 142, and the snap-fit ​​groove on the second connector 310 is referred to as the second snap-fit ​​groove 311. Further explanation is as follows:

[0073] Combination Figure 4 As shown, in this embodiment, the locking unit includes at least one locking element 140, and the locking element 140 includes,

[0074] The first connector 141 extends at one end toward the surgical instrument and protrudes from the first mounting plate 110;

[0075] The first groove 142 is provided on the first connector 141;

[0076] When the first connector 141 moves along the straight line, the first fastener 410 on the surgical instrument extends into or moves out of the first fastening groove 142 to realize the assembly and disassembly of the surgical instrument on the isolation plate 100.

[0077] With the structure in this embodiment, during installation, the surgical instrument is aligned with the first mounting plate 110, and the first connector 141 is pushed, causing the first connector 141 to slide and change its position. The first connector 141 moves toward the first fastener 410 until the first fastener 410 extends into the first fastening groove 142. At this time, the first fastening groove 142 blocks the first fastener 410, thereby limiting the first fastener 410 and thus enabling the installation of the surgical instrument on the isolation plate 100. During disassembly, the first connector 141 is pushed, causing the first connector 141 to slide in the opposite direction until the first fastener 410 is completely removed from the first fastening groove 142. At this time, the first fastening groove 142 no longer limits the first fastener 410, thereby enabling the separation of the surgical instrument from the isolation plate 100.

[0078] It is understood that in this embodiment, the size of the first buckle groove 142 is adapted to the size of the first fastener 410. Since the first buckle groove 142 does not change in height during sliding, after the first fastener 410 and the first buckle groove 142 move relative to each other until they cooperate, they can be better locked together. There will be no gap between the first fastener 410 and the first buckle groove 142, so that the connection between the first fastener 410 and the first buckle groove 142 is tight, thereby preventing the surgical instruments from shaking with the isolation plate 100 after they are installed on the isolation plate 100.

[0079] It should be noted that the locking fastener 140 can be installed in at least the following ways:

[0080] 1) When there is at least one locking fastener 140, the locking fasteners 140 are arranged side by side, and the first connector 141, in conjunction with other existing connection methods, realizes the connection between the isolation plate 100 and the surgical instruments.

[0081] 2) When there are at least two locking fasteners 140, in addition to the arrangement in 1) above, adjacent locking fasteners 140 are arranged in an alternating manner. That is, when any first connecting member 141 moves toward another first connecting member 141, it is the process of separating the first fastener 410 from the first fastening groove 142. When any first connecting member 141 moves away from another first connecting member 141, it is the process of engaging the first fastener 410 toward the first fastening groove 142.

[0082] Combination Figure 3 As shown, in this embodiment, the locking element 140 further includes,

[0083] The second connector 310 extends at one end toward the direction of the instrument drive seat and protrudes from the second mounting plate 120;

[0084] The second groove 311 is provided on the second connector 310;

[0085] When the second connector 310 moves along the straight direction, the second fastener on the instrument drive seat extends into or moves out of the second fastening groove 311 to realize the assembly and disassembly of the instrument drive seat on the isolation plate 100.

[0086] With the structure in this embodiment, during installation, the instrument drive seat is aligned with the second mounting plate 120, and the second connector 310 is pushed, causing the second connector 310 to change its position by sliding. The second connector 310 moves toward the second fastener until the second fastener extends into the second fastening groove 311. At this time, the second fastening groove 311 blocks the second fastener, thereby limiting the second fastener and realizing the installation of the instrument drive seat on the isolation plate 100. During disassembly, the second connector 310 is pushed, causing the second connector 310 to slide in the opposite direction until the second fastener is completely removed from the second fastening groove 311. At this time, the second fastening groove 311 no longer limits the second fastener, thereby realizing the separation of the instrument drive seat from the isolation plate 100.

[0087] It is understood that in this embodiment, the size of the second buckle groove 311 is adapted to the size of the second fastener. Since the second buckle groove 311 does not change in height during sliding, after the second fastener and the second buckle groove 311 move relative to each other until they cooperate, they can be better locked together. There is no gap between the second fastener and the second buckle groove 311, so that the connection between the second fastener and the second buckle groove 311 is tight, thereby preventing the instrument drive seat and the isolation plate 100 from shaking.

[0088] It should be noted that the locking fastener 140 can be installed in at least the following ways:

[0089] 1) When there is at least one locking fastener 140, the locking fasteners 140 are arranged side by side, and the second connector 310, in conjunction with other existing connection methods, realizes the connection between the isolation plate 100 and the instrument drive seat.

[0090] 2) When there are at least two locking fasteners 140, in addition to the arrangement in 1) above, adjacent locking fasteners 140 are staggered and opposite to each other. That is, when any second connector 310 moves toward another second connector 310, it is the process of the second fastener separating from the second fastening groove 311. When any second connector 310 moves away from another second connector 310, it is the process of the second fastener joining toward the first fastening groove 142.

[0091] like Figure 4As shown, the first fastener 410 and the second fastener in this embodiment will be further described. The first fastener 410 and the second fastener are respectively inverted "L"-shaped structures extending from the surgical instrument and the instrument drive seat. The first fastener 410 and the second fastener have the same structure. Here, the first fastener 410 is taken as an example. The first fastener 410 is divided into a transverse protrusion 411 and a connecting part 412 connecting the protrusion 411 and the surgical instrument. The transverse protrusion 411 extends into the first fastening groove 142 to realize the connection between the surgical instrument and the isolation plate 100. Since the locking fastener 140 moves laterally, the transverse protrusion 411 can have a longer dimension to extend into the first fastening groove 142, which can avoid the risk of loosening. Since the height of the locking fastener 140 remains unchanged when it moves, there is no gap between the protrusion 411 and the first fastening groove 142 in its height direction, thereby ensuring the tightness of the two.

[0092] The aforementioned protrusion 411, at the end where it begins to extend into the first groove 142, is a combination of a straight segment and / or an arc segment and / or a rounded corner and / or other various structural forms with a certain slope. This is to facilitate the protrusion 411's insertion into the first groove 142, and to ensure that the fit between the protrusion 411 and the first groove 142 becomes increasingly tight as the protrusion 411 extends into the first groove 142. In this embodiment, the end of the protrusion 411 that begins to extend into the first groove 142 is provided with a rounded corner structure.

[0093] It is understood that in this embodiment, the first connecting member 141 is provided with a first fastening groove 142, the second connecting member 310 is provided with a second fastening groove 311, the first fastener 410 is an L-shaped fastener that mates with the first fastening groove 142, and the second fastener is an L-shaped fastener that mates with the second fastening groove 311. However, in another preferred embodiment of this application, the first fastener 410 is provided with a first fastening groove 142, the second fastener is provided with a second fastening groove 311, the first connecting member 141 is provided with an L-shaped fastener that mates with the first fastening groove 142, and the second connecting member 310 is provided with an L-shaped fastener that mates with the second fastening groove 311; that is, the positions of the fastening groove and the L-shaped fastener can be interchanged.

[0094] In this embodiment, the locking member 140 further includes a connecting rod 220 for connecting the first connecting member 141 and the second connecting member 310.

[0095] With the structure in this embodiment, since the first connector 141 is used to connect surgical instruments and the second connector 310 is used to connect instrument drive seat, the first connector 141 and the second connector 310 are connected by the connecting rod 220, so that the first connector 141 and the second connector 310 can move synchronously. Therefore, the isolation plate 100 can be installed or removed synchronously from the surgical instruments and the instrument drive seat.

[0096] It is understandable that connecting the first connector 141 and the second connector 310 via the connecting rod 220 allows the surgical instrument and the instrument drive seat to be disassembled and assembled simply by pushing the first connector 141 or the second connector 310, saving operating procedures, making it easier to use, and improving disassembly and assembly efficiency.

[0097] Furthermore, in order to enable the locking element 140 to slide more smoothly, friction can be reduced by applying grease or setting a guide structure to avoid movement in the undesirable direction.

[0098] In this embodiment, one end of the elastic member 230 cooperates with the locking member 140, and the other end cooperates with the first mounting plate 110 and / or the second mounting plate 120;

[0099] The locking element 140 is reset based on the elastic properties of the elastic element 230.

[0100] It should be noted that the elastic element 230 used in this embodiment is a spring, but in actual use, it can be replaced with an object or structure that can provide elastic force, such as elastic rubber or an airbag; similarly, by replacing springs of different specifications, the required clamping force can be adjusted, so as to better adapt to different application scenarios, and make the structure usable by different manufacturers and / or different specifications of surgical robots.

[0101] With the elastic element 230 in this embodiment, a certain force is applied to the locking element 140 from the outside, causing the locking element 140 to slide by compressing the elastic element 230. At this time, the first connecting element 141 moves toward the middle position of the isolation plate 100, and the second connecting element 310 moves toward the middle position away from the isolation plate 100, preparing for the installation of surgical instruments and / or instrument drive seats. Then, the surgical instruments and / or instrument drive seats are aligned with the isolation plate 100, so that the first fastener 410 is on the moving path of the first fastening groove 142, and the second fastener is on the moving path of the second fastening groove 311. Then, the elastic element 230 is released, and the elastic element 230 is no longer squeezed. Under the action of the elastic restoring force of the elastic element 230, the locking element 140 moves back to its original position. During this process, the first fastener 410 extends into the first fastening groove 142, and the second fastener extends into the second fastening groove 311, thereby realizing the connection between the surgical instruments and / or instrument drive seats and the isolation plate 100.

[0102] It is understandable that in order to ensure that the elastic element 230 can effectively push the locking element 140 and to improve the stability of the sliding of the locking element 140, there are two elastic elements 230 in this embodiment. However, in actual applications, the number of elastic elements 230 can be adjusted according to actual needs.

[0103] Furthermore, the elastic element 230 can be configured in the following ways:

[0104] 1) The other end of the elastic element 230 mates with the first mounting plate 110;

[0105] 2) The other end of the elastic element 230 mates with the second mounting plate 120;

[0106] 3) The other end of the elastic element 230 is engaged with the first mounting plate 110 and the second mounting plate 120.

[0107] Combination Figure 5 As shown, in this embodiment, the locking member 140 is provided with at least one mounting member.

[0108] One end of the elastic element 230 cooperates with the mounting component to achieve a stable connection between the elastic element 230 and the locking component 140.

[0109] It should be noted that in this embodiment, the locking member 140 is provided with at least one mounting member that cooperates with the elastic member 230. Since the elastic member 230 in this embodiment is a spring, the mounting member is configured as a mounting protrusion 510 to better cooperate with the spring. It can be understood that the mounting member can be a structure other than the mounting protrusion 510 to cooperate with different types of elastic members 230.

[0110] In this embodiment, at least one mounting protrusion 510 is provided at the first connector 141 and / or the second connector 310.

[0111] One end of the elastic member 230 engages with the mounting protrusion 510 to achieve a stable connection between the elastic member 230 and the first connector 141 or the second connector 310.

[0112] With the structure in this embodiment, during installation, one end of the elastic element 230 is sleeved on the mounting protrusion 510, which can fix one end of the elastic element 230 to the first connector 141 or the second connector 310. During use, it can avoid the risk of displacement or bending of one end of the elastic element 230, improve the safety of using the elastic element 230 and the stability of pushing the locking element 140.

[0113] Understandably, multiple mounting protrusions 510 can simultaneously fix multiple elastic elements 230, thereby further improving the stability of the sliding movement of the locking element 140.

[0114] It should be noted that there are at least the following settings for installing the 510 protrusion:

[0115] 1) The mounting protrusion 510 is provided only at the first connector 141;

[0116] 2) The mounting protrusion 510 is only provided at the second connector 310;

[0117] 3) Both the first connector 141 and the second connector 310 are provided with protrusions.

[0118] In this embodiment, the setting method in 2) above is adopted, that is, the mounting protrusion 510 is only provided at the second connector 310.

[0119] Combination Figure 6 As shown, in this embodiment, the first mounting plate 110 and / or the second mounting plate 120 are provided with a slot 610 for engaging the other end of the elastic member 230 at the position corresponding to the elastic member 230, so as to achieve a stable connection of the elastic member 230 on the first mounting plate 110 and / or the second mounting plate 120.

[0120] It should be noted that the card slot 610 in this embodiment can be configured in at least the following ways:

[0121] 1) The card slot 610 is located on the first mounting plate 110;

[0122] 2) The card slot 610 is located on the second mounting plate 120;

[0123] 3) The first mounting plate 110 is provided with a first groove, and the second mounting plate 120 is provided with a second groove. The first groove and the second groove together form a slot 610.

[0124] In this embodiment, the slot 610 is set in the manner described in 1) above. By setting the slot 610, the other end of the elastic member 230 is placed in the slot 610, which can fix the other end of the elastic member 230. During use, it can avoid the risk of displacement or bending of the other end of the elastic member 230, improve the safety of the elastic member 230 and the stability of pushing the locking member 140.

[0125] It should be noted that at least one elastic element 230 can be placed in a single slot 610, that is, the other end of multiple elastic elements 230 can be limited by a single slot 610. In this embodiment, two slots 610 are provided, and a single slot 610 only cooperates with one elastic element 230.

[0126] In this embodiment, the first mounting plate 110 and / or the second mounting plate 120 are provided with a locking groove 620 for accommodating the locking member 140 on the plate surface near the connector.

[0127] In this embodiment, the card slot 610 is connected to the latch slide groove 620;

[0128] The first mounting plate 110 is provided with a first mounting hole 150 that communicates with the locking slide groove 620. One end of the first connector 141 passes through the first mounting hole 150 to achieve cooperation with the surgical instrument.

[0129] The second mounting plate 120 is provided with a second mounting hole 320 that communicates with the locking slide groove 620. One end of the second connector 310 passes through the second mounting hole 320 to cooperate with the instrument drive seat.

[0130] By setting the locking groove 620 in this embodiment, the locking member 140 is placed in the locking groove 620. On the one hand, it can better realize the clamping of the locking member 140 by the first mounting plate 110 and the second mounting plate 120, realize separate manufacturing, reduce process difficulty and reduce production cost. On the other hand, it can make the locking member 140 have better sliding space in the locking groove 620. By setting the slot 610 to communicate with the locking groove 620, it can better realize the other end of the elastic member 230 to extend into the slot 610, realizing the limiting function of the slot 610 on the elastic member 230. Furthermore, by setting the first mounting hole 150 and the second mounting hole 320, it can better allow the first connector 141 and the second connector 310 to extend into, thereby realizing the connection between the first connector 141 and the surgical instrument and the second connector 310 and the instrument drive seat.

[0131] It is understandable that the size of the first mounting hole 150 is larger than that of the first connector 141, thereby ensuring that the first connector 141 can move effectively within the first mounting hole 150 to achieve connection with the surgical instrument; similarly, the size of the second mounting hole 320 is larger than that of the second connector 310, thereby ensuring that the second connector 310 can move effectively within the second mounting hole 320 to achieve connection with the instrument drive seat.

[0132] Further explanation of the first mounting plate 110 in this embodiment: the side of the first mounting plate 110 facing the surgical instrument is recessed inward, so that a convex edge structure 160 is formed on the outer periphery of the plate surface of the first mounting plate 110; one end of the first connecting plate protrudes from the first mounting plate 110 and is close to the convex edge structure 160.

[0133] It should be noted that the locking groove 620 in this embodiment includes at least the following situations:

[0134] 1) The locking groove 620 is provided on the first mounting plate 110;

[0135] 2) The locking groove 620 is provided on the second mounting plate 120;

[0136] 3) A first sliding groove is provided on the first mounting plate 110, and a second sliding groove is provided on the second mounting plate 120. The first sliding groove and the second sliding groove together form a locking sliding groove 620.

[0137] Since the outer periphery of the first mounting plate 110 has a convex edge structure 160, in order to increase the structural strength of the convex edge structure 160, the locking groove 620 in this embodiment is set in the manner described in 1) above.

[0138] In this embodiment, an arc-shaped transition portion 143 is provided at the connection between the first connector 141 and / or the second connector 310 and the connecting rod 220; an arc-shaped portion 630 that cooperates with the arc-shaped transition portion 143 is provided at the first mounting plate 110 and / or the second mounting plate 120.

[0139] In this embodiment, the first mounting hole 150 and / or the second mounting hole 320 are provided with an arc-shaped portion 630 that cooperates with the arc-shaped transition portion 143.

[0140] During the movement of the locking fastener 140, the first connecting member 141 is prone to colliding with the first mounting hole 150, and the second connecting member 310 is prone to colliding with the second mounting hole 320. After a period of use, wear is likely to occur at the first connecting member 141, the first mounting hole 150, the second connecting member 310, and the second mounting hole 320, causing changes in the dimensions of the first connecting member 141, the first mounting hole 150, the second connecting member 310, and the second mounting hole 320. This will further affect the connection relationship between the first fastener 410 and the second fastening groove 311, as well as between the second fastener and the second fastening groove 311, causing the surgical instrument and / or instrument drive seat to shake with the isolation plate 100.

[0141] To avoid the aforementioned situation, in this embodiment, the arc-shaped transition portion 143 and the arc-shaped portion 630 cooperate to ensure that when the locking member 140 moves and collides with the side wall of the first mounting hole 150 or the second mounting hole 320, the arc-shaped transition portion 143 will contact the arc-shaped portion 630. This provides a certain buffering effect on the collision between the first connecting member 141 and the first mounting hole 150, as well as the second connecting member 310 and the second mounting hole 320, further preventing damage to the first connecting member 141, the first mounting hole 150, the second connecting member 310, and the second mounting hole 320. Correspondingly, the cooperation between the arc-shaped transition portion 143 and the arc-shaped portion 630 improves the feel and provides a better user experience.

[0142] This embodiment also provides a surgical robot, including the aforementioned isolation plate 100; it also includes a main control console and a slave operator, wherein the isolation plate 100 is detachably mounted on the slave operator.

[0143] The surgical robot in this embodiment has the aforementioned technical effects and advantages because it uses the aforementioned isolation plate 100.

[0144] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. A type of isolation plate, characterized in that: The isolation plate includes, The first mounting plate is used to connect surgical instruments; The second mounting plate is connected to the first mounting plate and is used to connect the instrument drive seat; The locking unit cooperates with the first mounting plate and the second mounting plate; With the locking unit clamped between the first mounting plate and the second mounting plate, the locking unit can reciprocate along a straight line parallel to the partition plate to achieve the snap-fit ​​fixation between the surgical instrument and / or the instrument drive seat and the partition plate; The locking unit includes at least one locking element, the locking element comprising: The first connector has one end extending toward the surgical instrument and protruding from the first mounting plate, and is detachably connected to the surgical instrument. The second connector has one end extending toward the instrument drive seat and protruding out of the second mounting plate, and is detachably connected to the instrument drive seat. A connecting rod connects the first connecting member and the second connecting member.

2. The isolation plate according to claim 1, characterized in that: The locking unit also includes at least one elastic element. The locking fastener cooperates with the first fastener on the surgical instrument and / or the second fastener on the instrument drive seat; The locking element moves along the linear direction to allow the surgical instrument and / or the instrument drive seat to be mounted or dismounted from the isolation plate through the cooperation of the locking element with the first fastener and / or the second fastener.

3. The isolation plate according to claim 2, characterized in that: The first connector and / or the second connector are provided with a fastening groove and / or an L-shaped fastener; the first connector is connected to the first fastener through the fastening groove and / or the L-shaped fastener, and the second connector is connected to the second fastener through the fastening groove and / or the L-shaped fastener.

4. The isolation plate according to claim 2, characterized in that: One end of the elastic element cooperates with the locking element, and the other end cooperates with the first mounting plate and / or the second mounting plate, thereby realizing the reset of the locking element based on the elastic properties of the elastic element.

5. A partition plate according to claim 1 or 4, characterized in that: The locking element is provided with at least one mounting member, and the locking unit includes at least one elastic member. One end of the elastic element cooperates with the mounting element to achieve a stable connection between the elastic element and the locking element.

6. A partition plate according to claim 2 or 4, characterized in that: The first mounting plate and / or the second mounting plate are provided with a slot for engaging the elastic element at a position corresponding to the elastic element, so as to achieve a stable connection of the elastic element to the first mounting plate and / or the second mounting plate.

7. The isolation plate according to claim 2, characterized in that: The first mounting plate and / or the second mounting plate are provided with a locking groove for accommodating the locking member on the plate surface near the connector.

8. The isolation plate according to claim 2, characterized in that: An arc-shaped transition portion is provided at the connection between the first connector and / or the second connector and the connecting rod; an arc-shaped portion that mates with the arc-shaped transition portion is provided at the first mounting plate and / or the second mounting plate.

9. A surgical robot, characterized in that: It includes an isolation plate as described in any one of claims 1-8; it also includes a main control panel and a slave operator, with the isolation plate detachably mounted on the slave operator.

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