Adapter, surgical instrument mounting assembly and surgical robot

Abstract

The invention relates to the technical field of surgical robots, and discloses an adapter, a surgical instrument mounting assembly and a surgical robot. The adapter is used for being detachably connected with the driving base. The adapter comprises a base plate and a movable part, a second connecting part is arranged on the base plate, the first connecting part is detachably connected to the second connecting part when the first connecting part is configured to be located at the connecting position, the first connecting part is separated from the second connecting part when the first connecting part is configured to be located at the separating position, and the movable part is rotationally connected to the base plate. The movable piece can push the first connecting piece to be switched from the connecting position to the separating position. The internal structure complexity of the driving seat is reduced, the design and assembly difficulty of the driving seat is reduced, and the safety of an operation is also ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to an adapter, a surgical instrument mounting assembly and a surgical robot. Background Art

[0002] Surgical robots are widely used in the medical field. The surgical robot includes a doctor control end and a patient surgical end. The patient surgical end includes a surgical instrument mounting assembly for mounting surgical instruments. During surgery, the doctor controls the surgical instruments through the control handle of the doctor control end to perform the surgical operation.

[0003] The surgical instrument mounting assembly includes an adapter and a drive seat, and the drive seat is arranged on the instrument holding arm at the surgical end of the patient. The adapter is used to connect with a sterile bag. The adapter is arranged between the drive seat and the instrument box of the surgical instrument, and the adapter is detachably connected to the drive seat and the instrument box respectively. In the prior art, for example, a surgical instrument and a method for controlling the range of motion thereof disclosed in Chinese patent CN116687471A, the adapter and the drive seat are usually detachably connected by a hook and a bayonet. The adapter is provided with a bayonet, and the drive seat is correspondingly provided with a hook. A button is provided on the drive seat, and when the operator presses the button, the hook can be separated from the bayonet. A driving member and an electronic device for driving the surgical instrument to perform a surgical operation are arranged in the drive seat. The button is arranged on the drive seat, resulting in a complex structure inside the drive seat, and the space required for the button to move is large, which is not convenient for arranging structures such as the driving member and the electronic device in the drive seat, increasing the difficulty of designing and assembling the drive seat, and is not conducive to miniaturization of the drive seat, increasing the possibility of interference between the instrument holding arms during surgery, and affecting the safety of the surgery.

[0004] Based on this, there is an urgent need for an adapter, a surgical instrument mounting assembly and a surgical robot to solve the above-mentioned problems. Summary of the invention

[0005] The purpose of the present invention is to provide an adapter, a surgical instrument mounting assembly and a surgical robot to reduce the structural complexity inside the drive seat, reduce the difficulty of designing and assembling the drive seat, and ensure the safety of the operation.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] An adapter is used for detachable connection with a driving seat, wherein a first connecting member is movably provided on the driving seat, and the first connecting member has a connecting position and a separating position, and comprises a base plate and a movable member, wherein a second connecting member is provided on the base plate, and when the first connecting member is configured to be in the connecting position, the first connecting member is detachably connected to the second connecting member, and when the first connecting member is configured to be in the separating position, the first connecting member is separated from the second connecting member, and the movable member is rotatably connected to the base plate, and the movable member can push the first connecting member to switch from the connecting position to the separating position.

[0008] As an optional technical solution for the adapter, the movable part is placed on one side of the substrate, and the movable part includes a pressing part, a rotating shaft and a pushing part. The first end of the pressing part is connected to the rotating shaft and the second end away from the first end is connected to the pushing part. The rotating shaft is rotatably connected to the substrate, and the pushing part is used to push the first connecting part. A pressing surface for an operator to press is provided on the side of the pressing part opposite to the middle of the substrate.

[0009] As an optional technical solution of the adapter, when the first connecting member is in the connecting position, the pushing portion contacts the first connecting member, and the second end of the pressing portion is inclined in a direction away from the middle of the substrate.

[0010] As an optional technical solution for the adapter, a stop portion is provided on the side wall of the substrate, and two stop portions are provided at intervals along the axial direction of the rotating shaft. The two stop portions form an accommodating space relative to each other's side walls and the side walls of the substrate, and the movable part is placed in the accommodating space.

[0011] As an optional technical solution of the adapter, a channel is provided on the stopper, the channel passes through the side wall of the stopper facing the movable member, the adapter further comprises a sliding member, the sliding member is placed in the channel, a contact inclined surface is provided on the side of the sliding member facing the middle of the substrate, and the contact inclined surface is inclined at an end away from the movable member toward a direction close to the middle of the substrate;

[0012] When the first connecting member is configured to be in the connecting position, the sliding member can slide out of the channel so that the contact slope contacts the pressing surface, and the pressing portion can drive the first connecting member to switch from the connecting position to the separating position.

[0013] As an optional technical solution for the adapter, the base plate includes a first connecting plate and a second connecting plate, a groove is provided on the first end face of the first connecting plate, a rotating shaft is provided on the movable part, the depth and width of the groove are the same as the diameter of the rotating shaft, the rotating shaft is placed in the groove, and the second connecting plate is fittedly installed on the first end face to confine the rotating shaft within the groove.

[0014] A surgical instrument mounting assembly includes a drive seat and the adapter as described above, wherein the drive seat is movably provided with a first connecting member, the first connecting member having a connecting position for detachably connecting to the second connecting member and a separating position for separating from the second connecting member.

[0015] As an optional technical solution for a surgical instrument mounting assembly, the movable part is placed on one side of the substrate, the first connecting part is placed on the side of the movable part close to the middle of the substrate, the surgical instrument mounting assembly also includes a guide assembly, the guide assembly includes a guide groove and a guide part, the guide groove is provided on one of the driving seat and the first connecting part, and the guide part is provided on the other, the guide groove extends toward the movable part, the guide part is placed in the guide groove, and the first connecting part can move relative to the driving seat along the extension direction of the guide groove so that the first connecting part can switch between the connected position and the separated position.

[0016] As an optional technical solution of the surgical instrument mounting assembly, the surgical instrument mounting assembly further includes a reset member, which is connected to the driving seat and the first connecting member, and the reset member can move the first connecting member from the separated position to the connected position.

[0017] A surgical robot comprises the surgical instrument mounting assembly as described above.

[0018] Beneficial effects of the present invention:

[0019] The adapter provided by the present invention includes a base plate and a movable part, and the movable part can push the first connecting part to switch from the connected position to the separated position, thereby avoiding the need to set a button on the drive seat, reducing the structural complexity inside the drive seat, and reducing the space occupied in the drive seat, making it easier to arrange structures such as driving parts and electronic devices in the drive seat, reducing the difficulty of designing and assembling the drive seat, and facilitating the miniaturization of the drive seat. It also reduces the possibility of interference between the robotic arms during surgery, thereby ensuring the safety of the surgery.

[0020] The surgical instrument mounting assembly provided by the present invention includes the above-mentioned adapter, which avoids the need to set buttons on the drive seat, reduces the structural complexity of the internal drive seat, and reduces the space occupied in the drive seat, making it easy to arrange drive components, electronic devices and other structures in the drive seat, reducing the design and assembly difficulty of the surgical instrument mounting assembly, facilitating the miniaturization of the surgical instrument mounting assembly, and reducing the possibility of interference between the arm holders during surgery, thereby ensuring the safety of the surgery.

[0021] The surgical robot provided by the present invention includes the above-mentioned surgical instrument mounting assembly, which realizes the miniaturization of the drive seat and reduces the possibility of mutual interference between the robot arms during the operation, thereby ensuring the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the structure of a surgical instrument installation assembly provided in Embodiment 1 of the present invention;

[0023] Figure 2 is a cross-sectional view of the surgical instrument mounting assembly provided in the first embodiment of the present invention when the first connecting member is in a connected position;

[0024] Figure 3 yes Figure 2 A partial enlarged view of the middle A;

[0025] Figure 4 is a cross-sectional view of the surgical instrument mounting assembly provided in the first embodiment of the present invention when the first connecting member is in a separated position;

[0026] Figure 5 yes Figure 4 A partial enlarged view of point B in the middle;

[0027] Figure 6 is a structural schematic diagram of a first connecting plate provided in Embodiment 1 of the present invention;

[0028] Figure 7 is a schematic structural diagram of a second connecting plate provided in Embodiment 1 of the present invention;

[0029] Figure 8 is a schematic structural diagram of a movable part provided in Embodiment 1 of the present invention;

[0030] Fig. 9 It is a partial structural schematic diagram of a surgical instrument installation assembly provided in Embodiment 1 of the present invention;

[0031] Fig.10 is a schematic diagram of the structure of an adapter provided in Embodiment 2 of the present invention;

[0032] Fig.11 yes Fig.10 A cross-sectional view of

[0033] Fig.12 is a schematic diagram of the structure of an adapter provided in Embodiment 3 of the present invention;

[0034] Fig.13 It is a cross-sectional view of the adapter provided in the third embodiment of the present invention.

[0035] In the figure:

[0036] 1. first connecting member; 11. clamping protrusion; 12. limiting surface; 2. second connecting member; 21. bayonet;

[0037] 3. movable part; 31. pressing part; 311. pressing surface; 32. connecting part; 33. pushing part; 34. middle part; 35. rotating shaft;

[0038] 4. driving seat; 41. slideway;

[0039] 5. Base plate; 51. First connecting plate; 511. Groove; 512. Accommodating groove; 52. Second connecting plate; 521. Avoiding groove; 53. Stopper; 531. Accommodating space; 54. Channel;

[0040] 6. Sliding member; 61. Contact inclined surface; 62. Driving portion; 63. Elastic member;

[0041] 7. Guide assembly; 71. Guide groove; 72. Guide member; 8. Reset member. DETAILED DESCRIPTION

[0042] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0043] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0045] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0046] Embodiment 1

[0047] This embodiment provides a surgical robot. The surgical robot includes a doctor control end and a patient surgical end. The patient surgical end includes a surgical instrument mounting assembly. The surgical instrument mounting assembly is used to mount surgical instruments. During surgery, the doctor controls the surgical instruments to perform surgical operations through a control handle on the doctor control end.

[0048] like Figure 1-Figure 9 As shown, the surgical instrument mounting assembly includes a drive seat 4 and an adapter, and the drive seat 4 is detachably connected to the adapter. Specifically, a first connecting member 1 is movably arranged on the drive seat 4, and the first connecting member 1 has a connection position detachably connected to the adapter and a separation position separated from the adapter.

[0049] Among them, the other structures of the driving seat 4, the doctor's control end and the patient's surgical end can refer to the existing technology. They are not the protection focus of this embodiment and will not be repeated here.

[0050] The adapter includes a base plate 5 and a movable member 3. A second connecting member 2 is provided on the base plate 5. When the first connecting member 1 is in the connecting position, the first connecting member 1 is detachably connected to the second connecting member 2, and when the first connecting member 1 is in the separating position, the first connecting member 1 is separated from the second connecting member 2. The movable member 3 is rotatably connected to the base plate 5. When the first connecting member 1 is in the connecting position, the movable member 3 can push the first connecting member 1 to move away from the second connecting member 2, so that the first connecting member 1 is separated from the second connecting member 2, and the first connecting member 1 is switched from the connecting position to the separating position.

[0051] The adapter provided in this embodiment includes a base plate 5 and a movable part 3. The movable part 3 can push the first connecting part 1 to switch from the connected position to the separated position, thereby avoiding the need to set a button on the drive seat 4, reducing the structural complexity inside the drive seat 4, and reducing the space occupied in the drive seat 4. It is convenient to arrange structures such as driving parts and electronic devices in the drive seat 4, reducing the difficulty of designing and assembling the drive seat 4, and is conducive to miniaturizing the drive seat 4. It also reduces the possibility of interference between the robotic arms during the operation, thereby ensuring the safety of the operation.

[0052] The surgical instrument mounting assembly provided in this embodiment includes the above-mentioned adapter, which avoids the need to set buttons on the drive seat 4, reduces the structural complexity of the internal drive seat 4, and reduces the space occupied by the drive seat 4, making it easier to arrange drive components, electronic devices and other structures in the drive seat 4, thereby reducing the difficulty of designing and assembling the surgical instrument mounting assembly, facilitating the miniaturization of the surgical instrument mounting assembly, and reducing the possibility of interference between the arm holders during surgery, thereby ensuring the safety of the surgery.

[0053] The surgical robot provided in this embodiment includes the above-mentioned surgical instrument installation assembly, which realizes the miniaturization of the surgical instrument installation assembly and reduces the possibility of mutual interference between the robotic arms during the operation, thereby ensuring the safety of the operation.

[0054] Furthermore, a latching protrusion 11 is provided on one of the first connecting member 1 and the second connecting member 2, and a bayonet 21 is provided on the other, and the latching protrusion 11 can extend into or out of the bayonet 21, that is, the first connecting member 1 and the second connecting member 2 realize a detachable connection between the adapter and the driving seat 4 through the latching protrusion 11 and the bayonet 21.

[0055] In this embodiment, a locking protrusion 11 is provided on the first connecting member 1 , and a locking hole 21 is provided on the second connecting member 2 . The locking hole 21 passes through the second connecting member 2 .

[0056] For the convenience of description, a first direction, a second direction and a third direction are set. The first direction, the second direction and the third direction are perpendicular to each other. The first direction is the length direction of the substrate 5, the second direction is the width direction of the substrate 5, and the third direction is the thickness direction of the substrate 5.

[0057] When the surgical instrument is mounted on the surgical instrument mounting assembly, the instrument box and the drive seat 4 of the surgical instrument are respectively arranged on both sides of the substrate 5 along the thickness direction. Among them, the detachable connection structure between the adapter and the instrument box can refer to the prior art, which is not the focus of protection of this embodiment and will not be repeated here.

[0058] In this embodiment, the first connecting members 1 are respectively provided on both sides of the driving seat 4 along the second direction. Correspondingly, the adapter includes two second connecting members 2, which are arranged one-to-one with the two first connecting members 1, and the two second connecting members 2 are arranged on both sides of the substrate 5 along the second direction. It can be understood that two movable members 3 are also provided, and the two movable members 3 are arranged on both sides of the substrate 5 along the second direction.

[0059] Furthermore, each movable member 3 is located on one side of the base plate 5, and the movable member 3 includes a pressing portion 31, a rotating shaft 35, and a pushing portion 33. The first end of the pressing portion 31 is connected to the rotating shaft 35, and the second end away from the first end is connected to the pushing portion 33. The rotating shaft 35 is rotatably connected to the base plate 5, and the pushing portion 33 is used to push the first connecting member 1. The pressing portion 31 is provided with a pressing surface 311 for the operator to press on the side opposite to the middle of the base plate 5. The above arrangement makes the movable member 3 close to the edge of the base plate 5, which is convenient for the operator to perform the pressing operation and improves the convenience of operation; at the same time, it can also make the first connecting member 1 and the second connecting member 2 close to the edge of the surgical instrument mounting assembly, which is convenient for avoiding the transmission structure of the adapter located in the middle of the base plate 5 and the driving member and other structures in the driving seat 4, so as to facilitate the arrangement of the driving member, electronic devices and other structures in the driving seat 4, reduce the design and assembly difficulty of the driving seat 4, and facilitate the miniaturization of the driving seat 4.

[0060] The second connecting member 2 is protruding from one end of the substrate 5 for connecting with the drive seat 4. The second connecting member 2 is provided with a bayonet 21, and the bayonet 21 penetrates the second connecting member 2 along the second direction. The second connecting member 2 is at the edge of the substrate 5 along the second direction. The first connecting member 1 is located on the side of the second connecting member 2 close to the middle of the substrate 5, and the movable member 3 is located on the side of the second connecting member 2 opposite to the middle of the substrate 5, that is, the first connecting member 1 and the movable member 3 are respectively located on opposite sides of the second connecting member 2. When the clamping protrusion 11 is inserted from one end of the bayonet 21, the first connecting member 1 is in the connection position, and the operator presses the movable member 3, so that the push portion 33 can be inserted into the bayonet 21 from the other end of the bayonet 21 and push the clamping protrusion 11 out of the bayonet 21.

[0061] In this embodiment, according to the description in the foregoing, two second connecting members 2 are provided. The two first connecting members 1 are provided between the two second connecting members 2, and the two movable members 3 are respectively provided on the side of the two second connecting members 2 opposite to each other. It can be understood that the push portion 33 and the pressing surface 311 are respectively provided on the opposite sides of the pressing portion 31. The pressing surfaces 311 of the two pressing portions 31 are provided on the side of the two pressing portions 31 opposite to each other. When it is necessary to disassemble the adapter, the operator can use the index finger and thumb to press on the two pressing surfaces 311 respectively, and pinch them close to each other to achieve the disassembly of the adapter, which is simple to operate.

[0062] Preferably, the pressing surface 311 is provided with a plurality of ridges, which can increase the friction of the pressing surface 311 and prevent the operator's fingers from leaving the pressing surface 311, thereby facilitating timely removal of the adapter and improving efficiency.

[0063] Furthermore, the movable part 3 also includes an intermediate portion 34 and a connecting portion 32. The push portion 33 is arranged in parallel with the connecting portion 32, and the intermediate portion 34 is connected between the connecting portion 32 and the push portion 33 to form a U-shaped structure. The pressing portion 31 is connected to the intermediate portion 34, specifically, the pressing portion 31 is connected to the side of the intermediate portion 34 away from the opening of the U-shaped structure. The connecting portion 32 is protrudingly provided with a rotating shaft 35 on both sides along the first direction, and the axis of the rotating shaft 35 extends along the first direction. The above-mentioned arrangement can arrange the pressing portion 31 and the push portion 33 on the same side of the rotating shaft 35 along the radial direction, which is beneficial to reducing the volume of the movable part 3, thereby realizing the miniaturization of the surgical instrument mounting assembly, and also reducing the possibility of interference between the holding arms during the operation, thereby ensuring the safety of the operation.

[0064] Preferably, the width of the pressing portion 31 along the first direction is greater than the width of the middle portion 34 along the first direction, thereby increasing the area of ​​the pressing surface 311 , facilitating the pressing operation, and improving the operational convenience.

[0065] In this embodiment, the movable part 3 is made of plastic and is integrally formed.

[0066] In other embodiments, the connecting portion 32 may not be provided, and the rotating shaft 35 is directly connected to the middle portion 34. The rotating shaft 35 is provided in the middle of the middle portion 34, and the pressing portion 31 and the pushing portion 33 are respectively provided at the two ends of the middle portion 34 along the radial direction of the rotating shaft 35. At this time, the two movable parts 3 are respectively provided between the two second connecting parts 2, and the two first connecting parts 1 are provided on the side of the two second connecting parts 2 opposite to each other; the direction of the rotating shaft 35 may also be along other directions, which are not limited here.

[0067] As a preferred solution, when the first connector 1 is in the connection position, the push portion 33 contacts the first connector 1, and the second end of the pressing portion 31 is inclined in a direction away from the middle of the substrate 5. That is, the second end of the pressing portion 31 is inclined toward the outside of the substrate 5, which is convenient for the operator to press, further improving the convenience of operation.

[0068] Specifically, the base plate 5 includes a first connecting plate 51 and a second connecting plate 52, and the first connecting plate 51 and the second connecting plate 52 are stacked and connected along the thickness direction of the base plate 5. The first connecting plate 51 and the second connecting plate 52 are detachably connected by a buckle or other structure. The separate arrangement of the first connecting plate 51 and the second connecting plate 52 facilitates the realization of sandwiching the sterile cover between the first connecting plate 51 and the second connecting plate 52.

[0069] In this embodiment, the first connecting plate 51 is disposed toward the driving seat 4, and the second connecting plate 52 is disposed toward the instrument box. The first connecting plate 51 is protrudingly provided with a second connecting member 2.

[0070] Preferably, a groove 511 is provided on the first end surface of the first connecting plate 51, and the depth and width of the groove 511 are the same as the diameter of the rotating shaft 35. The rotating shaft 35 is placed in the groove 511, and the second connecting plate 52 is fitted on the first end surface to restrict the rotating shaft 35 in the groove 511, so as to realize the rotation connection of the movable part 3 to the base plate 5. When the first connecting plate 51 and the second connecting plate 52 are fitted, the movable part 3 can be restricted on the base plate 5 and the rotation connection between the movable part 3 and the base plate 5 can be realized at the same time, which simplifies the installation process of the adapter and the surgical instrument mounting assembly.

[0071] A receiving groove 512 is also provided on the first end surface, and one end of the receiving groove 512 along the second direction passes through the side wall of the first connecting plate 51, and a groove 511 is provided on the side wall of the other end of the receiving groove 512. It can be understood that the grooves 511 are provided on both of the two side walls of the receiving groove 512 that are opposite to each other along the first direction. The above arrangement enables the connection portion 32 of the moving part 3 to be placed in the receiving groove 512 when the operator presses the moving part 3 to move the first connecting part 1 from the connecting position to the separating position, and the middle portion 34 of the moving part 3 is attached to the side wall of the base plate 5, which can limit the rotation angle of the moving part 3, and also avoid the edges on the base plate 5 from contacting the moving part 3, thereby ensuring the durability of the moving part 3, reducing the possibility of the moving part 3 breaking, improving the reliability of the surgical instrument mounting assembly during use, and enabling the adapter to be disassembled in time.

[0072] In this embodiment, the accommodating groove 512 and the recess 511 are both disposed on a side of the first connecting plate 51 opposite to the second connecting member 2 .

[0073] Further, a sidewall of the second connecting plate 52 is provided with an escape groove 521, which is arranged opposite to the accommodating groove 512, and is used to escape the connecting portion 32. The escape groove 521 extends along the thickness direction of the substrate 5. The escape groove 521 may penetrate the second connecting plate 52 along the thickness direction, or may not penetrate the second connecting plate 52, without specific limitation.

[0074] As a preferred solution, the surgical instrument installation assembly also includes a guide assembly 7, which includes a guide groove 71 and a guide member 72. The guide groove 71 is provided on one of the drive seat 4 and the first connecting member 1, and the guide member 72 is provided on the other. The guide groove 71 extends toward the movable member 3, and the guide member 72 is placed in the guide groove 71. The first connecting member 1 can move relative to the drive seat 4 along the extension direction of the guide groove 71, so that the first connecting member 1 can switch between the connection position and the separation position. By setting the guide assembly 7, the movement direction of the first connecting member 1 is limited, which ensures that the first connecting member 1 can switch between the connection position and the separation position, ensures that the adapter and the drive seat 4 can be separated in time, improves the disassembly and assembly efficiency, and ensures the reliable connection between the adapter and the drive seat 4, thereby ensuring the reliable installation of the surgical instrument and the safety of the operation. In this embodiment, the guide groove 71 extends along the second direction, so that the first connecting member 1 moves linearly along the second direction.

[0075] In the prior art, the bending elastic deformation of the elastic arm on the first connecting member 1 is usually used to realize the clamping protrusion 11 to be clamped into or out of the clamping port 21, and the elastic arm is arranged along the thickness direction of the adapter substrate, and the clamping protrusion is arranged on one side of the elastic arm. In this embodiment, the two first connecting members 1 can move linearly along the second direction. Compared with the method of realizing the clamping protrusion 11 to be clamped into or out of the clamping port 21 by the elastic deformation of the elastic arm, this embodiment realizes the clamping protrusion 11 to approach and clamp into the clamping port 21 or the clamping protrusion 11 to be out of the clamping port 21 by the linear movement of the first connecting member 1, thereby improving the durability of the first connecting member 1, reducing the possibility of damage to the first connecting member 1, and improving the reliability of the surgical instrument installation assembly during use, so that the adapter can be disassembled in time, ensuring that the first connecting member 1 can be smoothly switched between the connection position and the separation position, ensuring that the adapter and the drive seat 4 can be separated in time, improving the disassembly efficiency, and ensuring the reliable connection between the adapter and the drive seat 4, thus ensuring the reliable installation of the surgical instrument and ensuring the safety of the operation.

[0076] In addition, when the elastic deformation of the elastic arm is used to realize the insertion or disengagement of the clamping protrusion 11 into or from the bayonet 21, before the adapter is installed with the drive seat 4, the movable part 3 rotates downward due to gravity until the middle part 34 is attached to the side wall of the substrate 5, and the push portion 33 is placed in the bayonet 21. In the process of plugging and matching the adapter with the drive seat 4, the clamping protrusion 11 needs to be moved in a direction away from the movable part 3 until the clamping protrusion 11 is directly opposite to the bayonet 21, and under the elastic force of the elastic arm, the clamping protrusion 11 enters the bayonet 21 and pushes the push portion 33 out of the bayonet 21. If the end of the push portion 33 extends out of the bayonet 21, the clamping protrusion 11 is easily stuck by the end of the push portion 33 before entering the bayonet 21, resulting in the inability to move smoothly to the connection position, affecting the assembly efficiency of the surgical instrument installation assembly. In the prior art, a spring that can rotate the movable part 3 until the push portion 33 is disengaged from the bayonet 21 is usually provided to solve the above problem. In the present embodiment, the linear movement of the first connecting member 1 is utilized to realize switching between the two positions, thereby avoiding the jamming of the latching protrusion 11 of the first connecting member 1 and the push portion 33, reducing the difficulty of assembling the surgical instrument mounting assembly, and also avoiding limiting the size of the push member 33 to the same length as the bayonet 21, thereby reducing the difficulty of designing the adapter; and further avoiding the need for a spring on the adapter to enable the movable member 3 to disengage from the bayonet 21, thereby simplifying the structure of the adapter, reducing the size of the adapter, and realizing the miniaturization of the surgical instrument mounting assembly.

[0077] In this embodiment, a slide groove 41 is formed on the side wall of the driving seat 4 . The slide groove 41 extends along the second direction. The first connecting member 1 is disposed in the slide groove 41 . The opening of the slide groove 41 is arranged opposite to the bayonet 21 .

[0078] In this embodiment, a guide groove 71 is provided on the first connecting member 1, and a guide member 72 is provided on the driving seat 4. The guide member 72 is protrudingly provided on the groove side wall of the sliding groove 41.

[0079] Furthermore, the surgical instrument installation assembly further includes a reset member 8. The reset member 8 is connected to the drive seat 4 and the first connection member 1, and the reset member 8 can move the first connection member 1 from the separation position to the connection position. By setting the reset member 8, the first connection member 1 can be automatically reset to the connection position, ensuring a reliable connection between the adapter and the drive seat 4, thus ensuring a reliable installation of the surgical instrument, ensuring the safety of the operation, and having a simple structure, which is also conducive to simplifying the operation process.

[0080] In this embodiment, the reset member 8 is a spring, and the two ends of the spring are respectively connected to the bottom surface of the slot 41 and the end surface of the first connecting member 1 opposite to one end of the second connecting member 2. In other embodiments, the reset member 8 can also be other structures, which are not limited here.

[0081] Preferably, the latching protrusion 11 is protrudingly arranged on the side of the first connecting member 1 facing the second connecting member 2, so that a limiting surface 12 is formed on the side of the first connecting member 1 facing the second connecting member 2, and when the first connecting member 1 is in the connected position, the limiting surface 12 is in contact with the second connecting member 2.

[0082] Embodiment 2

[0083] This embodiment provides an adapter, a surgical instrument mounting assembly and a surgical robot. The structure of this embodiment is basically the same as that of the first embodiment, with only some differences. This embodiment will not repeat the same structure.

[0084] like Figure 10-11 As shown, a stopper 53 is provided on the side wall of the base plate 5, and two stopper 53 are provided at intervals along the axial direction of the rotating shaft 35. The two stopper 53 are relative to each other's side walls and the side wall of the base plate 5 to form an accommodating space 531. When the first connecting member 1 is in the connecting position, the movable member 3 is placed in the accommodating space 531. That is to say, when the first connecting member 1 is in the connecting position, the distance between the second end of the pressing portion 31 and the side wall of the base plate 5 is less than or equal to the distance between the end of the stopper 53 away from the base plate 5 and the side wall of the base plate 5. Through the above arrangement, it is avoided that the pressing portion 31 is accidentally touched during the operation to press the first connecting member 1, so that the first connecting member 1 moves from the connecting position to the separating position, thereby causing the adapter to separate from the driving seat 4, thereby ensuring the reliable connection between the adapter and the driving seat 4, thus ensuring the reliable installation of the surgical instrument, ensuring the safety of the operation, and the structure is simple.

[0085] In this embodiment, accommodation spaces 531 are disposed on the side walls of the substrate 5 at both sides along the second direction.

[0086] Furthermore, a channel 54 is provided on the stopper 53, and the channel 54 passes through the side wall of the stopper 53 facing the movable member 3. The channel 54 extends along the first direction. The adapter also includes a sliding member 6, which is placed in the channel 54. A contact slope 61 is provided on the side of the sliding member 6 facing the middle of the substrate 5, and the end of the contact slope 61 away from the movable member 3 is inclined toward the direction close to the middle of the substrate 5. When the first connecting member 1 is in the connecting position, the sliding member 6 can slide out of the channel 54 along the first direction so that the contact slope 61 contacts the pressing surface 311, and can drive the first connecting member 1 to switch from the connecting position to the separating position through the pressing portion 31. The above-mentioned setting increases the operation methods that can realize the switching of the first connecting member 1 from the connecting position to the separating position, which is conducive to the operator to choose to directly press the movable member 3 or toggle the sliding member 6 according to his own habits, thereby improving the comfort of operation; and on the basis of avoiding accidental touching of the pressing portion 31 by setting the stopper 53, the convenience of operation is guaranteed.

[0087] In this embodiment, the sliding member 6 is provided with a toggle portion 62 , which penetrates the side wall of the channel 54 and extends out of the stopper portion 53 , so as to facilitate the operator to toggle.

[0088] Further, an elastic member 63 is disposed in the channel 54, and the elastic member 63 can restore the sliding member 6 to the position disposed in the channel 54, so as to be away from the movable member 3. The elastic member 63 is a tension spring, and is disposed on the side of the sliding member 6 away from the movable member 3. The two ends of the elastic member 63 are respectively connected to the sliding member 6 and the inner wall of the channel 54. In other embodiments, the elastic member 63 can also be a compression spring or other elastic structures, which are not limited here.

[0089] Embodiment 3

[0090] This embodiment provides an adapter, a surgical instrument mounting assembly and a surgical robot. The structure of this embodiment is basically the same as that of the first embodiment, with only some differences. This embodiment will not repeat the same structure.

[0091] like Figure 12-13 As shown, the rotating shaft 35 extends along the third direction. A connecting ear is protrudingly provided on the side wall of the substrate 5, and the rotating shaft 35 is rotatably provided through the connecting ear. The connecting ear is provided on one side of the second connecting member 2 along the first direction. The movable member 3 only includes a pressing portion 31 and a pushing portion 33, and the pushing portion 33 is protrudingly provided on the side wall of the pressing portion 31 opposite to the pressing surface. When the movable member 3 is required to push the card protrusion 11, the movable member 3 can be rotated to the pushing portion 33 facing the bayonet 21 and push the first connecting member 1 from the connecting position to the separating position. When the movable member 3 is not required to push the card protrusion 11, the movable member 3 can be rotated to the pressing surface to fit the side wall of the substrate 5, avoiding the accidental touching of the pressing portion 31 during the operation to press the first connecting member 1, so that the first connecting member 1 moves from the connecting position to the separating position, thereby causing the adapter to separate from the driving seat 4, ensuring the reliable connection between the adapter and the driving seat 4, and also ensuring the reliable installation of the surgical instrument, ensuring the safety of the operation, and the structure is simple.

[0092] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An adapter, used for detachable connection with a driving seat, wherein a first connecting member is movably provided on the driving seat, wherein the first connecting member has a connecting position and a separating position, and wherein: It includes a base plate and a movable part, the base plate is provided with a second connecting part, when the first connecting part is configured to be in the connecting position, the first connecting part is detachably connected to the second connecting part, when the first connecting part is configured to be in the separating position, the first connecting part is separated from the second connecting part, the movable part is rotatably connected to the base plate, and the movable part can push the first connecting part to switch from the connecting position to the separating position.

2. The adapter according to claim 1, characterized in that: The movable part is placed on one side of the substrate, and the movable part includes a pressing part, a rotating shaft and a pushing part. The first end of the pressing part is connected to the rotating shaft and the second end away from the first end is connected to the pushing part. The rotating shaft is rotatably connected to the substrate, and the pushing part is used to push the first connecting part. The pressing part is provided with a pressing surface for an operator to press on the side opposite to the middle of the substrate.

3. The adapter according to claim 2, characterized in that: The first connecting member is configured such that when the first connecting member is in the connecting position, the pushing portion contacts the first connecting member, and the second end of the pressing portion is inclined in a direction away from the middle of the substrate.

4. The adapter according to claim 3, characterized in that: A stopper is arranged on the side wall of the substrate, and two stoppers are arranged at intervals along the axial direction of the rotating shaft. The two stoppers, relative to each other's side walls and the side wall of the substrate, form an accommodating space, and the movable part is placed in the accommodating space.

5. The adapter according to claim 4, characterized in that: The stopper is provided with a channel, the channel passes through the side wall of the stopper facing the movable member, the adapter further comprises a sliding member, the sliding member is placed in the channel, a contact inclined surface is provided on the side of the sliding member facing the middle of the substrate, and the contact inclined surface is inclined at an end away from the movable member toward the direction close to the middle of the substrate; When the first connecting member is configured to be in the connecting position, the sliding member can slide out of the channel so that the contact slope contacts the pressing surface, and the pressing portion can drive the first connecting member to switch from the connecting position to the separating position.

6. The adapter according to any one of claims 1 to 5, characterized in that: The base plate includes a first connecting plate and a second connecting plate. A groove is formed on the first end surface of the first connecting plate. A rotating shaft is provided on the movable part. The depth and width of the groove are the same as the diameter of the rotating shaft. The rotating shaft is placed in the groove. The second connecting plate is fittedly mounted on the first end surface to confine the rotating shaft in the groove.

7. A surgical instrument mounting assembly, characterized in that: It comprises a driving seat and an adapter as claimed in any one of claims 1 to 6, wherein a first connecting member is movably provided on the driving seat, and the first connecting member has a connecting position for detachably connecting to the second connecting member and a separating position for separating from the second connecting member.

8. The surgical instrument mounting assembly according to claim 7, characterized in that: The movable part is placed on one side of the substrate, the first connecting part is placed on the side of the movable part close to the middle of the substrate, the surgical instrument mounting assembly also includes a guide assembly, the guide assembly includes a guide groove and a guide member, the guide groove is provided on one of the driving seat and the first connecting member, and the guide member is provided on the other, the guide groove extends toward the movable part, the guide member is placed in the guide groove, and the first connecting member can move along the guide groove relative to the driving seat so that the first connecting member can switch between the connected position and the separated position.

9. The surgical instrument mounting assembly according to claim 7, characterized in that: The surgical instrument mounting assembly further includes a reset member, which is connected to the driving seat and the first connecting member, and the reset member can move the first connecting member from the separated position to the connected position.

10. A surgical robot, characterized in that: Comprising a surgical instrument mounting assembly as described in any one of claims 7-9.

Images