A puncture device mounting mechanism, a surgical robot, and a surgical robot

Abstract

The present application relates to the technical field of surgical robots, and discloses a puncture device mounting mechanism, a surgical robot and a surgical robot. The puncture device mounting mechanism comprises a mounting piece, an adapter and a sterile separation assembly. The sterile separation assembly comprises a sterile bag and a separation piece. The separation piece is arranged between the mounting piece and the adapter. The separation piece is detachably connected with the mounting piece and the adapter. The separation piece comprises a base plate and a pressing plate. The base plate is arranged on the side of the pressing plate facing the mounting piece. The end of the sterile bag is arranged between the base plate and the pressing plate. A protruding column is arranged on the pressing plate. An installation groove is arranged on the base plate. The protruding column is arranged in the installation groove and connected with the base plate, so as to clamp and fix the sterile bag between the base plate and the pressing plate. The present application can improve the reliability of the connection between the sterile bag and the separation piece, ensure the smooth progress of the operation, and improve the safety of the operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robots, in particular to a puncture device mounting mechanism, a surgical robot arm and a surgical robot. BACKGROUND

[0002] Surgical robots are widely used in the medical field. The surgical robot includes a patient surgery end, and a plurality of surgical robot arms are arranged on the patient surgery end. The end of the surgical robot arm is provided with an instrument seat, and a moving end and a puncture device are arranged on the instrument seat. One end of a surgical instrument is mounted on the moving end, and the other end of the surgical instrument is arranged in the puncture device. The moving end can drive the surgical instrument to move along the axis of the puncture device.

[0003] In the prior art, the puncture device is mounted on the instrument seat through a mounting mechanism. According to the slave device of the surgical robot disclosed in Chinese patent CN218552436U, a punch card (i.e. a puncture device) is mounted on a mechanical arm through a sterile partition plate. The punch card and the sterile partition plate, and the sterile partition plate and the mechanical arm are detachably connected. A sterile bag is mounted on the sterile partition plate. The sterile bag can be sleeved on the mechanical arm during the operation, and is used to separate the mechanical arm and the operation environment, so as to avoid the case that the patient is infected with bacteria due to the bacteria in the mechanical arm.

[0004] The two ends of the sterile bag have openings, one of which is fixed to one end of the surgical robot arm for fixing to a trolley, and the other is connected to the circumferential sterile partition plate. Usually, the sterile bag is fixed to the outer side of the sterile partition plate by adhesion or hot pressing, and the connection reliability is low. During the movement of the surgical robot arm, the sterile bag is easily pulled, increasing the possibility of disconnection between the sterile bag and the sterile partition plate, increasing the possibility of bacterial infection of the patient, affecting the safety of the operation, and also increasing the possibility of entanglement with other surgical instruments after the sterile bag is disconnected from the sterile partition plate, affecting the smooth progress of the operation.

[0005] Therefore, there is an urgent need for a puncture device mounting mechanism, a surgical robot arm and a surgical robot to solve the above-mentioned problems. SUMMARY

[0006] The purpose of the present application is to provide a puncture device mounting mechanism, a surgical robot arm and a surgical robot to improve the connection reliability between the sterile bag and the partition, ensure the smooth progress of the operation, and also improve the safety of the operation.

[0007] To achieve this purpose, the present application adopts the following technical solutions:

[0008] A puncture device mounting mechanism, comprising:

[0009] a mounting member for mounting a puncture device;

[0010] An adapter for connecting with an end of an instrument holder;

[0011] A sterile separation assembly comprises a sterile bag and a separation piece, the separation piece is detachably connected with the mounting piece and the adapter, the separation piece comprises a base plate and a pressing plate, the base plate is arranged on a side of the pressing plate facing the mounting piece, the sterile bag is located between the base plate and the pressing plate, one of the base plate and the pressing plate is provided with a protruding column, the base plate is provided with a mounting groove, the protruding column is arranged in the mounting groove and connected with the base plate to clamp and fix the sterile bag between the base plate and the pressing plate.

[0012] As an optional technical solution of the puncture device mounting mechanism, the mounting piece is provided with a first clamping arm, one end of the first clamping arm facing the separation piece is provided with a first clamping hook, the separation piece is provided with a first clamping hole, and the first clamping arm is movably connected with the mounting piece to enable the first clamping hook to be clamped into or separated from the first clamping hole.

[0013] As an optional technical solution of the puncture device mounting mechanism, one end of the first clamping arm away from the first clamping hook is rotatably connected with the mounting piece to enable the first clamping hook to be clamped into or separated from the first clamping hole.

[0014] The first clamping arm is arranged on one side of the mounting piece, the first clamping arm is connected with a first pressing piece on a side opposite to the one side of the mounting piece, the first pressing piece and the first clamping hook are located on the same side of the first clamping arm, and one end of the first pressing piece close to the separation piece is inclined to gradually move away from the mounting piece.

[0015] As an optional technical solution of the puncture device mounting mechanism, an accommodating part is arranged on an end surface of the base plate facing the mounting piece, a groove is arranged on a side wall of the base plate and communicates with the accommodating part, a positioning part is protrusively arranged on one end of the pressing plate facing the base plate, the positioning part is arranged in the groove, and a side wall of the accommodating part, a groove wall of the groove and an end surface of the pressing plate facing the base plate form the first clamping hole, and the first clamping hook can be arranged in the accommodating part.

[0016] As an optional technical solution of the puncture device mounting mechanism, the adapter is provided with a second clamping arm, one end of the second clamping arm facing the separation piece is provided with a second clamping hook, the separation piece is provided with a second clamping hole, and the second clamping arm is movably connected with the adapter to enable the second clamping hook to be clamped into or separated from the second clamping hole.

[0017] As an optional technical scheme of the puncture device mounting mechanism, an end of the adapter inside which is hollow and faces the partition is provided with an opening, and the second clamping arm is arranged inside the adapter;

[0018] The partition further comprises a slotted piece, a side wall of the slotted piece is provided with the second clamping hole, one end of the slotted piece is connected to the pressing plate, and the other end of the slotted piece can extend into or out of the adapter through the opening, so that the second clamping hole enters or exits the adapter.

[0019] As an optional technical scheme of the puncture device mounting mechanism, a rotating shaft is fixedly arranged in the adapter, and the middle part of the second clamping arm is rotationally connected to the rotating shaft, so that the second clamping hook can be clamped into or out of the second clamping hole.

[0020] The adapter is provided with a first elastic member, the first elastic member can clamp the second clamping hook into the second clamping hole, a second pressing member is movably arranged on the side wall of the adapter, and the end of the second pressing member abuts against one end of the second clamping arm away from the second clamping hook.

[0021] As an optional technical scheme of the puncture device mounting mechanism, the puncture device mounting mechanism further comprises a detection assembly, the detection assembly comprises a detection member and a trigger member, the detection member is arranged on the adapter, the trigger member is located on the side of the detection member facing the mounting member, the first end of the trigger member faces the detection member, the second end of the trigger member opposite to the first end faces the mounting member, the trigger member is movably connected to the adapter, when the mounting member is connected to the partition and the partition is connected to the adapter, the second end abuts against the mounting member, and the trigger member is in a trigger position in which the first end contacts the detection member, when the mounting member is separated from the partition or the partition is separated from the adapter, the trigger member is in a avoiding position in which the first end is spaced apart from the detection member.

[0022] As an optional technical scheme of the puncture device mounting mechanism, the detection assembly further comprises a second elastic member, and the second elastic member can make the trigger member return from the trigger position to the avoiding position.

[0023] A surgical mechanical arm comprising a puncture device, a device seat and a puncture device mounting mechanism as described above, the puncture device is mounted on the mounting member, and the side of the adapter away from the partition is connected to the end of the device seat.

[0024] A surgical robot comprising a surgical mechanical arm as described above.

[0025] The beneficial effects of the present application are as follows:

[0026] The present application provides a puncture device mounting mechanism, which comprises a mounting piece, an adapter piece and a sterile separation component.

[0027] The present application provides a surgical mechanical arm, which facilitates replacement of the sterile bag before each surgery, guarantees the safety of the surgery, avoids separation of the sterile bag and the separation component, reduces the influence of the sterile bag on the movement of the surgical instrument, guarantees the smooth progress of the surgery, guarantees the separation function of the sterile bag and further improves the safety of the surgery.

[0028] The present application provides a surgical robot, which facilitates replacement of the sterile bag before each surgery, reduces the influence of the sterile bag on the movement of the surgical instrument, guarantees the safety of the surgery, guarantees the separation function of the sterile bag and improves the safety of the surgery. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 FIG. 1 is a structural schematic diagram of a surgical mechanical arm according to an embodiment of the present application;

[0030] Figure 2 FIG. 2 is a structural schematic diagram of a puncture device mounting mechanism according to an embodiment of the present application;

[0031] Figure 3 FIG. 3 is an exploded view of the puncture device mounting mechanism according to the embodiment of the present application;

[0032] Figure 4 FIG. 4 is a sectional view of the puncture device mounting mechanism according to the embodiment of the present application;

[0033] Figure 5 FIG. 5 is a partial enlarged view of A in FIG. 1; Figure 4

[0034] FIG. 6 is a structural schematic diagram of a separation component according to the embodiment of the present application; Figure 6

[0035] FIG. 7 is an exploded view of the separation component according to the embodiment of the present application; Figure 7

[0036] Figure 8 ​is a structural schematic view of a second clamping arm provided by the embodiment one of the present application;

[0037] Figure 9 is a sectional view of a puncture device mounting mechanism provided by the embodiment two of the present application;

[0038] Figure 10 is a sectional view of a puncture device mounting mechanism provided by the embodiment three of the present application from a first perspective;

[0039] Figure 11 is a sectional view of a puncture device mounting mechanism provided by the embodiment three of the present application from a second perspective.

[0040] in the figure:

[0041] 10, puncture device; 101, air nozzle; 20, instrument seat; 30, active arm;

[0042] 1, mounting member; 11, first clamping arm; 12, first clamping hook; 13, first pressing member; 131, stud; 14, accommodating groove; 15, through hole; 16, blocking ring;

[0043] 2, adapter; 21, second pressing member;

[0044] 3, partition member; 31, base plate; 311, mounting groove; 312, accommodating portion; 313, recess; 3131, first clamping hole; 32, pressing plate; 321, protruding column; 322, positioning portion; 33, slotted member; 331, second clamping hole; 332, circular hole;

[0045] 4, second clamping arm; 41, second clamping hook; 42, pivot; 43, spring groove; 44, first elastic member;

[0046] 5, detection assembly; 51, detection member; 52, triggering member; 521, guide column; 53, abutting member; 531, abutting portion; 54, second elastic member;

[0047] 6, adapter ring; 7, locking bolt; 8, arc-shaped member. DETAILED DESCRIPTION

[0048] In order to make the technical problems solved by the present application, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0049] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0051] The technical solutions of the present application will be further illustrated below in conjunction with the drawings and through specific embodiments.

[0052] Embodiment one

[0053] The present embodiment provides a surgical robot. The surgical robot comprises a doctor control end and a patient surgery end, and the patient surgery end comprises a surgical mechanical arm, and the surgical mechanical arm is used for mounting a surgical instrument.

[0054] Specifically, as shown in Figure 1 , the surgical mechanical arm comprises a puncture device 10, an instrument seat 20 and a puncture device mounting mechanism. The puncture device 10 is mounted on the puncture device mounting mechanism, and the puncture device mounting mechanism is connected to the end of the instrument seat 20.

[0055] The surgical mechanical arm further comprises a driven arm 30 and a trolley, one end of the driven arm 30 is connected to the trolley, and the other end is connected to the instrument seat 20. Among them, the structure of the trolley can refer to the prior art, which is not the protection focus of the present embodiment, and will not be repeated here.

[0056] Preferably, as shown in Figures 1-8As shown, the puncture device mounting mechanism comprises a mounting piece 1, an adapter piece 2 and a sterile separation assembly. The mounting piece 1 is used to mount the puncture device 10; the adapter piece 2 is used to connect with the end of the instrument seat 20; the sterile separation assembly comprises a sterile bag and a separation piece 3, the separation piece 3 is arranged between the mounting piece 1 and the adapter piece 2, the separation piece 3 is detachably connected with the mounting piece 1 and the adapter piece 2 respectively, the separation piece 3 comprises a base plate 31 and a pressing plate 32, the base plate 31 is arranged on the side of the pressing plate 32 facing the mounting piece 1, the end of the sterile bag is arranged between the base plate 31 and the pressing plate 32, a protruding column 321 is protruded on the pressing plate 32, a mounting groove 311 is formed on the base plate 31, the protruding column 321 is arranged in the mounting groove 311 and connected with the base plate 31, so as to clamp and fix the sterile bag between the base plate 31 and the pressing plate 32.

[0057] The puncture device mounting mechanism comprises a mounting piece 1, an adapter piece 2 and a sterile separation assembly. The sterile bag is mounted between the mounting piece 1 and the adapter piece 2 through the separation piece 3, and the mounting piece 1 and the separation piece 3 and the adapter piece 2 and the separation piece 3 are detachably connected, so as to facilitate replacement of the sterile bag before each operation, reduce the possibility of bacterial infection during the operation, and ensure the safety of the operation. In addition, the end of the sterile bag is clamped and fixed between the base plate 31 and the pressing plate 42, which improves the reliability of the connection between the sterile bag and the separation piece 3, avoids the separation of the sterile bag and the separation piece 3, reduces the possibility of entanglement of the sterile bag with surgical instruments or other structures, ensures the smooth progress of the operation, reduces the influence on the movement of the surgical instruments, and also ensures the separation function of the sterile bag, further improves the safety of the operation.

[0058] The surgical robot facilitates replacement of the sterile bag before each operation, reduces the influence of the sterile bag on the movement of the surgical instruments, ensures the safety of the operation, also ensures the separation function of the sterile bag, and improves the safety of the operation.

[0059] The surgical robot facilitates replacement of the sterile bag before each operation, reduces the influence of the sterile bag on the movement of the surgical instruments, ensures the safety of the operation, also ensures the separation function of the sterile bag, and improves the safety of the operation.

[0060] Specifically, the puncture device 10 is mounted on the mounting member 1, the mounting member 1 is provided with a through hole 15, a receiving groove 14 is radially formed on the hole wall of the through hole 15, the puncture device 10 is arranged in the through hole 15, and the air nozzle 101 on the puncture device 10 is arranged in the receiving groove 14. The adapter 2 is connected to the end of the instrument seat 20 away from the partition member 3. The sterile bag is hollow inside and open at both ends, the active arm 30 is arranged in the sterile bag, and one end of the sterile bag is fixed on the end of the active arm 30 away from the instrument seat 20 or the trolley, and the other end of the sterile bag is arranged between the base plate 31 and the pressing plate 32. The base plate 31 and the pressing plate 32 are pressed against the end of the sterile bag in the circumferential direction to block the active arm 30, the adapter 2, the instrument seat 20 and the patient. The material of the sterile bag can refer to the prior art, which is not the focus of the protection of the present embodiment, and will not be described here.

[0061] In the present embodiment, the convex column 321 is arranged at the end of the pressing plate 32 facing the base plate 31, and the mounting groove 311 is arranged at the end of the base plate 31 facing the pressing plate 32. In other embodiments, the convex column 321 can also be connected to the pressing plate 32 through a connecting arm, one end of the connecting arm is rotatably connected to one side of the pressing plate 32, and the mounting groove 311 is arranged on the side wall of the base plate 31; or the convex column 321 can be arranged on the base plate 31, and the mounting groove 311 can be arranged on the pressing plate 32, which is not limited here.

[0062] Preferably, the convex column 321 and the mounting groove 311 are in interference fit, realizing the fixed connection between the convex column 321 and the base plate 31, avoiding the use of other structures to realize the connection between the convex column 321 and the base plate 31, and facilitating the simplification of the structure. Specifically, the cross sections of the convex column 321 and the mounting groove 311 are circular, and the diameter of the convex column 321 is greater than the diameter of the mounting groove 311.

[0063] Further, at least part of the sterile bag is arranged between the convex column 321 and the groove wall of the mounting groove 311. Since the convex column 321 and the mounting groove 311 are in interference fit, when the convex column 321 is mounted in the mounting groove 311, the connection between the sterile bag and the partition member 3 is realized at the same time, which facilitates the simplification of the assembly process, shortens the installation time, reduces the production cost, and increases the connection position between the sterile bag and the partition member 3, further ensuring the reliable connection between the sterile bag and the partition member 3.

[0064] In other embodiments, a perforation is formed on the sterile bag, the convex column 321 passes through the perforation and is arranged in the mounting groove 311.

[0065] In the embodiment, the length of the convex column 321 is less than the depth of the mounting groove 311, which ensures that the end faces of the base plate 31 and the compression plate 32 can be attached to each other after the convex column 321 is mounted into the mounting groove 311, further ensures that the sterile bag is compressed in the partition 3, improves the mounting firmness between the sterile bag and the partition 3, reduces the possibility of separation between the sterile bag and the partition 3, reduces the possibility of the sterile bag being entangled with surgical instruments or other structures, ensures the smooth progress of the operation, reduces the influence on the movement of the surgical instruments, and also ensures the partitioning effect of the sterile bag, thereby improving the safety of the operation. In other embodiments, a gap can exist between the base plate 31 and the compression plate 32 after the convex column 321 is mounted into the mounting groove 311, which is not limited herein. In some embodiments, an adhesive layer can also be arranged on the end face of the base plate 31 facing the compression plate 32 and / or on the end face of the compression plate 32 facing the base plate 31, which can adhere to the end of the sterile bag, thereby further facilitating the reliable connection between the sterile bag and the partition 3.

[0066] Preferably, at least two convex columns 321 and at least two mounting grooves 311 are arranged, and the number of the convex columns 321 is the same as that of the mounting grooves 311. The at least two convex columns 321 and the at least two mounting grooves 311 are arranged one by one, which can increase the connection positions between the base plate 31 and the compression plate 32, ensure the reliable connection between the base plate 31 and the compression plate 32, and also increase the connection positions between the sterile bag and the partition 3, thereby reducing the possibility of separation between the sterile bag and the partition 3, further ensuring the partitioning effect of the sterile bag, reducing the possibility of bacterial infection during the operation, and ensuring the safety of the operation. In the embodiment, four convex columns 321 and four mounting grooves 311 are arranged. In other embodiments, the number of the convex columns 321 and the mounting grooves 311 can be adjusted adaptively, which is not limited herein.

[0067] In some embodiments, a metal block is arranged on one of the base plate 31 and the compression plate 32, and a magnet is arranged on the other one, and the metal block and the magnet can be attracted to each other, thereby further ensuring the reliable connection between the base plate 31 and the compression plate 32, and further reducing the possibility of separation between the sterile bag and the partition 3.

[0068] As a preferred solution, the mounting member 1 is provided with a first clamping arm 11, and a first clamping hook 12 is arranged at one end of the first clamping arm 11 facing the partition 3. A first clamping opening 3131 is arranged on the partition 3, and the first clamping arm 11 is movably connected to the mounting member 1, so that the first clamping hook 12 can be clamped into or separated from the first clamping opening 3131. The above arrangement simplifies the connection structure for achieving the detachable connection between the mounting member 1 and the partition 3.

[0069] Further, the other end of the first clamping arm 11 away from the first clamping hook 12 is rotatably connected to the mounting member 1, so that the first clamping hook 12 can be clamped into or separated from the first clamping opening 3131.

[0070] In the embodiment, the first clamping arm 11 is integrally formed with the mounting member 1, and the connecting arm between the first clamping arm 11 and the mounting member 1 is thin and can be deformed to a certain extent, so that the first clamping arm 11 can rotate relative to the mounting frame 1.

[0071] Further, the connecting arm is also made of plastic material, has a certain elasticity, can be elastically deformed, and the natural state of the first clamping arm 11 is that the first clamping hook 12 is clamped into the first clamping opening 3131, and the connecting arm can make the first clamping arm 11 return from the first position where the first clamping hook 12 is separated from the first clamping opening 3131 to the second position where the first clamping hook 12 is clamped into the first clamping opening 3131, so as to ensure that the first clamping hook 12 can be reliably clamped into the first clamping opening 3131, thereby ensuring the reliable connection between the mounting member 1 and the partition member 3 and ensuring the smooth operation of the surgery.

[0072] In other embodiments, the mounting member 1 and the first clamping arm 11 can also be connected through a rotating shaft, and the mounting member 1 and the first clamping arm 11 can also be connected through other elastic structures, so that the first clamping arm 11 can return from the first position where the first clamping hook 12 is separated from the first clamping opening 3131 to the second position where the first clamping hook 12 is clamped into the first clamping opening 3131. The elastic structure can be a spring or a rubber piece, which is not limited here.

[0073] As a preferred solution, the end face of the base plate 31 towards the mounting member 1 is provided with a receiving portion 312, the side wall of the base plate 31 is provided with a groove 313, the groove 313 communicates with the receiving portion 312, the groove 313 penetrates the end face of the base plate 31 towards the pressing plate 32, the end of the pressing plate 32 towards the base plate 31 is provided with a positioning portion 322 protruding, the positioning portion 322 is arranged in the groove 313, and the positioning portion 322, the side wall of the groove 313 and the end face of the pressing plate 32 towards the base plate 31 form a first clamping opening 3131. That is, the first clamping opening 3131 is formed in the receiving portion 312. It can be understood that when the mounting member 1 is connected with the partition member 3, the first clamping hook 12 can extend into and be arranged in the receiving portion 312. In the embodiment, the receiving portion 312 is in the form of a hole, the receiving portion 312 is arranged in the middle of the end face of the base plate 31, and the receiving portion 312 penetrates the base plate 31, that is, the base plate 31 is in the form of a ring.

[0074] By setting the groove 313 and the positioning portion 322, the positioning effect can be achieved during the installation of the base plate 31 and the pressing plate 32, so that the protruding column 321 can be accurately inserted into the installation groove 311, thereby facilitating the reliable connection between the protruding column 321 and the pressing plate 32, and reducing the possibility of separation of the sterile bag and the partition piece 3; in addition, the first clamping opening 3131 is formed by the side wall of the accommodating portion 312, the groove wall of the groove 313, and the end face of the pressing plate 32 facing the base plate 31, which can avoid opening a slot structure on the base plate 31, simplify the production and processing process of the base plate 31, avoid the decrease of the structural strength of the base plate 31, ensure the durability of the partition plate 3, and ensure the reliability of the connection between the sterile bag and the partition piece 3.

[0075] In the embodiment, the first clamping arm 11 is provided with two, and the positioning portion 322, the groove 313 and the first clamping hook 12 are each provided with two, the two grooves 313 respectively penetrating the two oppositely arranged groove side walls of the accommodating portion 312, and the two first clamping hooks 12 are respectively arranged on the sides of the two first clamping arms 11 away from each other, and the two first clamping hooks 12 can approach or move away from each other to be separated or clamped into the corresponding first clamping opening 3131. It can be understood that when the mounting piece 1 is connected with the partition piece 3, part of the first clamping arm 11 and the first clamping hook 12 can extend into and be placed in the accommodating portion 312.

[0076] Preferably, the first clamping arm 11 is arranged on one side of the mounting piece 1, the first clamping arm 11 is connected with the first pressing piece 13 on the side away from the mounting piece 1, the first pressing piece 13 and the first clamping hook 12 are located on the same side of the first clamping arm 11, and the end of the first pressing piece 13 close to the partition piece 3 is inclined toward the direction gradually away from the mounting piece 1. By separately arranging the first pressing piece 13, the pressing position of the first clamping arm 11 can be determined, and by inclining the first pressing piece 13, the first clamping arm 11 can be pressed by the first pressing piece 13, thereby improving the operation convenience.

[0077] In the embodiment, the first pressing piece 13 is provided with two, and the two first pressing pieces 13 are respectively arranged on the two first clamping arms 11.

[0078] Further, the first pressing piece 13 is provided with a threaded column 131 on the side facing the first clamping arm 11, and a threaded hole is formed on the first clamping arm 11, and the threaded column 131 is threadedly connected with the first clamping arm 11 through the threaded hole, thereby facilitating installation and replacement.

[0079] Preferably, the adapter 2 is provided with a second clamping arm 4, the second clamping arm 4 is provided with a second clamping hook 41 at one end facing the partition 3, the partition 3 is provided with a second clamping hole 331, and the second clamping arm 4 is movably connected with the adapter 2, so that the second clamping hook 41 can be clamped into or separated from the second clamping hole 331. The above arrangement simplifies the connection structure for realizing the detachable connection between the adapter 2 and the partition 3.

[0080] Further, the adapter 2 is internally hollow and provided with an opening at one end facing the partition 3, and the second clamping arm 4 is arranged inside the adapter 2. The partition 3 further comprises a slotted piece 33, the slotted piece 33 is provided with the second clamping hole 331 on the side wall, one end of the slotted piece 33 is connected to the pressing plate 32, and the other end of the slotted piece 33 can extend into or out of the adapter 2 through the opening, so that the second clamping hole 331 enters or exits the adapter 2. The above arrangement can make the second clamping arm 4 arranged inside the adapter 2, the adapter 2 can protect the second clamping arm 4, improve the durability of the second clamping arm 4, reduce the possibility of damage to the second clamping arm 4, ensure the reliability of the connection between the sterile partition assembly and the adapter 2, avoid the sterile bag and the active arm 30 from being separated, reduce the possibility of the sterile bag being entangled with the surgical instrument or other structures, ensure the smooth progress of the operation, reduce the influence on the movement of the surgical instrument, and also ensure the partitioning effect of the sterile bag, further improve the safety of the operation.

[0081] In the embodiment, the partition 3 further comprises a slotted piece 33, the pressing plate 32 is annular, one end of the slotted piece 33 facing the base plate 31 is arranged in the center through hole of the pressing plate 32 and connected with the end face of the base plate 31, and the second clamping hole 331 is arranged on the side wall of the slotted piece 33.

[0082] Further, the second clamping arm 4 is provided with two second clamping hooks 41 and two second clamping holes 331, the two second clamping holes 331 are arranged on the two opposite groove side walls of the slotted piece 33, the two second clamping hooks 41 are arranged on the sides of the two second clamping arms 4 facing each other, the slotted piece 33 is located between the two second clamping hooks 41, and the two second clamping hooks 41 can approach or move away from each other to clamp into or separate from the corresponding second clamping hole 331. It can be understood that when the adapter 2 is connected with the partition 3, at least part of the slotted piece 33 can extend into and be arranged inside the adapter 2.

[0083] In the embodiment, the slotted piece 33 is integrally formed with the base plate 31, and the pressing plate 32 is integrally formed with the convex column 321.

[0084] As a preferred solution, the adapter 2 is internally fixedly provided with a rotating shaft 42, and the middle part of the second clamping arm 4 is rotatably connected to the rotating shaft 42, so that the second clamping hook 41 can be clamped into or separated from the second clamping opening 331. The adapter 2 is internally provided with a first elastic member 44, which can make the second clamping arm 4 return from the third position, in which the second clamping hook 41 is separated from the second clamping opening 331, to the fourth position, in which the second clamping hook 41 is clamped into the second clamping opening 331, thereby ensuring the reliability when the second clamping hook 41 is clamped into the second clamping opening 331. The sidewall of the adapter 2 is movably provided with a second pressing member 21, and the end of the second pressing member 21 is in abutment with the end of the second clamping arm 4 away from the second clamping hook 41, thereby facilitating the pressing of the second clamping hook 41. In the embodiment, two second pressing members 21 are provided, and the two second pressing members 21 are respectively located on the sides of the two second clamping arms 4 away from each other.

[0085] In some embodiments, the adapter 2 can also be rotatably provided with a rotating shaft 42, and the middle part of the second clamping arm 4 is fixedly connected to the rotating shaft 42.

[0086] In the embodiment, the first elastic member 44 is a torsion spring, which includes a ring structure and two free ends connected to the two ends of the ring structure. The ring structure is sleeved on the rotating shaft 42, and one free end is fixed to the inner wall of the adapter 2, and the other free end is fixedly connected to the second clamping arm 4. Specifically, one end of the rotating shaft 42 penetrates through the first end of the second clamping arm 4, and a spring groove 43 is formed in the end face of the first end of the second clamping arm 4. The ring structure is sleeved on the end of the rotating shaft 42 penetrating out, and at least part of the ring structure is arranged in the spring groove 43. One free end is arranged in the spring groove 43 and fixedly connected to the second clamping arm 4, and the other free end is connected to the end of the ring structure away from the second clamping arm 4.

[0087] In other embodiments, the second clamping arm 4 can also be integrally formed with the adapter 2, and the structure of the second clamping arm 4 can refer to the structure of the first clamping arm 11 described above, which will not be described here. The first elastic member 44 can also be a spring, which is arranged between the end of the second clamping arm 4 away from the second clamping hook 41 and the inner wall of the adapter 2. The spring can make the second clamping arm 4 return from the third position to the fourth position.

[0088] As a preferred solution, the puncture device mounting mechanism further comprises a detection assembly 5, the detection assembly 5 comprises a detection piece 51 and a triggering piece 52, the detection piece 51 is arranged on the adapter 2, the triggering piece 52 is located on the side of the detection piece 51 facing the mounting piece 1, and the first end of the triggering piece 52 is arranged towards the detection piece 51, the second end of the triggering piece 52 opposite to the first end is arranged towards the mounting piece 1, the triggering piece 52 is movably connected with the adapter 2, when the mounting piece 1 is connected with the partition piece 3 and the partition piece 3 is connected with the adapter 2, the second end abuts against the mounting piece 1, and the triggering piece 52 is in a triggering position in which the first end contacts the detection piece 51. When the puncture device mounting mechanism is installed, the partition piece 3 is first connected with the adapter 2, and then the mounting piece 1 is connected with the partition piece 3, in the process, the mounting piece 1 contacts the triggering piece 52 and can push the triggering piece 52 towards the detection piece 51.

[0089] When the mounting piece 1 is separated from the partition piece 3 or the partition piece 3 is separated from the adapter 2, the triggering piece 52 is in a avoiding position in which the first end is spaced apart from the detection piece 51.

[0090] In the embodiment, the detection piece 51 is a contact switch, the detection piece 51 is triggered when the triggering piece 52 is in the triggering position, and the detection piece 51 is not triggered when the triggering piece 52 is in the avoiding position. The structure and principle of the contact switch are both prior art, and are not the focus of protection of the embodiment, and will not be described here.

[0091] In other embodiments, the detection piece 51 can also be a distance sensor or other sensor, which is not limited here.

[0092] Specifically, the triggering piece 52 is in the shape of a rod, the first end and the second end of the triggering piece 52 are two ends in the length direction, and the triggering piece 52 can slide along the length direction of itself relative to the adapter 2. The through hole 332 is provided on the slotted piece 33, the through hole 332 is in communication with the accommodating portion 312, and the triggering piece 52 extends out through the opening of the adapter 2 and is arranged in the through hole 332.

[0093] In the embodiment, the surgical robot further comprises a controller, when the detection piece 51 is triggered, the detection piece 51 can transmit a signal to the controller, and the controller can control the moving wheels at the bottom of the trolley and the stand column on the trolley to be in a stationary state. When the mounting piece 1 is not connected with the partition piece 3, the detection piece 51 does not transmit a signal to the controller, and the moving wheels can move and the stand column can be lifted. The controller can be a single-chip microcomputer, the structure and control principle of the controller and the signal transmission mode between the detection piece 51 and the controller can all refer to prior art, and are not the focus of protection of the embodiment, and will not be described here.

[0094] Preferably, the detection assembly 5 further comprises a second elastic member 54, which can enable the trigger member 52 to return from the triggering position to the avoiding position. When the mounting member 1 is not connected with the partition member 3, the above-mentioned arrangement can avoid the detection member 51 from being triggered, ensure the smooth movement of the trolley when needed, the smooth lifting of the lifting column when needed, and ensure the smooth operation of the surgery; in addition, the arrangement of the second elastic member 54 also avoids the manual movement of the trigger member 52 to the avoiding position, improves the automation degree of the puncture device mounting mechanism, and improves the practical convenience.

[0095] Specifically, the detection assembly 5 further comprises an abutting member 53, which is arranged inside the adapter 2 and connected with the adapter 2. The abutting member 53 is provided with an abutting portion 531, which is located on one side of the detection member 51. The first end of the trigger member 52 is connected with a guide column 521, which is arranged on one side of the detection member 51 and arranged opposite to the abutting portion 531. The second elastic member 54 is a spring, which is sleeved on the guide column 521, and one end of the spring abuts against the trigger member 52, and the other end of the spring abuts against the abutting portion 531.

[0096] In the embodiment, one abutting portion 531 is arranged on each of the opposite sides of the detection member 51, and the guide column 521 is correspondingly provided with two guide columns.

[0097] Embodiment Two

[0098] The embodiment provides a puncture device mounting mechanism, a surgical mechanical arm and a surgical robot, and the structure of the embodiment is basically the same as that of the first embodiment, only some structures are different, and the embodiment will not be repeated here.

[0099] As shown in Figure 9 , the puncture device mounting mechanism further comprises a locking assembly, and the locking assembly comprises a locking bolt 7. The mounting member 1 is threadedly connected with the locking bolt 7, the axis of the locking bolt 7 extends along the radial direction of the through hole 15, the head of the locking bolt 7 is arranged outside the mounting member 1, the end of the shank of the locking bolt 7 extends into the through hole 15 and contacts the puncture device 10, so that the puncture device 10 can be tightly abutted, the locking bolt 7 can be screwed according to puncture devices 10 of different diameters, the application range of the puncture device mounting mechanism is expanded, the puncture device 10 can be prevented from being separated from the mounting member 1 during the surgery, the smooth operation of the surgery is ensured, and the safety of the surgery is improved.

[0100] Preferably, the locking bolt 7 is provided with at least two locking bolts 7, which are arranged at intervals along the circumferential direction of the through hole 15, so that the contact positions between the puncture device 10 and the locking assembly can be increased, and the reliable fixation of the puncture device 10 is further ensured.

[0101] Further, the locking assembly further comprises an arc-shaped piece 8. The shank end of the locking bolt 7 is connected to the arc-shaped piece 8, the axis of the arc-shaped piece 8 is arranged in line with the axis of the through hole 15, and the arc-shaped piece 8 is used to contact the puncture device 10. By arranging the arc-shaped piece 8, the contact area between the puncture device 10 and the locking assembly can be increased, and the reliable fixation of the puncture device 10 is further ensured.

[0102] In the embodiment, the arc-shaped piece 8 is detachably connected to the locking bolt 7, which facilitates the replacement of the arc-shaped piece 8 according to puncture devices 10 of different diameters, and further expands the application range of the puncture device mounting mechanism.

[0103] Embodiment Three

[0104] The embodiment provides a puncture device mounting mechanism, a surgical mechanical arm and a surgical robot, and the structure of the embodiment is basically the same as that of the first embodiment, only some structures are different, and the embodiment will not be described in detail.

[0105] As shown in Figure 10 and Figure 11 , the puncture device mounting mechanism further comprises an adapter ring 6, the adapter ring 6 is coaxially arranged in the through hole 15, and the outer ring wall of the adapter ring 6 is attached to the hole wall of the through hole 15. The accommodating groove 14 penetrates the end face of the first end of the mounting piece 1, the through hole 15 is protrudingly arranged on the hole wall of the second end of the mounting piece 1 and is provided with a blocking ring 16, the adapter ring 6 is arranged in the blocking ring 16 and can bear the adapter ring 6, the inner ring of the adapter ring 6 is attached to the outer side wall of the puncture device 10, the reliable installation of the puncture device 10 is ensured, and at the same time, no connecting structure is arranged between the adapter ring 6 and the mounting piece 1, the adapter ring 6 can also be taken out or put in through the first end of the mounting piece 1, and the installation of the adapter ring 6 is facilitated. In addition, by arranging the adapter ring 6, different inner diameters of the adapter ring 6 can be selected according to the diameters of the puncture devices 10, the application range of the puncture device mounting mechanism is expanded, the puncture device 10 can be prevented from being separated from the mounting piece 1 during the operation process, the smooth operation is ensured, and the safety of the operation is improved.

[0106] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. Based on the above description, other different forms of changes or variations can also be made by those skilled in the art. Here, all the implementation modes are not enumerated. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.​

Claims

1. A puncture device mounting mechanism, characterized in that, include: Mounting component (1) for mounting the puncture device (10); Adapter (2) for connection to the end of instrument base (20); A sterile separation assembly includes a sterile bag and a separator (3). The separator (3) is placed between the mounting component (1) and the adapter (2). The separator (3) is detachably connected to the mounting component (1) and the adapter (2). The separator (3) includes a base plate (31) and a pressing plate (32). The base plate (31) is placed on the side of the pressing plate (32) facing the mounting component (1). The end of the sterile bag is located between the base plate (31) and the pressing plate (32). The pressing plate (32) has a protruding post (321). The base plate (31) has an installation groove (311). The protruding post (321) is placed in the installation groove (311) and connected to the base plate (31) to clamp and fix the sterile bag between the base plate (31) and the pressing plate (32).

2. The puncture device installation mechanism according to claim 1, characterized in that, The mounting component (1) is provided with a first snap-fit ​​arm (11), and a first snap hook (12) is provided at one end of the first snap-fit ​​arm (11) facing the separator (3). The separator (3) is provided with a first slot (3131). The first snap-fit ​​arm (11) is movably connected to the mounting component (1) so that the first snap hook (12) can be snapped into or out of the first slot (3131).

3. The puncture device installation mechanism according to claim 2, characterized in that, The end of the first latching arm (11) away from the first latch (12) is rotatably connected to the mounting member (1) so that the first latch (12) can be engaged or disengaged from the first latch (3131); The first snap-fit ​​arm (11) is disposed on one side of the mounting member (1). The first snap-fit ​​arm (11) is connected to a first pressing member (13) on the side opposite to the mounting member (1). The first pressing member (13) and the first hook (12) are located on the same side of the first snap-fit ​​arm (11). The end of the first pressing member (13) near the separator (3) is inclined in a direction that gradually moves away from the mounting member (1).

4. The puncture device installation mechanism according to claim 2, characterized in that, The substrate (31) has a receiving portion (312) on its end face facing the mounting member (1), and a groove (313) is provided on the side wall of the substrate (31). The groove (313) communicates with the receiving portion (312). The pressing plate (32) has a positioning portion (322) protruding from one end facing the substrate (31). The positioning portion (322) is placed in the groove (313), and the side wall of the positioning portion (322) facing the receiving portion (312), the groove wall of the groove (313), and the end face of the pressing plate (32) facing the substrate (31) form the first bayonet (3131). The first hook (12) can be placed in the receiving portion (312).

5. The puncture device installation mechanism according to claim 1, characterized in that, The adapter (2) is provided with a second snap-fit ​​arm (4), and a second snap hook (41) is provided at one end of the second snap-fit ​​arm (4) facing the separator (3). The separator (3) is provided with a second slot (331). The second snap-fit ​​arm (4) is movably connected to the adapter (2) so that the second snap hook (41) can be snapped into or out of the second slot (331).

6. The puncture device installation mechanism according to claim 5, characterized in that, The adapter (2) is hollow inside and has an opening at one end facing the separator (3), and the second snap-fit ​​arm (4) is placed inside the adapter (2); The separator (3) also includes a slotted part (33), on which the second slot (331) is provided. One end of the slotted part (33) is connected to the pressing plate (32), and the other end of the slotted part (33) can extend into or out of the adapter (2) through the opening, so that the second slot (331) can enter or exit the adapter (2).

7. The puncture device installation mechanism according to claim 6, characterized in that, The adapter (2) is fixedly provided with a rotating shaft (42), and the middle part of the second snap-fit ​​arm (4) is rotatably connected to the rotating shaft (42) so that the second snap hook (41) can snap into or disengage from the second snap slot (331). The adapter (2) is provided with a first elastic element (44), which enables the second hook (41) to be engaged in the second slot (331). A second pressing element (21) is movably inserted through the side wall of the adapter (2), and the end of the second pressing element (21) abuts against the end of the second snap arm (4) away from the second hook (41).

8. The puncture device installation mechanism according to claim 1, characterized in that, The puncture device installation mechanism further includes a detection component (5), which includes a detection element (51) and a trigger element (52). The detection element (51) is disposed on the adapter (2). The trigger element (52) is located on the side of the detection element (51) facing the mounting component (1), with its first end facing the detection element (51) and its second end facing away from the first end facing the mounting component (1). The trigger element (52) and the adapter... (2) Movable connection: When the mounting part (1) is connected to the partition (3) and the partition (3) is connected to the adapter (2), the second end abuts against the mounting part (1), and the trigger (52) is in the trigger position where the first end contacts the detection part (51). When the mounting part (1) is separated from the partition (3) or the partition (3) is separated from the adapter (2), the trigger (52) is in the avoidance position where the first end is spaced apart from the detection part (51).

9. The puncture device installation mechanism according to claim 8, characterized in that, The detection component (5) further includes a second elastic element (54), which enables the trigger element (52) to return from the trigger position to the avoidance position.

10. A surgical robotic arm, characterized in that, It includes a puncture device (10), an instrument seat (20), and a puncture device mounting mechanism as described in any one of claims 1-9, wherein the puncture device (10) is mounted on the mounting member (1), and the adapter (2) is connected to the end of the instrument seat (20) on the side away from the separator (3).

11. A surgical robot, characterized in that, Including the surgical robotic arm as described in claim 10.

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