Surgical robotic end instrument fixation device

Abstract

The application discloses a surgical robot terminal instrument fixing device, which comprises a mechanical arm connecting seat, a fixing sleeve and a locking ring connected in sequence; the other end of the mechanical arm connecting seat is fixed at the terminal end of a mechanical arm; the mechanical arm connecting seat comprises a first positioning interface; the fixing sleeve comprises a second positioning interface; a first positioning column in the first positioning interface is matched with a positioning hole of the second positioning interface, and is used for the rotational positioning of the mechanical arm connecting seat and the fixing sleeve; the locking ring comprises a third positioning interface, which is an elastic interface, and is used for providing coarse positioning and pre-tightening force for the connection of the fixing sleeve and the terminal instrument. Through the three positioning interfaces, fine positioning of the terminal instrument and the mechanical arm is realized, higher repeated positioning precision is provided under the premise of equivalent machining precision, and the convenience of installation and dismounting is considered. In addition, the non-threaded locking structure realizes quick locking of the terminal instrument at the terminal end of the mechanical arm, is more convenient for doctors to operate, and improves the operation efficiency.

Description

Technical Field

[0001] This invention belongs to the field of surgical robots, and specifically relates to a surgical robot end effector fixation device. Background Technology

[0002] Surgical robot positioning systems require stable and rapid connection and fixation of the end effector to the robotic arm. Currently, surgical robot end effectors are typically fixed using threads. However, since threaded structures lack precise positioning capabilities, it is difficult to guarantee the repeatability of end effector installation, which may affect the overall positioning accuracy of the surgical robot system.

[0003] In addition, some threaded structures require tools to achieve a safe and effective locking force, which makes it cumbersome for doctors to lock multiple threaded structures manually or with the help of tools during surgery.

[0004] Therefore, providing a surgical robot end-effector fixation device to achieve precise positioning, or further to achieve rapid locking of the end-effector at the end of the robotic arm, has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] To improve the above-mentioned technical problems, the present invention provides a surgical robot end effector fixing device, comprising a robotic arm connecting seat, a fixing sleeve and a locking ring connected in sequence;

[0006] The other end of the robotic arm connector is fixed to the end of the robotic arm;

[0007] The robotic arm connector includes a first positioning interface;

[0008] The fixed sleeve includes a second positioning interface, wherein the first positioning post in the first positioning interface matches the positioning hole of the second positioning interface for rotational positioning of the robotic arm connecting seat and the fixed sleeve.

[0009] The locking ring includes a third positioning interface, which is an elastic interface used to provide coarse positioning and pre-tightening force for the connection between the fixed sleeve and the end device.

[0010] According to an embodiment of the present invention, the number of the first positioning posts is at least two, for example, three, four or more.

[0011] According to an embodiment of the present invention, the first positioning interface has a unique orientation mark.

[0012] According to an embodiment of the present invention, the number of positioning holes of the second positioning interface is the same as the number of the first positioning pins.

[0013] According to an embodiment of the present invention, the robotic arm connecting seat further includes a locking knob, a locking shaft, and a locking block; the locking knob and the locking shaft are eccentrically fixedly connected, one end of the locking shaft passes through the locking block, and rotating the locking knob can drive the locking block to move axially through the locking shaft; the locking block has a labyrinth structure inside.

[0014] According to an embodiment of the present invention, the robotic arm connecting seat further includes a pressurizing part and a sealing part. The pressurizing part is enclosed in the labyrinth structure of the locking block by the sealing part, and the opening and locking of the pressurizing part is controlled by the rotation of the locking shaft.

[0015] According to an embodiment of the present invention, the pressurizing part is two pressurizing columns, and / or the sealing part is an annular structure.

[0016] According to an embodiment of the present invention, the center of the second positioning interface has a chamfered positioning shaft for rapid insertion and orientation of the intraoperative fixation sleeve.

[0017] According to an embodiment of the present invention, an arc groove is formed on the column of the positioning shaft, and the pressure part can move along the arc groove. When it moves to the end of the arc groove, it applies pressure to the positioning shaft, thereby locking in the depth direction and ensuring that the fixing sleeve does not come out.

[0018] According to an embodiment of the present invention, the fixing sleeve further includes a locking interface, and a second positioning post is provided in the locking interface.

[0019] According to an embodiment of the present invention, the number of the second positioning posts is at least two, for example, three or more.

[0020] According to an embodiment of the present invention, the third positioning interface is a rectangular positioning interface.

[0021] According to an embodiment of the present invention, the locking ring includes at least two labyrinth grooves and an elastic limiting ring. The labyrinth grooves cooperate with the second positioning post and the elastic limiting ring. During the rotation of the locking ring, the second positioning post moves along the labyrinth groove, thereby achieving axial locking and axial positioning.

[0022] According to an embodiment of the present invention, the number of the maze slots is the same as that of the second positioning posts.

[0023] According to an embodiment of the present invention, the end instrument can be a dental implant machine of different models.

[0024] According to a preferred embodiment of the present invention, the fixing device includes: a robotic arm connecting seat, a fixing sleeve and a locking ring connected in sequence, and the other end of the robotic arm connecting seat is fixed to the end of the robotic arm;

[0025] The robotic arm connector includes a first positioning interface, a locking knob, a locking shaft, a locking block, a pressure column, and a sealing ring;

[0026] The locking knob and the locking shaft are eccentrically fixedly connected. One end of the locking shaft passes through the locking block. Rotating the locking knob can drive the locking block to move axially through the locking shaft. The locking block has a labyrinth structure inside. The pressure column is sealed in the labyrinth structure of the locking block by a sealing ring. The opening and locking of the pressure column is controlled by rotating the locking shaft.

[0027] The fixed sleeve includes a second positioning interface and a locking interface; the first positioning post in the first positioning interface matches the positioning hole of the second positioning interface for rotational positioning of the robotic arm connecting seat and the fixed sleeve; the second positioning post is provided in the locking interface;

[0028] The second positioning interface has a chamfered positioning shaft at its center for quick insertion and orientation of the fixation sleeve during surgery; an arc groove is formed on the column of the positioning shaft, and the pressure column can move along the arc groove. When it moves to the end of the arc groove, it applies pressure to the positioning shaft, thereby locking in the depth direction and ensuring that the fixation sleeve does not come out.

[0029] The locking ring includes a third positioning interface, at least two labyrinth grooves, and an elastic limiting ring; the third positioning interface is a rectangular elastic interface used to provide coarse positioning and pre-tightening force for the connection of the fixed sleeve and the end device; the labyrinth groove cooperates with the second positioning post and the elastic limiting ring, and during the rotation of the locking ring, the second positioning post moves along the labyrinth groove, thereby achieving axial locking and axial positioning.

[0030] Beneficial effects

[0031] The surgical robot end effector fixing device provided by the present invention achieves precise positioning of the end effector and the robotic arm through three positioning interfaces, providing higher repeatability under the premise of equal processing precision, while taking into account the convenience of installation and disassembly.

[0032] Furthermore, the non-threaded locking structure enables rapid locking of the end effector at the end of the robotic arm, making it more convenient for doctors to operate and improving surgical efficiency. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of the fixing device;

[0034] Figure 2 This is a schematic cross-sectional view of the overall structure of the fixing device;

[0035] Figure 3 This is a schematic diagram of the disassembled structure of the robotic arm connector.

[0036] Figure 4 The diagram shows the structure of the fixed sleeve, where (a) is the structural diagram of the end connected to the robotic arm connecting seat, and (b) is the structural diagram of the end connected to the locking ring.

[0037] Figure 5 This is a schematic diagram of the locking ring structure;

[0038] Figure label:

[0039] 1-Robotic arm connector, 2-Fixing sleeve, 3-Locking ring, 4-End effector;

[0040] 11-First positioning interface, 12-Locking knob, 13-Locking shaft, 14-Locking block, 15-Pressure column, 16-Sealing ring, 17-First positioning column;

[0041] 21-Second positioning interface, 22-Locking interface, 23-Positioning hole, 24-Positioning shaft, 25-Arc groove, 26-Second positioning post;

[0042] 31-Maze groove, 32-Third positioning interface, 33-Elastic limit ring. Detailed Implementation

[0043] The technical solution of the present invention will be further described in detail below with reference to specific embodiments. It should be understood that the following embodiments are merely illustrative and explanatory of the present invention, and should not be construed as limiting the scope of protection of the present invention. All technologies implemented based on the above content of the present invention are covered within the scope of protection intended by the present invention.

[0044] like Figure 1-2 The surgical robot end effector fixing device shown includes a robotic arm connecting seat 1, a fixing sleeve 2 and a locking ring 3 connected in sequence, with the other end of the robotic arm connecting seat 1 fixed to the end of the robotic arm.

[0045] The robotic arm connector 1 includes a first positioning interface 11;

[0046] The fixed sleeve 2 includes a second positioning interface 21, and the first positioning post 17 in the first positioning interface 11 matches the positioning hole 23 of the second positioning interface 21 for rotational positioning of the robotic arm connecting seat 1 and the fixed sleeve 2.

[0047] The locking ring 3 includes a third positioning interface 32, which is a rectangular elastic interface used to provide coarse positioning and pre-tightening force for the connection between the fixed sleeve 2 and the end device 4.

[0048] Preferably, the number of positioning holes 23 of the second positioning interface is the same as the number of the first positioning posts 17, the number of the first positioning posts is at least two, for example, three, four or more, and the first positioning interface 11 has a unique orientation mark.

[0049] In one implementation scheme, such as Figure 3 The robotic arm connecting seat 1 also includes a locking knob 12, a locking shaft 13, a locking block 14, a pressure column 15, and a sealing ring 16. The locking knob 12 and the locking shaft 13 are eccentrically fixedly connected. One end of the locking shaft 13 passes through the locking block 14. Rotating the locking knob 12 can drive the locking block 14 to move axially through the locking shaft 13. The locking block 14 has a labyrinth structure inside. The pressure column 15 is enclosed in the labyrinth structure of the locking block 14 by the sealing ring 16. The opening and locking of the pressure column 15 is controlled by the rotation of the locking shaft 13.

[0050] Preferably, there are two pressure columns 15.

[0051] In one implementation scheme, such as Figure 4 The center of the second positioning interface 21 has a chamfered positioning shaft 24 for quick insertion and orientation of the intraoperative fixation sleeve;

[0052] An arc groove 25 is opened on the column of the positioning shaft 24. The pressure column 15 can move along the arc groove 25. When it moves to the end of the arc groove, it applies pressure to the positioning shaft 24, thereby locking in the depth direction and ensuring that the fixed sleeve does not come out.

[0053] The fixed sleeve also includes a locking interface 22, in which a second positioning post 26 is provided. The number of the second positioning posts is at least two, for example, three or more.

[0054] In one implementation scheme, such as Figure 5 The locking ring 3 also includes a labyrinth groove 31 and an elastic limiting ring 33. The labyrinth groove 31 cooperates with the second positioning post 26 and the elastic limiting ring 33. During the rotation of the locking ring 3, the second positioning post 26 moves along the labyrinth groove 31, thereby achieving axial locking and axial positioning.

[0055] The number of maze slots 31 is the same as that of the second positioning pins 26, for example, two.

[0056] The device of this invention eliminates the need for doctors to repeatedly tighten multiple turns of the thread. It only requires rotating the locking knob and locking ring (no more than 360° each time) to simultaneously lock the device in both the rotational and axial pulling directions, making it easier for doctors to operate and improving surgical efficiency.

[0057] The structure, which combines multiple positioning posts and guide designs, provides higher repeatability positioning accuracy under the premise of equal machining precision, while also taking into account the convenience of installation and disassembly.

[0058] By combining a rectangular positioning interface, a labyrinth groove, and an elastic limiting ring, coarse positioning, pre-locking, and precise positioning are integrated to effectively prevent instruments from falling off during intraoperative installation. At the same time, the elastic limiting ring can ensure that the instruments can be locked along the labyrinth groove within a certain depth range, expanding the compatibility of the front-end instruments.

[0059] In the description of this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. Unless otherwise expressly specified and limited, the terms "installation," "connection," "fixing," etc., should be interpreted broadly. For example, they may refer to a fixed connection, a detachable connection, or an integral part; they may refer to a direct connection or an indirect connection through an intermediate medium; they may refer to the internal communication of two elements or the interaction between two elements, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiments. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A surgical robot end effector fixation device, characterized in that, The fixing device includes a robotic arm connecting seat, a fixing sleeve, and a locking ring connected in sequence; The other end of the robotic arm connector is fixed to the end of the robotic arm; The robotic arm connector includes a first positioning interface, a locking knob, a locking shaft, a locking block, a pressurizing part, and a sealing part. The locking knob and the locking shaft are eccentrically fixedly connected. One end of the locking shaft passes through the locking block. Rotating the locking knob can drive the locking block to move axially through the locking shaft. The locking block has a labyrinth structure inside. The pressurizing part is enclosed in the labyrinth structure of the locking block by the sealing part. The opening and locking of the pressurizing part is controlled by the rotation of the locking shaft. The fixing sleeve includes a second positioning interface, the center of which has a chamfered positioning shaft for quick insertion and orientation of the fixing sleeve during surgery; an arc groove is formed on the column of the positioning shaft, and the pressure part can move along the arc groove. When it moves to the end of the arc groove, it applies pressure to the positioning shaft, thereby locking in the depth direction and ensuring that the fixing sleeve does not come out. The first positioning post in the first positioning interface matches the positioning hole in the second positioning interface for rotational positioning of the robotic arm connecting seat and the fixed sleeve. The locking ring includes a third positioning interface, which is an elastic interface used to provide coarse positioning and pre-tightening force for the connection between the fixed sleeve and the end device.

2. The fixing device according to claim 1, characterized in that, The number of the first positioning pins is at least two; And / or, the first positioning interface has a unique orientation identifier; And / or, the number of positioning holes in the second positioning interface is the same as the number of positioning posts in the first positioning interface.

3. The fixing device according to claim 1, characterized in that, The pressurizing part consists of two pressurizing columns, and / or the sealing part is a ring structure.

4. The fixing device according to claim 1, characterized in that, The fixed sleeve also includes a locking interface, and a second positioning post is provided in the locking interface.

5. The fixing device according to claim 4, characterized in that, The number of the second positioning posts is at least two.

6. The fixing device according to claim 1, characterized in that, The third positioning interface is a rectangular positioning interface.

7. The fixing device according to claim 4, characterized in that, The locking ring includes at least two labyrinth grooves and an elastic limiting ring. The labyrinth grooves cooperate with the second positioning post and the elastic limiting ring. During the rotation of the locking ring, the second positioning post moves along the labyrinth groove, thereby achieving axial locking and axial positioning.

8. The fixing device according to claim 7, characterized in that, The number of maze slots is the same as that of the second positioning post.

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