Adjustment tooling and surgical robots

Abstract

This application provides an adjustment fixture and a surgical robot. The surgical robot has an adjustment fixture, which includes an auxiliary device and an adjustment device. The auxiliary device includes an auxiliary body, a limiting member, and multiple mounting through holes. The limiting member and the multiple mounting through holes are all disposed on the auxiliary body, and the multiple mounting through holes are spaced apart and all penetrate the auxiliary body in the same direction. A limiting member is correspondingly disposed next to each mounting through hole. The adjustment device includes an adjustment member and a limiting mating member that are interconnected. When the adjustment fixture is working, the auxiliary device is detachably installed on the part to be adjusted. The multiple mounting through holes expose multiple transmission grooves one-to-one. The adjustment member extends into the transmission groove through the mounting through holes and drives the transmission groove to rotate, so that the limiting mating member abuts against the limiting member, and the orientation of the multiple transmission grooves is consistent. Therefore, the adjustment fixture provided by this application facilitates the adjustment of the orientation of multiple transmission grooves in the part to be adjusted to be consistent.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an adjustment fixture and surgical robot. Background Technology

[0002] Currently, minimally invasive surgery is a hot topic in medical technology research and a future trend in surgical development. With the development of robotics technology, minimally invasive surgical robots are gradually being widely used.

[0003] In existing technology, the operating arm of a minimally invasive surgical robot is equipped with a drive unit and an instrument unit. The drive unit has multiple rotating components, each with a transmission groove, while the instrument unit has multiple rotating shafts, the ends of which are plug-in terminals. All plug-in terminals can be aligned in the same direction. When the drive unit and the instrument unit are connected, the multiple plug-in terminals need to be plugged into the corresponding transmission grooves one by one, so that the rotating components of the drive unit can drive the rotating shafts of the instrument unit to rotate.

[0004] However, the aforementioned transmission slots may have inconsistent orientations, causing multiple connectors to be unable to be inserted into multiple transmission slots simultaneously and in a one-to-one correspondence, thus making the connection between the drive box and the instrument box more difficult. Summary of the Invention

[0005] In view of the above problems, this application provides an adjustment fixture and a surgical robot. The surgical robot has an adjustment fixture, which facilitates adjusting the orientation of multiple transmission grooves in the part to be adjusted to be consistent.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] The first aspect of this application provides an adjustment fixture for adjusting the orientation of multiple transmission grooves on a component to be adjusted. The adjustment fixture includes an auxiliary device and an adjustment device. The auxiliary device includes an auxiliary body, a limiting member, and multiple mounting through holes. The limiting member and the multiple mounting through holes are all disposed on the auxiliary body. The multiple mounting through holes are spaced apart and all penetrate the auxiliary body in the same direction. A limiting member is disposed next to each mounting through hole. The adjustment device includes an adjustment member and a limiting fitting member that are connected to each other.

[0008] When the adjustment fixture is in operation, the auxiliary device can be detachably installed on the part to be adjusted. Multiple mounting through holes expose multiple transmission grooves one by one. The adjustment part extends into the transmission groove through the mounting through holes and drives the transmission groove to rotate so that the limiting fitting part abuts against the limiting part and the multiple transmission grooves face the same direction.

[0009] The adjustment fixture provided in this application, through the limiting action of the upper limit component of the auxiliary device, allows the limiting component to abut against and cooperate with the limiting mating component of the adjustment device, thereby ensuring that the orientation of all transmission grooves adjusted by the adjustment device remains consistent. Furthermore, the entire adjustment process is easy to operate. Therefore, the adjustment fixture provided in this application facilitates the adjustment of the orientation of multiple transmission grooves in the part to be adjusted to be consistent; simultaneously, the adjustment fixture has a simplified structure and is easy to install.

[0010] In one possible implementation, each limiting member is located at the same position in the corresponding mounting through hole; the limiting member has a limiting surface, and the limiting surfaces on each limiting member face the same direction; the limiting surface is used to abut against the limiting mating member.

[0011] In this way, the orientation of the adjusting parts and the limiting mating parts can be restricted by the limiting surface, thereby indirectly restricting the orientation of the transmission groove, making it easier to keep the orientation of all transmission grooves consistent.

[0012] In one possible implementation, a positioning element is also included, which is disposed on the auxiliary body and is used to insert into a positioning hole on the part to be adjusted; along the extension direction of the mounting through hole, the positioning element and the limiting element are located on opposite sides of the auxiliary body, and the positioning element protrudes from the outer surface of the auxiliary body.

[0013] In this way, the positioning component and the limiting component will not interfere with each other, and it is convenient for the positioning component to be inserted into the positioning hole on the component to be adjusted.

[0014] In one possible implementation, the limiting element is a limiting block, which protrudes from the outer surface of the auxiliary body, and the limiting surface is located on the outer surface of the limiting block.

[0015] In this way, the limiting surface is set on the limiting block, which facilitates the contact between the limiting surface and the limiting mating part, thereby restricting the rotation of the adjusting part in the mounting through hole.

[0016] In one possible implementation, the limiting element is a groove, which is formed on the auxiliary body. The groove opening is located on the outer surface of the auxiliary body, and the groove is connected to the mounting through hole. At least part of the limiting mating element is located in the groove. The limiting surface is the groove side wall surface that is connected to the hole wall of the mounting through hole in the groove.

[0017] In this way, the limiting surface is the groove side wall, which facilitates the contact between the limiting surface and the limiting mating part, thereby restricting the rotation of the adjusting part in the mounting through hole.

[0018] In one possible implementation, the adjusting member includes an insertion part, a mating part, and an operating part connected in sequence; when the adjusting member extends into the transmission groove through the mounting through hole, the mating part passes through the mounting through hole, and along the through direction of the mounting through hole, the insertion part and the mating part are located on opposite sides of the auxiliary body, and the insertion part is inserted into the transmission groove.

[0019] Thus, the presence of the operating part facilitates the operation of the adjusting parts and the rotation of the transmission groove via the insertion part.

[0020] In one possible implementation, the adjusting member further includes a stop block, and both the stop block and the limiting fitting are connected to the fitting part. The stop block is arranged around the limiting fitting in the circumferential direction.

[0021] The limiting fitting is provided with a first stop surface, which is located on the side of the limiting fitting near the insertion part; the stop block is provided with a second stop surface, which is located on the side of the stop block near the insertion part; the first stop surface and the second stop surface are located on the same plane; the limiting fitting abuts against the outer surface of the auxiliary body through the first stop surface and the second stop surface to restrict the movement of the adjusting part along the extension direction of the mounting through hole.

[0022] Thus, the presence of the first and second stop surfaces facilitates the restriction of the movement of the adjusting component along the extension direction of the mounting through hole, enabling rapid positioning of the adjusting component along the extension direction of the mounting through hole.

[0023] In one possible implementation, a connector is also included, which has an elastic connection portion, a pressure-applying portion, and a snap-fit ​​portion. The connector is connected to the auxiliary body via the elastic connection portion, and both the pressure-applying portion and the snap-fit ​​portion are connected to the elastic connection portion. Along the extension direction of the mounting through hole, the pressure-applying portion and the snap-fit ​​portion are located on opposite sides of the auxiliary body.

[0024] The snap-fit ​​part is provided with a snap-fit ​​slot, which is configured to allow the snap-fit ​​part on the part to be adjusted to snap into it, so as to fix the auxiliary body on the part to be adjusted.

[0025] In this way, the cooperation of the elastic connecting part, the pressure part and the snap-fit ​​part makes it easy to install and remove the auxiliary device on the part to be adjusted.

[0026] In one possible implementation, the auxiliary body is provided with a through groove, the connector passes through the through groove, and the elastic connection part is connected to the side wall of the through groove; at least one pair of connectors are provided, and the pair of connectors are arranged parallel and opposite to each other on the auxiliary body.

[0027] In this way, the presence of multiple connectors can improve the reliability of the connection between the auxiliary device and the component to be adjusted.

[0028] A second aspect of this application provides a surgical robot including the adjustment fixture described in any of the above implementations. The surgical robot provided by this application has an adjustment fixture that facilitates the alignment of multiple transmission grooves in the component to be adjusted.

[0029] The structure of this application, as well as its other inventive objectives and beneficial effects, will become more apparent and understandable through a description of the specific embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 A front view of the adjustment fixture provided in an embodiment of this application;

[0032] Figure 2 A perspective view of the adjustment fixture provided in the embodiments of this application;

[0033] Figure 3 An exploded view of the adjustment fixture provided in the embodiments of this application;

[0034] Figure 4 A top view of the adjustment fixture provided in the embodiments of this application;

[0035] Figure 5 for Figure 4 A stepped sectional view after rotating 90 degrees to the right along the AA direction;

[0036] Figure 6 A front view of the adjusting member provided in an embodiment of this application;

[0037] Figure 7 A three-dimensional view showing the tooling installed on the part to be adjusted;

[0038] Figure 8 A perspective view of the component to be adjusted provided in an embodiment of this application;

[0039] Figure 9 An exploded view of the component to be adjusted provided in an embodiment of this application;

[0040] Figure 10 A second top view of the adjustment fixture provided in the embodiments of this application;

[0041] Figure 11 A second exploded view of the adjustment tooling provided in the embodiments of this application;

[0042] Figure 12 A third top view of the adjustment fixture provided in the embodiments of this application;

[0043] Figure 13 A third exploded view of the adjustment tooling provided in the embodiments of this application;

[0044] Figure 14 for Figure 13The main view of the adjustment component.

[0045] Explanation of reference numerals in the attached figures:

[0046] 100 - Auxiliary device; 110 - Auxiliary main body;

[0047] 111 - Mounting through hole; 112 - Through groove;

[0048] 120 - Positioning component; 130 - Limiting component;

[0049] 131-Limiting surface; 132-Limiting block;

[0050] 133 - Groove; 200 - Adjustment device;

[0051] 210 - Adjustment element; 211 - Insertion part;

[0052] 212 - Operating section; 213 - Fitting section;

[0053] 220 - Limiting and fitting part; 221 - Third stop surface;

[0054] 222 - First stop; 230 - Stop block;

[0055] 231 - Second stop; 300 - Component to be adjusted;

[0056] 310 - Positioning hole; 320 - Rotating component;

[0057] 321 - Transmission groove; 330 - Insertion part;

[0058] 340 - Protective plate; 341 - Shaft hole;

[0059] 350 - Box body; 400 - Connector;

[0060] 410 - Flexible connection part; 420 - Pressure application part;

[0061] 430 - Snap-in part; 431 - Snap-in slot. Detailed Implementation

[0062] Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. Furthermore, with the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged. In existing technologies, the operating arm of a minimally invasive surgical robot is equipped with a drive unit and an instrument unit, which are detachably connected. The instrument unit contains components such as a rotating shaft and steel cables, while the drive unit contains a motor. The motor's rotation drives the rotating shaft in the instrument unit, which in turn moves the steel cables. The steel cables control the opening, closing, and rotation of the instrument forceps, thus enabling surgical operations using the forceps.

[0063] like Figure 8 and Figure 9 As shown, the drive box is the adjustable component 300, and the figure shows the structure of the drive box. As shown, the drive box includes a box body 350, a protective plate 340, rotating components 320, and a motor. Multiple rotating components 320 are located in the box body 350, each with a transmission groove 321 for insertion into the rotating shaft of the instrument box. The protective plate 340 is mounted on the box body 350 and has a shaft hole 341 exposing the transmission groove 321. When the drive box is connected to the instrument box, the end of the rotating shaft has an insertion end, with all insertion ends facing the same direction. The insertion end of the rotating shaft can pass through the shaft hole 341 and insert into the transmission groove 321, with each insertion end corresponding to one of the multiple transmission grooves 321. Thus, the motor in the drive box can drive the rotating components 320 to rotate, and the rotating components 320 can drive the rotating shaft in the instrument box to rotate.

[0064] Since multiple connectors need to be inserted into multiple transmission slots simultaneously, the orientation of all transmission slots must also be consistent with the orientation of the connectors to ensure that multiple connectors can be smoothly inserted into multiple transmission slots at the same time. However, the transmission slots may have inconsistent orientations, causing multiple connectors to not be able to be inserted into multiple transmission slots simultaneously and one-to-one, thus making the connection between the drive box and the instrument box more difficult.

[0065] To address the aforementioned problems, this application provides an adjustment fixture and a surgical robot. The surgical robot includes an adjustment fixture. The adjustment fixture comprises an auxiliary device and an adjustment device. The auxiliary device has a limiting member and multiple mounting through holes on its main body, with a limiting member corresponding to each mounting through hole. When the adjustment fixture is in operation, the auxiliary device is mounted on the part to be adjusted. The adjustment member of the adjustment device extends into the transmission groove of the part to be adjusted through the mounting through hole, causing the transmission groove to rotate. This causes the limiting member of the adjustment device to abut against the limiting member, aligning the multiple transmission grooves. Thus, through the limiting action of the limiting member, the orientation of all transmission grooves adjusted by the adjustment device remains consistent, and the adjustment process is easy to operate. Therefore, the adjustment fixture provided by this application facilitates the adjustment of the orientation of multiple transmission grooves in the part to be adjusted to be consistent.

[0066] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0067] The technical solution of this application and how it solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0068] The following combination Figures 1 to 14 The structure of the adjustment tooling provided in the embodiments of this application will be described in detail.

[0069] like Figures 7 to 9 As shown, the adjustment fixture provided in this application is used to adjust the orientation of multiple transmission grooves 321 on the part to be adjusted 300. During the adjustment process, the adjustment fixture needs to be installed on the part to be adjusted 300, which is a drive box. Figures 1 to 4 As shown, the adjustment fixture includes an auxiliary device 100 and an adjustment device 200. The auxiliary device 100 includes an auxiliary body 110, a limiting member 130, and multiple mounting through holes 111. The limiting member 130 and the multiple mounting through holes 111 are all disposed on the auxiliary body 110. The multiple mounting through holes 111 are spaced apart and all penetrate the auxiliary body 110 in the same direction. The auxiliary body 110 can be a plate, and the multiple mounting through holes 111 can penetrate the auxiliary body 110 along its thickness direction. Simultaneously, a limiting member 130 is correspondingly disposed next to each mounting through hole 111. Furthermore, the adjustment device 200 includes an adjustment member 210 and a limiting fitting member 220 connected to each other. The adjustment member 210 can be inserted into the mounting through hole 111, and the limiting fitting member 220 can abut against the limiting member 130.

[0070] When the adjustment fixture is in operation, firstly, the auxiliary device 100 is detachably installed on the part 300 to be adjusted. After the auxiliary device 100 is installed, the multiple mounting through holes 111 can expose the multiple transmission grooves 321 one by one. Then, the adjustment member 210 extends into the transmission groove 321 through the mounting through holes 111. By rotating the adjustment member 210, the transmission groove 321 can be driven to rotate, so that the limiting fitting member 220 abuts against the limiting member 130, and the orientation of the multiple transmission grooves 321 is consistent. It should be noted that an adjusting member 210 can be used to adjust the transmission grooves 321 exposed by each mounting through hole 111 in turn. When adjusting each transmission groove 321, the adjusting member 210 is first inserted into the transmission groove 321 and the adjusting member 210 is rotated until the limiting fitting member 220 abuts against the limiting member 130 during rotation. In this way, the orientation of the adjusting member 210 and the limiting fitting member 220 can be restricted by the limiting member 130, thereby indirectly restricting the orientation of the transmission groove 321.

[0071] Therefore, the adjustment fixture provided in this application, through the limiting action of the upper limit member 130 of the auxiliary device 100, enables the upper limit member 130 to abut and cooperate with the limiting mating member 220 of the adjustment device 200, thereby ensuring that the orientation of all transmission grooves 321 adjusted by the adjustment device 200 remains consistent, and the entire adjustment process is easy to operate. Thus, the adjustment fixture provided in this application facilitates the adjustment of the orientation of multiple transmission grooves 321 in the part to be adjusted 300 to be consistent; at the same time, the adjustment fixture has a simplified structure and is easy to install.

[0072] like Figure 8 and Figure 9 As shown, after adjustment of the tooling, the orientation of all transmission slots 321 in the figure is consistent, that is, the corresponding slot surfaces on each transmission slot 321 are parallel to each other. Therefore, multiple insertion ends with the same orientation as the transmission slots 321 can be simultaneously and correspondingly inserted into multiple transmission slots 321. Thus, the motor in the drive box can drive the transmission slots 321 on the rotating component 320 to rotate, and the rotating component 320, through the insertion and engagement between the transmission slots 321 and the insertion ends, can drive the rotating shaft in the instrument box to rotate.

[0073] It should be noted that the transmission groove 321 can be a rectangular groove. Along the insertion direction perpendicular to the insertion end, the cross-sectional shape of the insertion end of the rotating shaft matches the cross-sectional shape of the transmission groove 321, and both are rectangular. The shape of the end of the adjusting member 210 inserted into the transmission groove 321 matches the shape of the transmission groove 321. In addition, the transmission groove 321 can be a groove of other shapes, such as a pentagonal groove or a star-shaped groove. Such grooves can restrict the rotation of the insertion end in the transmission groove 321, but do not restrict the movement of the insertion end in the transmission groove 321 along the insertion direction.

[0074] Specifically, such as Figure 2 and Figure 3 As shown, each limiting member 130 is located at the same position in the corresponding mounting through hole 111. It should be noted that "same position" means that in a two-dimensional coordinate system established on the plane of the auxiliary body 110, the coordinates of the limiting member 130 relative to the corresponding mounting through hole 111 are the same. Furthermore, each limiting member 130 has a limiting surface 131, and the limiting surfaces 131 on each limiting member 130 face the same direction; the limiting surfaces 131 are used to abut against the limiting mating member 220. Thus, the position of each limiting surface 131 relative to the adjacent mounting through hole 111 remains consistent. This arrangement allows the limiting surfaces 131 to restrict the orientation of the adjusting member 210 and the limiting mating member 220, thereby indirectly restricting the orientation of the transmission groove 321, facilitating the consistency of the orientation of all transmission grooves 321. In addition, a third stop surface 221 may be provided on the limiting fitting part 220. When the limiting fitting part 220 abuts against the limiting part 130, the third stop surface 221 can fit against the limiting surface 131.

[0075] Furthermore, such as Figure 1 and Figure 2 As shown, it also includes a positioning element 120, which is disposed on the auxiliary body 110. The positioning element 120 is used to insert into the positioning hole 310 on the part to be adjusted, thereby facilitating the quick installation of the auxiliary device 100 onto the part to be adjusted 300. Along the extension direction of the mounting through hole 111, the positioning element 120 and the limiting element 130 are respectively located on opposite sides of the auxiliary body 110, with the positioning element 120 protruding from the outer surface of the auxiliary body 110. This arrangement ensures that the positioning element 120 and the limiting element 130 do not interfere with each other, and facilitates the insertion of the positioning element 120 into the positioning hole 310 on the part to be adjusted 300. The positioning element 120 can be a positioning block.

[0076] In one specific embodiment, such as Figure 3 and Figure 4 As shown, the limiting member 130 is a limiting block 132, which protrudes from the outer surface of the auxiliary body 110, and the limiting surface 131 is located on the outer surface of the limiting block 132. During the rotation of the adjusting member 210, the limiting surface 131 on the limiting block 132 abuts against the limiting mating member 220, thereby restricting the rotation of the adjusting member 210. This arrangement, with the limiting surface 131 on the limiting block 132, facilitates the abutment between the limiting surface 131 and the limiting mating member 220, thus restricting the rotation of the adjusting member 210 within the mounting through hole 111.

[0077] In another specific embodiment, such as Figure 10 and Figure 11 As shown, the limiting member 130 is a groove 133, which is formed on the auxiliary body 110. The groove 133 has its opening on the outer surface of the auxiliary body 110 and is connected to the mounting through hole 111. At least part of the limiting fitting member 220 is located in the groove 133. The limiting surface 131 is the groove sidewall of the groove 133 that is connected to the hole wall of the mounting through hole 111. During the rotation of the adjusting member 210, the groove sidewall of the groove 133 abuts against the limiting fitting member 220, thereby limiting the rotation of the adjusting member 210. With this configuration, the limiting surface 131 is the groove sidewall of the groove 133, which facilitates the abutment between the limiting surface 131 and the limiting fitting member 220, thereby limiting the rotation of the adjusting member 210 in the mounting through hole 111.

[0078] In the embodiments of this application, such as Figure 5 and Figure 6As shown, the adjusting member 210 includes an insertion part 211, a mating part 213, and an operating part 212 connected in sequence. When the adjusting member 210 extends into the transmission groove 321 through the mounting through hole 111, the mating part 213 passes through the mounting through hole 111. Along the through direction of the mounting through hole 111, the insertion part 211 and the mating part 213 are located on opposite sides of the auxiliary body 110, and the insertion part 211 is inserted into the transmission groove 321. With this arrangement, the existence of the operating part 212 facilitates the operation of the adjusting member 210 and facilitates the rotation of the transmission groove 321 through the insertion part 211. Specifically, the insertion part 211 and the operating part 212 can be blocks, and the shape of the insertion part 211 is adapted to the shape of the transmission groove 321. In addition, the mating part 213 can be a cylinder, and the mounting through hole 111 is a circular hole, allowing the mating part 213 to rotate and slide within the mounting through hole 111.

[0079] Specifically, such as Figures 12 to 14 As shown, the adjusting member 210 also includes a stop block 230. The stop block 230 and the limiting fitting member 220 are both connected to the fitting part 213. The stop block 230 is arranged around the limiting fitting member 220 in the circumferential direction. The limiting fitting member 220 is provided with a first stop surface 222, which is located on the side of the limiting fitting member 220 near the insertion part 211. The stop block 230 is provided with a second stop surface 231, which is located on the side of the stop block 230 near the insertion part 211. The first stop surface 222 and the second stop surface 231 are located on the same plane. The limiting fitting member 220 abuts against the outer surface of the auxiliary body 110 through the first stop surface 222 and the second stop surface 231 to restrict the movement of the adjusting member 210 along the extension direction of the mounting through hole 111. With this configuration, the presence of the first stop surface 222 and the second stop surface 231 facilitates the restriction of the movement of the adjusting member 210 along the extension direction of the mounting through hole 111, thereby enabling rapid positioning of the adjusting member 210 along the extension direction of the mounting through hole 111. Specifically, the third stop surface 221 and the first stop surface 222 on the limiting mating member 220 can be arranged perpendicularly to each other, and the first stop surface 222 and the second stop surface 231 can be connected to each other.

[0080] In the embodiments of this application, such as Figure 4 and Figure 5As shown, the adjustment fixture also includes a connector 400, which has an elastic connecting portion 410, a pressure applying portion 420, and a snap-fit ​​portion 430. The connector 400 is connected to the auxiliary body 110 through the elastic connecting portion 410, and both the pressure applying portion 420 and the snap-fit ​​portion 430 are connected to the elastic connecting portion 410. Along the extending direction of the mounting through hole 111, the pressure applying portion 420 and the snap-fit ​​portion 430 are located on opposite sides of the auxiliary body 110. Correspondingly, the snap-fit ​​portion 430 is provided with a slot 431, which is configured to allow the snap-fit ​​member 330 on the part to be adjusted 300 to snap into, so as to fix the auxiliary body 110 on the part to be adjusted 300. It should be noted that during the process of the positioning member 120 being inserted into the positioning hole 310 on the part to be adjusted 300, the snap-fit ​​member 330 will also snap into the slot 431, thereby simultaneously realizing the positioning and fixing of the auxiliary device 100 on the part to be adjusted 300. When it is necessary to remove the auxiliary device 100 from the member to be adjusted 300, simply apply pressure to the pressure part 420. Because the elastic connecting part 410 can elastically deform, the pressure part 420 can cause the locking part 430 to disengage from the locking member 330, and then the auxiliary device 100 can be removed from the member to be adjusted 300. This configuration, through the cooperation of the elastic connecting part 410, the pressure part 420, and the locking part 430, facilitates the installation and removal of the auxiliary device 100 from the member to be adjusted 300.

[0081] Continue to refer to Figure 4 and Figure 5 The auxiliary body 110 is provided with a through groove 112, through which a connector 400 passes. An elastic connecting part 410 is connected to the side wall of the through groove 112. The presence of the through groove 112 facilitates the connection of the connector 400 to the auxiliary body 110. At least one pair of connectors 400 are provided, arranged parallel and opposite to each other on the auxiliary body 110. This arrangement, with multiple connectors 400, improves the connection reliability between the auxiliary device 100 and the adjustable part 300. Furthermore, the user can simultaneously apply pressure to the two pressure points 420 on the pair of connectors 400, thereby causing the two locking parts 430 to simultaneously detach from the locking part 330. Specifically, the elastic connecting part 410 is made of elastic material, and the pressure points 420 and locking parts 430 are plates, with a slot 431 formed on the plate surface.

[0082] Based on the above embodiments, this application also provides a surgical robot, including the adjustment fixture in any of the above embodiments. The surgical robot may further include a doctor's console (master hand), a patient surgical platform (slave hand), and a display device. The doctor operates on the doctor's console, thereby enabling remote control of the patient surgical platform. Specifically, a drive box is installed on the operating arm of the patient surgical platform, which is used to drive the rotation shaft of the instrument box to rotate. Before installing the instrument box on the drive box, the auxiliary device 100 of the adjustment fixture of this application needs to be installed on the drive box. Then, the orientation of the transmission groove 321 in the drive box is adjusted to be consistent using the adjustment device 200 of the adjustment fixture of this application. After adjustment, the auxiliary device 100 and the adjustment device 200 are removed from the drive box, and then the instrument box is installed on the drive box.

[0083] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0084] The devices or elements referred to in this application or implied herein must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting this application. In the description of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0085] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A surgical robot, characterized by, It includes an instrument box, a drive box, and an adjustment fixture, wherein the adjustment fixture is used to adjust the orientation of multiple transmission slots on the part to be adjusted; The adjustment fixture includes an auxiliary device and an adjustment device. The auxiliary device includes an auxiliary body, a limiting member, and multiple mounting through holes. The limiting member and the multiple mounting through holes are all disposed on the auxiliary body. The multiple mounting through holes are spaced apart and all penetrate the auxiliary body in the same direction. Each mounting through hole is adjacent to a corresponding limiting member. The adjustment device includes an adjustment member and a limiting fitting member that are connected to each other. When the adjustment fixture is in operation, the auxiliary device is detachably installed on the part to be adjusted. The multiple mounting through holes expose multiple transmission grooves in a one-to-one correspondence. The adjustment part extends into the transmission groove through the mounting through hole and drives the transmission groove to rotate, so that the limiting fitting part abuts against the limiting part and the multiple transmission grooves face the same direction. The adjusting member includes an insertion part, a mating part, and an operating part connected in sequence; when the adjusting member extends into the transmission groove through the mounting through hole, the mating part passes through the mounting through hole, and along the through direction of the mounting through hole, the insertion part and the mating part are located on opposite sides of the auxiliary body, and the insertion part is inserted into the transmission groove; The adjusting component also includes a stop block, and both the stop block and the limiting fitting component are connected to the fitting part. The stop block is arranged around the limiting fitting component in the circumferential direction. The limiting fitting is provided with a first stop surface, which is located on the side of the limiting fitting near the insertion part; the stop block is provided with a second stop surface, which is located on the side of the stop block near the insertion part; the first stop surface and the second stop surface are located on the same plane; the limiting fitting abuts against the outer surface of the auxiliary body through the first stop surface and the second stop surface to restrict the movement of the adjusting member along the extension direction of the mounting through hole; Before installing the instrument box onto the drive box, install the auxiliary device onto the drive box, and then use the adjustment device to adjust the orientation of the transmission groove in the drive box to be consistent. After the adjustment is completed, remove the auxiliary device and the adjustment device from the drive box, and then install the instrument box onto the drive box.

2. The surgical robot of claim 1, wherein, Each of the limiting members is located at the same position of the corresponding mounting through hole; each limiting member is provided with a limiting surface, and the limiting surface on each limiting member faces the same direction; the limiting surface is used to abut against the limiting mating member.

3. The surgical robot according to claim 2, characterized in that, It also includes a positioning element, which is disposed on the auxiliary body and is used to be inserted into a positioning hole on the part to be adjusted; along the extension direction of the mounting through hole, the positioning element and the limiting element are respectively located on opposite sides of the auxiliary body, and the positioning element protrudes from the outer surface of the auxiliary body.

4. The surgical robot according to claim 3, characterized in that, The limiting member is a limiting block, which protrudes from the outer surface of the auxiliary body, and the limiting surface is located on the outer surface of the limiting block.

5. The surgical robot according to claim 3, characterized in that, The limiting component is a groove, which is formed on the auxiliary body. The groove opening is located on the outer surface of the auxiliary body. The groove is connected to the mounting through hole. At least part of the limiting fitting component is located in the groove. The limiting surface is the groove side wall surface that is connected to the hole wall of the mounting through hole in the groove.

6. The surgical robot according to any one of claims 1-5, characterized in that, It also includes a connector having an elastic connecting portion, a pressure-applying portion, and a snap-fit ​​portion. The connector is connected to the auxiliary body through the elastic connecting portion, and the pressure-applying portion and the snap-fit ​​portion are both connected to the elastic connecting portion. Along the extending direction of the mounting through hole, the pressure-applying portion and the snap-fit ​​portion are located on opposite sides of the auxiliary body. The snap-fit ​​part is provided with a snap-fit ​​groove, which is configured to allow the snap-fit ​​part on the part to be adjusted to snap into it, so as to fix the auxiliary body on the part to be adjusted.

7. The surgical robot according to claim 6, characterized in that, The auxiliary body is provided with a through groove, the connector passes through the through groove, and the elastic connecting part is connected to the side wall of the through groove; at least one pair of connectors are provided, and the pair of connectors are arranged parallel and opposite to each other on the auxiliary body.

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