Surgical robotic engagement device

Abstract

The application provides a surgical robot joint device, which comprises a joint part, instrument parts and driving parts arranged on opposite sides of the joint part, and first and second locking parts, the first locking part is arranged between the joint part and the driving part, the first locking part comprises a first clamping piece arranged on the joint part and a first blocking piece arranged on the driving part, the first clamping piece moves to the outside of the first blocking piece to realize self-locking of the joint part and the driving part, the second locking part is arranged between the joint part and the instrument part, the second locking part comprises a second clamping piece arranged on the joint part and a second blocking piece arranged on the instrument part, and the second clamping piece moves to the outside of the second blocking piece, so that the structure of the joint part is simplified, and the joint part is conveniently, quickly and reliably connected with the instrument part and the driving part.

Description

Technical Field

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

[0002] Minimally invasive surgical robots typically include a master control panel and slave control devices. The master control panel sends control commands to the slave control devices based on the surgeon's instructions, controlling the slave control devices. The slave control devices respond to the control commands sent by the master control panel and perform corresponding surgical operations. Surgical instruments are connected to the drive units of the slave control devices to perform surgical procedures. The end effectors of the surgical instruments include end effectors for performing surgical operations and joints connected to the end effectors that can move in multiple degrees of freedom. The surgical instruments need to be sterilized, while the slave control devices are generally not sterilized. Therefore, a sterile coupling device is typically used to connect the surgical instrument housing and the drive unit of the slave control device to prevent contamination of the surgical instruments. However, existing coupling devices are complex in structure, have low efficiency in connecting to the drive unit and surgical instruments, poor operational comfort, and poor coupling stability. Therefore, there is an urgent need for a device that can achieve rapid and stable coupling while having a simple and reliable structure. Summary of the Invention

[0003] The purpose of this invention is to provide a surgical robot coupling device that simplifies the structure of the coupling part and enables convenient, quick, and reliable connection between the coupling part and the instrument part and the drive part.

[0004] To achieve the above objectives, the present invention provides a surgical robot engagement device, comprising an engagement portion, an instrument portion and a drive portion disposed on opposite sides of the engagement portion, and a first locking portion and a second locking portion, wherein:

[0005] The first locking part is disposed between the engaging part and the driving part. The first locking part includes a first clamping member disposed on the engaging part and a first blocking member disposed on the driving part. When the engaging part and the driving part are engaged, the first clamping member moves to the outside of the first blocking member so that the engaging part and the driving part can achieve self-locking.

[0006] The second locking part is disposed between the connecting part and the instrument part. The second locking part includes a second clamping member disposed on the connecting part and a second blocking member disposed on the instrument part. When the connecting part and the instrument part are connected, the second clamping member moves to the outside of the second blocking member so that the connecting part and the instrument part can achieve self-locking.

[0007] Optionally, the first clamping member includes a first clamping plate and a first slot formed on the first clamping plate; the first blocking member includes a first blocking plate and a first buckle provided on the first blocking plate. When the engaging part is connected to the driving part, the first blocking plate enters the first slot from the inside with the first buckle.

[0008] Optionally, the second clamping member includes a second clamping plate and a second slot formed on the second clamping plate; the second blocking member includes a second blocking plate and a second buckle provided on the second blocking plate. When the engaging part is connected to the instrument part, the second blocking plate enters the second slot from the inside with the second buckle.

[0009] Optionally, it also includes an unlocking mechanism, which includes a button movably mounted on the instrument section, a push rocker, and a rotating rod.

[0010] The push rocker is rotatably mounted inside the instrument section via the rotating rod, and one end of the push rocker is hinged to the button. The other end of the push rocker is located between the second clamping plate and the second blocking plate. When the button is pressed into the instrument section, the push rocker rotates around the rotating rod and pushes the second clamping plate away from the second blocking plate, so that the second buckle disengages from the second slot.

[0011] Optionally, the joint includes a transition reinforcing plate, a transition top plate and a transition bottom plate respectively disposed on opposite sides of the transition reinforcing plate, a spring pin, an identification pin, and a first transition plate and a second transition plate, wherein:

[0012] The spring pin is disposed between the base plate and the top plate of the adapter, and both ends of the spring pin are respectively connected to the base plate and the top plate of the adapter;

[0013] The identification pin is movably located within the cavity formed by the base plate and the top plate of the adapter;

[0014] The first adapter plate is connected to the second adapter plate and is movably disposed in the movable hole on the adapter base plate.

[0015] Optionally, the drive unit includes a housing, a drive source disposed within the housing, and a turntable, wherein:

[0016] The drive end of the drive source extends outside the housing;

[0017] The turntable is connected to the end of the drive end located outside the housing, and the turntable is positioned towards the joint.

[0018] Optionally, it also includes a magnetic suction part, which includes a first magnetic suction member and a second magnetic suction member;

[0019] The first magnetic suction element is disposed on the joint portion;

[0020] The second magnetic attractor is disposed on the driving part, and the first magnetic attractor and the second magnetic attractor are matched and disposed.

[0021] Optionally, a positioning part is also included for docking the turntable and the second adapter plate. The positioning part includes N first docking parts disposed on the turntable and M second docking parts disposed on the second adapter plate. N and M are both positive integers and both N and M are at least 2. When the turntable and the second adapter plate are installed, the turntable is driven to rotate to realize the docking of the first docking parts and the second docking parts.

[0022] Optionally, N first docking members are arranged around the center line of the turntable, wherein the centers of two opposite first docking members are at different distances from the center line of the turntable; M second docking members are arranged around the center line of the second transfer plate, wherein the centers of two opposite second docking members are at different distances from the center line of the second transfer plate.

[0023] Optionally, both the first and second mating parts can be grooves or pins, wherein when the first mating part is a groove, the second mating part is a pin.

[0024] Optionally, a compensation part is also included, which includes an abutting member disposed on the first docking member or the second docking member, and a guide member disposed on the first docking member or the second docking member, wherein when the first docking member is an abutting member, the second docking member is a guide member.

[0025] Optionally, the guide includes a boss having a first end and a second end, and an inclined surface disposed between the first end and the second end. When the abutment abuts against the inclined surface, the inclined surface guides the abutment to move toward the second end.

[0026] The beneficial effects of this invention are as follows:

[0027] In this invention, the connecting part and the driving part are connected by a first locking part, and the connecting part and the instrument part are connected by a second locking part. The first locking part includes a first clamping member and a first blocking member, and the second locking part includes a second clamping member and a second blocking member. This simplifies the structure of existing connecting devices. Furthermore, the structural design of the first and second locking parts is reasonable. When the connecting part is installed with the driving part and the instrument part, the first and second locking parts can respectively achieve convenient and efficient self-locking between the connecting part and the driving part and between the connecting part and the instrument part, thus making the connection process convenient, fast, and reliable. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the assembly structure of the joint, the instrument part, and the drive part in this invention;

[0029] Figure 2 This is a top view of the joint structure in this invention;

[0030] Figure 3 This is a bottom view of the joint structure in this invention;

[0031] Figure 4 This is a schematic diagram showing the structure of the first clamping member and the first blocking member in three forms before the joint and the driving part are connected, during the connection process, and after the connection is completed in this invention.

[0032] Figure 5 This is a schematic diagram showing the structure of the second clamping member and the second blocking member in three forms: before the joint and the instrument part are connected, during the connection process, and after the connection is completed in this invention.

[0033] Figure 6 This is a schematic diagram showing the forces acting on the first clamping member and the first blocking member in this invention;

[0034] Figure 7 This is a schematic diagram showing the forces acting on the second clamping member and the second blocking member in this invention;

[0035] Figure 8 This is a schematic diagram of the unlocking mechanism in this invention;

[0036] Figure 9 This is a schematic diagram of the force-bearing structure for unlocking the joint and driving parts in this invention.

[0037] Figure 10 This is a schematic diagram of the exploded structure of the joint in this invention;

[0038] Figure 11 This is a schematic diagram of the assembly structure of the joint in this invention;

[0039] Figure 12 This is a schematic diagram of the connection between the joint and the sterile bag in this invention;

[0040] Figure 13 This is a schematic diagram of the drive unit in the present invention;

[0041] Figure 14 This is a schematic diagram of the force structure in this invention, which combines fastening force and magnetic attraction force to balance the thrust.

[0042] Figure 15 This is a schematic diagram of the structure of the first and second docking parts in the present invention when they are not in a docking state;

[0043] Figure 16 This is a schematic diagram of the structure in which the contacting member and the guiding member cooperate in this invention;

[0044] Figure 17 This is a bottom view of the structure of the adapter base plate in this invention.

[0045] Figure Labels

[0046] 1. Joint; 11. Adapter reinforcing plate; 12. Adapter top plate; 13. Adapter bottom plate; 14. Spring pin; 15. Identification pin; 16. First adapter plate; 17. Second adapter plate;

[0047] 2. Medical Equipment Department;

[0048] 3. Drive unit; 31. Housing; 32. Turntable;

[0049] 4. First locking part; 41. First clamping member; 411. First clamping plate; 412. First slot; 42. First blocking member; 421. First blocking plate; 422. First buckle;

[0050] 5. Second locking part; 51. Second clamping member; 511. Second clamping plate; 512. Second slot; 52. Second blocking member; 521. Second blocking plate; 522. Second buckle;

[0051] 6. Unlocking mechanism; 61. Button; 62. Push rocker; 63. Rotating lever;

[0052] 7. Magnetic suction part; 71. First magnetic suction element; 72. Second magnetic suction element;

[0053] 8. Positioning part; 81. First docking part; 82. Second docking part;

[0054] 9. Compensation section; 91. Abutting part; 92. Guide part; 93. Boss; 931. First end; 932. Second end; 933. Inclined surface;

[0055] 10. Sterile bags. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed following the word and its equivalents, but do not exclude other elements or objects.

[0057] Existing coupling devices are complex in structure, have low installation and connection efficiency with drive devices and surgical instruments, poor operating comfort, and poor coupling stability.

[0058] To address the problems existing in the prior art, embodiments of the present invention provide a surgical robot joining device. Figure 1 This is a schematic diagram of the assembly structure of the joint, the instrument part, and the drive part in this invention; Figure 2 This is a top view of the joint structure in this invention; Figure 3 This is a bottom view of the joint structure in this invention; Figure 4 This is a schematic diagram showing the structure of the first clamping member and the first blocking member in three forms: before the joint and the driving part are connected, during the connection process, and after the connection is completed. Figure 4 In the example, from top to bottom, the shapes of the first clamping member and the first blocking member are shown before docking, during docking, and after docking. Figure 5 This is a schematic diagram showing the structure of the second clamping member and the second blocking member in three forms: before the joint and the instrument part are connected, during the connection process, and after the connection is completed. Figure 5 In the example, from top to bottom, the shapes of the second clamping member and the second blocking member are shown before docking, during docking, and after docking. See also... Figures 1 to 5As shown, the surgical robot coupling device includes a coupling portion 1, an instrument portion 2 and a drive portion 3 disposed on opposite sides of the coupling portion 1, and a first locking portion 4 and a second locking portion 5. The first locking portion 4 is disposed between the coupling portion 1 and the drive portion 3. The first locking portion 4 includes a first clamping member 41 disposed on the coupling portion 1 and a first blocking member 42 disposed on the drive portion 3. When the coupling portion 1 and the drive portion 3 are docked, the first clamping member 41 moves to the outside of the first blocking member 42, thereby achieving self-locking between the coupling portion 1 and the drive portion 3. The second locking portion 5 is disposed between the coupling portion 1 and the instrument portion 2. The second locking portion 5 includes a second clamping member 51 disposed on the coupling portion 1 and a second blocking member 52 disposed on the instrument portion 2. When the coupling portion 1 and the instrument portion 2 are docked, the second clamping member 51 moves to the outside of the second blocking member 52, thereby achieving self-locking between the coupling portion 1 and the instrument portion 2.

[0059] It is worth noting that there are two of each of the first clamping member 41 and the first blocking member 42. When the connecting part 1 mates with the driving part 3, the two first clamping members 41 move to the outside of the two first blocking members 42; and the two first clamping members 41 and the two first blocking members 42 are symmetrically arranged about the same horizontal line. There are also two of each of the second clamping member 51 and the second blocking member 52. When the connecting part 1 mates with the instrument part 2, the two second clamping members 51 move to the outside of the two second blocking members 52; and the two second clamping members 51 and the two second blocking members 52 are symmetrically arranged about the same horizontal line.

[0060] In this embodiment, the connecting part 1 and the driving part 3 are connected by the first locking part 4, and the connecting part 1 and the instrument part 2 are connected by the second locking part 5. The first locking part 4 includes a first clamping member 41 and a first blocking member 42, and the second locking part 5 includes a second clamping member 51 and a second blocking member 52. This simplifies the structure of the existing connecting device. Furthermore, the structural design of the first locking part 4 and the second locking part 5 is reasonable. When the connecting part 1 is installed with the driving part 3 and the instrument part 2, the first locking part 4 and the second locking part 5 can respectively achieve self-locking between the connecting part 1 and the driving part 3 and between the connecting part 1 and the instrument part 2. This makes the connection process of the connecting part 1, the instrument part 2 and the driving part 3 convenient, fast and reliable.

[0061] In one embodiment, the first clamping member 41 includes a first clamping plate 411 and a first slot 412 formed on the first clamping plate 411; the first blocking member 42 includes a first blocking plate 421 and a first buckle 422 provided on the first blocking plate 421. When the engaging part 1 is connected to the driving part 3, the first blocking plate 421, along with the first buckle 422, enters the first slot 412 from the inside. Figure 2 and Figure 4 As shown. In use, when the connecting part 1 mates with the driving part 3, the first blocking plate 421 moves to the inside of the first clamping plate 411, and the first blocking plate 421, along with the first buckle 422, deflects from the inside against the lower end of the first clamping plate 411. As the connecting part 1 and the driving part 3 continue to move relative to each other, the first buckle 422 enters the first slot 412, and the first clamping plate 411 loses the contact of the first buckle 422 and returns to the vertical position. At this time, the first clamping plate 411 and the first blocking plate 421 are locked by the mutual engagement of the first buckle 422 and the first slot 412, thereby achieving self-locking of the connecting part 1 and the driving part 3.

[0062] After the joint 1 and the drive unit 3 are connected, the two first blocking members 42 are arranged between the two first clamping members 41. In this way, the two first clamping members 41 will surround the two first blocking members 42. This fixes the parts from both sides, making the fixing process more secure. On the other hand, it prevents the device from tipping over when subjected to force on one side. Thus, the two first clamping members 41 and the two first blocking members 42 lock the joint 1 and the drive unit 3 more securely.

[0063] In one example, the first slot 412 is a through hole or a groove, but is not limited to such a through hole or groove. The first buckle 422 has a trapezoidal or triangular structure, but is not limited to such a trapezoidal or triangular structure. Specifically, when the first buckle 422 has a trapezoidal or triangular structure, the left or right end of the trapezoidal or triangular structure is an inclined edge (which can be understood as two first buckles 422, with the left end of the left first buckle 422 being an inclined edge and the right end of the right first buckle 422 being an inclined edge). The lower end of the trapezoidal or triangular structure and the bottom of the through hole or groove are both horizontally set, so that when the first buckle 422 enters the first slot 412, it can play a limiting role in the vertical direction, preventing the first buckle 422 from moving downward in the vertical direction relative to the first slot 412, thereby playing a locking role.

[0064] In other examples, both the first slot 412 and the first buckle 422 can be protrusions, and their front cross-sectional views all show a rounded head. When the first buckle 422 moves upward and rubs against the first slot 412, the first clamping plate 411 resets and moves with the first slot 412 to below the first buckle 422. The self-locking function is achieved through the contact between the upper surface of the first slot 412 and the lower surface of the first buckle 422. In this example, the lower surface of the first buckle 422 can be horizontal, and the upper surface of the first slot 412 can be horizontal for better limiting and locking effects.

[0065] In one embodiment, after the connecting portion 1 and the driving portion 3 are aligned, if the connecting portion 1 is pulled upward without pulling the first clamping member 41 outward, the torque generated by the force F1 at the first buckle 422 will further tighten the connecting portion 1 and the driving portion 3, thereby preventing the connecting portion 1 and the driving portion 3 from loosening under force. Figure 6 As shown, in Figure 6 In the example, O is the center of rotation of the force.

[0066] In one embodiment, the second clamping member 51 includes a second clamping plate 511 and a second slot 512 formed on the second clamping plate 511; the second blocking member 52 includes a second blocking plate 521 and a second buckle 522 provided on the second blocking plate 521. When the engaging portion 1 mates with the instrument portion 2, the second blocking plate 521, along with the second buckle 522, enters the second slot 512 from the inside. Figure 3 and Figure 5 As shown.

[0067] After the joint 1 and the instrument part 2 are connected, the two second blocking members 52 are arranged between the two second clamping members 51. In this way, the two second clamping members 51 will surround the two second blocking members 52. On the one hand, the fixation is carried out from the left and right sides, making the fixation process more secure. On the other hand, it avoids the device from tipping over when force is applied to one side. Thus, the two second clamping members 51 and the two second blocking members 52 lock the joint 1 and the instrument part 2 more securely.

[0068] It is worth noting that the structure of the second clamping member 51 is the same as that of the first clamping member 41, and the structure of the second blocking member 52 is the same as that of the first blocking member 42, which will not be described again here.

[0069] In one embodiment, after the connecting part 1 and the instrument part 2 are aligned, the connecting part 1 is pulled upward without pulling the second clamping member 51 outward. The torque generated by the force F2 at the second buckle 522 will further tighten the connecting part 1 and the instrument part 2, thereby preventing the connecting part 1 and the instrument part 2 from loosening under force. Figure 7 As shown, in Figure 7 In the example, O is the center of rotation of the force.

[0070] Existing joining devices have complex structures, and disassembly and reassembly are extremely inconvenient, time-consuming, and labor-intensive after the joining device is installed with the instrument part 2 and the drive part 3. To solve the above problems, the surgical robot joining device of the present invention also includes an unlocking part 6. Figure 8 This is a schematic diagram of the unlocking mechanism in this invention. (See attached diagram.) Figure 1 and Figure 8 As shown, in one embodiment, the unlocking part 6 includes a button 61 movably disposed on the instrument part 2, a rocker arm 62, and a rotating rod 63. The rocker arm 62 is rotatably disposed within the instrument part 2 via the rotating rod 63, and one end of the rocker arm 62 is hinged to the button 61. The other end of the rocker arm 62 is disposed between the second clamping plate 511 and the second blocking plate 521. When the button 61 is pressed into the instrument part 2, the rocker arm 62 rotates around the rotating rod 63 and pushes the second clamping plate 511 away from the second blocking plate 521, so that the second latch 522 disengages from the second slot 512. After the second latch 522 disengages from the second slot 512, the unlocking process is completed. That is, at this time, by pushing the instrument part 2 upward, the separation of the instrument part 2 from the connecting part 1 can be completed.

[0071] The unlocking part 6 in this embodiment is used to unlock and disassemble the instrument part 2 and the connecting part 1. Furthermore, the unlocking part 6 has a reasonable structural design and is simple to operate, achieving time-saving, labor-saving, and convenient operation during actual unlocking.

[0072] Figure 9 This is a schematic diagram of the force structure for unlocking the joint and driving part in this invention; see reference. Figure 9As shown, after the instrument part 2 and the connecting part 1 are separated, the two second clamping plates 511 are pressed inward (which can be understood as the direction indicated by the arrow). The upper ends of the two second clamping plates 511 are brought together by force, and the left and right sides of the connecting part 1 are bent upward by force. The deformation of the connecting part 1 will cause the two first clamping plates 411 to move away from each other, thereby disengaging from the first blocking plate 421 and the first buckle 422, and unlocking is achieved. At this time, the disassembly and assembly of the connecting part 1 and the driving part 3 can be completed.

[0073] In one embodiment, the unlocking part 6 further includes a reset part. Preferably, the reset part can be understood as a reset spring or an elastic rod, but is not limited to the reset spring or elastic rod. The two ends of the reset part are respectively fixedly connected to the button 61 (which can be understood as fixed to the right end of the button 61) and the inner wall of the instrument part 2.

[0074] Figure 10 This is a schematic diagram of the joint structure in this invention. Figure 11 This is a schematic diagram of the assembly structure of the joint in this invention; see reference. Figure 10 and Figure 11 As shown, the joint 1 includes a transition reinforcing plate 11, a transition top plate 12 and a transition bottom plate 13 respectively disposed on opposite sides of the transition reinforcing plate 11, a spring pin 14, an identification pin 15, a first transition plate 16 and a second transition plate 17, wherein:

[0075] The spring pin 14 is disposed between the base plate 13 and the top plate 12, and both ends of the spring pin 14 are respectively connected to the base plate 13 and the top plate 12.

[0076] The identification pin 15 is movably disposed within the cavity formed by the base plate 13 and the top plate 12;

[0077] The first adapter plate 16 is connected to the second adapter plate 17 and is movably disposed within a movable hole on the adapter base plate 13. It is worth noting that the first adapter plate 16 is only connected to the second adapter plate 17, such as... Figure 11 As shown. Preferably, the second adapter plate 17 and the first adapter plate 16 can be tightly connected by means of interference fit, welding, or bonding.

[0078] In one embodiment, the adapter reinforcement plate 11 is connected to the sterile bag 10, such as... Figure 12 As shown, preferably, the adapter reinforcing plate 11 and the sterile bag 10 can be connected by means of adhesive bonding, high-frequency heat sealing, ultrasonic welding, etc. In one embodiment, the joint 1 is part of the sterile bag 10, specifically including a sterile covering area and the joint 1.

[0079] Figure 13 This is a schematic diagram of the drive unit in the present invention. (See attached diagram.) Figure 13 As shown, the drive unit 3 includes a housing 31, a drive source (not shown, the drive source can be understood as a drive motor) disposed in the housing 31, and a turntable 32, wherein: the drive end of the drive source extends outside the housing 31; the turntable 32 is connected to the end of the drive end located outside the housing 31, and the turntable 32 is disposed toward the joint 1.

[0080] In one embodiment, the surgical robot engagement device further includes a magnetic suction portion 7, which includes a first magnetic suction member 71 and a second magnetic suction member 72; the first magnetic suction member 71 is disposed on the engagement portion 1, such as... Figure 2 As shown; the second magnetic member 72 is disposed on the driving part 3, and the first magnetic member 71 and the second magnetic member 72 are matched and disposed accordingly, as shown. Figure 13 As shown. Preferably, in one embodiment, both the first magnetic member 71 and the second magnetic member 72 can be magnets; in another embodiment, the first magnetic member 71 can be a galvanized cylinder and the second magnetic member 72 can be a magnet. Of course, the first magnetic member 71 and the second magnetic member 72 are not limited to the galvanized cylinder and the magnet.

[0081] When the drive unit 3 is installed with the connecting part 1, the turntable 32 will generate an upward thrust F3 on the connecting part 1. Since the combination of the first buckle 422 and the first slot 412 is not asymmetrically arranged with respect to the turntable 32, the fastening force F4 of the combination of the first buckle 422 and the first slot 412 is not on the same straight line as the thrust F3, causing the connecting part 1 to deflect. To solve the above problem, a magnetic attraction force F5 is added to the left of the thrust F3 through the magnetic attraction part 7. The sum of the magnetic attraction force F5 and the fastening force F4 balances the thrust F3, preventing the connecting part 1 from deflecting when subjected to the thrust F3. The presence of the magnetic attraction force F5 also improves the feel of installation and disassembly. Figure 14 As shown.

[0082] Figure 15 This is a schematic diagram of the structure of the first and second docking parts in the present invention when they are not in a docking state. (See attached diagram.) Figure 15As shown, the surgical robot coupling device further includes a positioning unit 8 for docking the turntable 32 with the second adapter plate 17. The positioning unit 8 includes N first docking members 81 disposed on the turntable 32 and M second docking members 82 disposed on the second adapter plate 17. N and M are both positive integers, and both N and M are at least two. When the turntable 32 and the second adapter plate 17 are installed, the turntable 32 is driven to rotate to achieve docking of the first docking members 81 and the second docking members 82. The positioning unit 8 enables docking between the turntable 32 and the second adapter plate 17.

[0083] In one embodiment, two opposing first docking members 81 are symmetrically arranged on the turntable 32, and two opposing second docking members 82 are symmetrically arranged on the second adapter plate 17. The first docking members 81 and second docking members 82 are matched. In this embodiment, when the second docking member 82 is not aligned with the first docking member 81, rotating the turntable 32 will allow the first docking member 81 to dock with the second docking member 82. In this embodiment, when the turntable 32 rotates 360°, the first docking member 81 and the second docking member 82 can achieve two dockings.

[0084] To ensure that the second docking member 82 and the first docking member 81 can only dock once when the turntable 32 rotates 360°, in one embodiment, the N first docking members 81 are arranged around the center line of the turntable 32, wherein the distances from the center of two opposing first docking members 81 to the center line of the turntable 32 are different (this can be understood as the distance from the center of the left first docking member 81 to the center line of the turntable 32 being L1, and the distance from the center of the right first docking member 81 to the center line of the turntable 32 being L2, and L1 and L2 are not equal); M second docking members 82 are arranged around the center line of the second transition plate 17, wherein the distances from the center of two opposing second docking members 82 to the center line of the second transition plate 17 are different. It is worth noting that the positions of the two opposing second docking members 82 and the two opposing first docking members 81 are matched, such as... Figure 15 As shown. In this state, the turntable 32 rotates 360° so that the second docking member 82 and the first docking member 81 can only dock once. Preferably, the number of the first docking members 81 is at least two, and the number of the second docking members 82 is also set to two.

[0085] It is worth noting that a larger difference between L1 and L2 is more conducive to docking, and a larger diameter of the turntable 32 also results in a larger difference between L1 and L2. This leads to a smaller transfer force when the transmitted torque is the same, which is more conducive to ensuring the structural strength of the pins. Simultaneously, it also facilitates the docking of the turntable 32 and the second adapter 17. In use, when the first docking member 81 and the second docking member 82 are in... Figure 15 When in the docking state shown, rotating the turntable 32 will cause the first docking member 81 disposed on it to rotate. When the first docking member 81 rotates 180°, the two opposite first docking members 81 and the two opposite second docking members 82 are aligned, completing the docking process.

[0086] In one embodiment, both the first docking member 81 and the second docking member 82 are grooves or pins. When the first docking member 81 is a groove, the second docking member 82 is a pin, or when the first docking member 81 is a pin, the second docking member 82 is a groove. The docking of the turntable 32 and the second adapter plate 17 is achieved through the cooperation of the groove and the pin.

[0087] In actual use, the rotation of the turntable 32 is controlled by the drive source. However, the existing drive source cannot achieve 360° rotation, that is, it can only rotate a maximum of 165° in one direction. Thus, when the drive source rotates the turntable 32, it cannot achieve a 180° rotation, and therefore cannot accurately achieve docking between the second adapter plate 17 and the turntable 32. That is, there is a so-called docking blind zone. When the pin falls into the docking blind zone, no matter how the drive source rotates, it cannot dock the second adapter plate 17 and the turntable 32.

[0088] To address the aforementioned issues, in one embodiment, the surgical robot engagement device further includes a compensation unit 9. Figure 16 This is a schematic diagram of the structure of the contacting member and the guiding member cooperating in this invention. Figure 17 This is a bottom view of the adapter base plate in this invention. (See attached diagram) Figure 16 and Figure 17 As shown, the compensation part 9 includes an abutting member 91 disposed on the second adapter plate 17 and a guide member 92 disposed on the adapter base plate 13, wherein when the first docking member 81 is the abutting member 91, the second docking member 82 is the guide member 92.

[0089] In one embodiment, the guide member 92 includes a boss 93 having a first end 931 and a second end 932, and an inclined surface 933 disposed between the first end 931 (which can be understood as the upper end) and the second end 932 (which can be understood as the lower end). During the rotation of the turntable 32, the abutment member 91 moves towards the second end 932. When the abutment member 91 stops at the inclined surface 933, the inclined surface 933 guides the abutment member 91 to move towards the second end 932, such as... Figure 16 As shown. Preferably, the guide member 92 is located in the middle of the groove, and the guide member 92 has an isosceles triangular structure, with the two isosceles sides of the isosceles triangle forming the inclined surface 933, as shown. Figure 17 As shown.

[0090] In one embodiment, the abutment 91 is an abutment post and an abutment rod, but is not limited to the abutment post and abutment rod. Preferably, the front view of the abutment post and abutment rod is an inverted triangular structure, or the lower end is a rounded structure. This arrangement can achieve better guiding effect and prevent the equipment from getting stuck.

[0091] In use, after the turntable 32 and the second adapter plate 17 are docked, the contact member 91 and the guide member 92 have two contact situations. One situation is that the contact member 91 does not contact the guide member 92, that is, the contact member 91 rests on the bottom wall of the groove. In this case, the friction between the turntable 32 and the second adapter plate 17, the friction between the second adapter plate 17 and the adapter base plate 13, and the component force of the inclined surface 933 preventing the contact member 91 from climbing can ensure that the second adapter plate 17 remains within a stable docking area, that is, maintaining the connection between the turntable 32 and the second adapter plate 17. The two adapter plates 17 can be successfully connected within the rotation angle of the drive motor; another situation is that the contact member 91 falls on the inclined surface 933. In this case, the friction between the turntable 32 and the second adapter plate 17 is much greater than the directional friction between the inclined surface 933 and the second adapter plate 17. Therefore, guided by the inclined surface 933, the second adapter plate 17 will rotate through the contact member 91 until the contact member 91 disengages from the inclined surface 933 and moves to the bottom wall of the groove, thereby achieving the connection between the turntable 32 and the second adapter plate 17 through self-adjustment.

[0092] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the invention as set forth in the claims. Furthermore, the invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. A surgical robot coupling device, characterized in that, It includes a connecting portion, a device portion and a driving portion disposed on opposite sides of the connecting portion, and a first locking portion and a second locking portion, wherein: The first locking part is disposed between the engaging part and the driving part. The first locking part includes a first clamping member disposed on the engaging part and a first blocking member disposed on the driving part. When the engaging part and the driving part are engaged, the first clamping member moves to the outside of the first blocking member so that the engaging part and the driving part can achieve self-locking. The second locking part is disposed between the connecting part and the instrument part. The second locking part includes a second clamping member disposed on the connecting part and a second blocking member disposed on the instrument part. When the connecting part and the instrument part are connected, the second clamping member moves to the outside of the second blocking member so that the connecting part and the instrument part can achieve self-locking. The joint includes a transition reinforcement plate, a transition top plate and a transition bottom plate respectively disposed on opposite sides of the transition reinforcement plate, a spring pin, an identification pin, and a first transition plate and a second transition plate, wherein: The spring pin is disposed between the base plate and the top plate of the adapter, and both ends of the spring pin are respectively connected to the base plate and the top plate of the adapter; The identification pin is movably located within the cavity formed by the base plate and the top plate of the adapter; The first adapter plate is connected to the second adapter plate and is movably disposed in the movable hole on the adapter base plate.

2. The surgical robot coupling device according to claim 1, characterized in that, The first clamping member includes a first clamping plate and a first slot formed on the first clamping plate; the first blocking member includes a first blocking plate and a first buckle provided on the first blocking plate. When the engaging part is connected to the driving part, the first blocking plate enters the first slot from the inside with the first buckle.

3. The surgical robot coupling device according to claim 1, characterized in that, The second clamping member includes a second clamping plate and a second slot formed on the second clamping plate; the second blocking member includes a second blocking plate and a second buckle provided on the second blocking plate. When the engaging part is connected with the instrument part, the second blocking plate enters the second slot from the inside with the second buckle.

4. The surgical robot coupling device according to claim 3, characterized in that, It also includes an unlocking mechanism, which comprises a button movably mounted on the instrument unit, a push rocker, and a rotating lever. The push rocker is rotatably mounted inside the instrument section via the rotating rod, and one end of the push rocker is hinged to the button. The other end of the push rocker is located between the second clamping plate and the second blocking plate. When the button is pressed into the instrument section, the push rocker rotates around the rotating rod and pushes the second clamping plate away from the second blocking plate, so that the second buckle disengages from the second slot.

5. The surgical robot coupling device according to claim 1, characterized in that, The drive unit includes a housing, a drive source disposed within the housing, and a turntable, wherein: The drive end of the drive source extends outside the housing; The turntable is connected to the end of the drive end located outside the housing, and the turntable is positioned towards the joint.

6. The surgical robot coupling device according to claim 5, characterized in that, It also includes a magnetic suction part, which includes a first magnetic suction member and a second magnetic suction member; The first magnetic suction element is disposed on the joint portion; The second magnetic attractor is disposed on the driving part, and the first magnetic attractor and the second magnetic attractor are matched and disposed.

7. The surgical robot coupling device according to claim 5, characterized in that, It also includes a positioning part for docking the turntable and the second adapter plate. The positioning part includes N first docking parts disposed on the turntable and M second docking parts disposed on the second adapter plate. N and M are both positive integers and both N and M are at least 2. When the turntable and the second adapter plate are installed, the turntable is driven to rotate to realize the docking of the first docking parts and the second docking parts.

8. The surgical robot coupling device according to claim 7, characterized in that, N first docking members are arranged around the center line of the turntable, wherein the centers of two opposite first docking members are at different distances from the center line of the turntable; M second docking members are arranged around the center line of the second transfer plate, wherein the centers of two opposite second docking members are at different distances from the center line of the second transfer plate.

9. The surgical robot coupling device according to claim 8, characterized in that, Both the first and second mating parts are grooves or pins, wherein when the first mating part is a groove, the second mating part is a pin.

10. The surgical robot coupling device according to claim 8, characterized in that, It also includes a compensation part, which includes an abutting member disposed on the first docking member or the second docking member, and a guiding member disposed on the first docking member or the second docking member, wherein when the first docking member is an abutting member, the second docking member is a guiding member.

11. The surgical robot coupling device according to claim 10, characterized in that, The guide member includes a boss having a first end and a second end, and an inclined surface disposed between the first end and the second end. When the abutting member abuts against the inclined surface, the inclined surface guides the abutting member to move toward the second end.

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