Adapter, surgical instrument mounting assembly and surgical robot

Abstract

The present 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 to be detachably connected to a drive seat. The adapter includes a base plate and a movable part. A second connecting part is provided on the base plate. When the first connecting part is configured to be in a connected position, the first connecting part is detachably connected to the second connecting part. When the first connecting part is configured to be in a separated position, the first connecting part is separated from the second connecting part, and the movable part is rotatably connected to the base plate. The movable part can push the first connecting part to switch from the connected position to the separated position. The present invention reduces the structural complexity inside the drive seat, reduces the difficulty of designing and assembling the drive seat, and also ensures the safety of the operation.

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. They consist of a surgeon's control unit and a patient's operating unit. The patient's operating unit includes a surgical instrument mounting assembly for mounting surgical instruments. During surgery, the surgeon controls the instruments using a joystick on the surgeon's control unit.

[0003] The surgical instrument mounting assembly includes an adapter and a driver base, which is mounted on the surgical arm at the patient's surgical site. The adapter is used to connect to a sterile bag. The adapter is positioned between the driver base and the surgical instrument's instrument case and is removably connected to both. In prior art, such as the surgical instrument and its range of motion control method disclosed in Chinese Patent CN116687471A, the adapter and driver base are typically removably connected using a latch and a latch. The adapter is provided with a latch, and the driver base has a corresponding latch. The driver base is provided with a button that, when pressed by the operator, releases the latch. The driver base houses a driver and electronic components for actuating the surgical instrument to perform the surgical operation. The placement of a button on the driver base complicates the internal structure of the driver base, requiring a large space for the button to operate. This makes it difficult to arrange the driver, electronic components, and other components within the driver base, increasing the design and assembly complexity of the driver base and hindering its miniaturization. This increases the likelihood of interference between the surgical arms during surgery, compromising surgical safety.

[0004] Based on this, there is an urgent need for an adapter, a surgical instrument mounting assembly and a surgical robot to solve the problems mentioned above. 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 drive seat, and a first connecting member is movably provided on the drive seat, and the first connecting member has a connection position and a separation position, including a base plate and a movable member, and a second connecting member is provided on the base plate. When the first connecting member is configured to be in the connection 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 separation 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 connection position to the separation 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. The pressing part is provided with a pressing surface for an operator to press on the side opposite to the middle of the substrate.

[0009] As an optional technical solution of the adapter, the first connecting member is configured so that when it is in the connected 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 axial intervals along 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 for the adapter, the stop portion is provided with a channel, the channel penetrating the side wall of the stop portion facing the movable member, the adapter further comprising a sliding member disposed within the channel, the sliding member being provided with a contact inclined surface on a side facing the middle of the base plate, the contact inclined surface being inclined from an end away from the movable member toward a direction closer to the middle of the base plate;

[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 can drive the first connecting member to switch from the connecting position to the disconnecting position through the pressing portion.

[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 connection position for detachably connecting to the second connecting member and a separation position for separating from the second connecting member.

[0015] As an optional technical solution for the 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 drive 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 includes 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. The movable part can push the first connecting part to switch from the connected position to the separated position, 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 convenient 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 holding 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 inside the drive seat, and reduces the space occupied in the drive seat, making it convenient to arrange drive parts, electronic devices and other structures in the drive seat, reducing the design and assembly difficulty of the surgical instrument mounting assembly, and facilitating the miniaturization of the surgical instrument mounting assembly. It also reduces the possibility of interference between the holding arms 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 interference between the robotic arms during the operation, thereby ensuring the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a structural diagram 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 the connected position;

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

[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 Example 1 of the present invention;

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

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

[0030] Figure 9 This is a partial structural diagram of a surgical instrument installation assembly provided in Example 1 of the present invention;

[0031] Figure 10 is a schematic structural diagram of an adapter provided in Embodiment 2 of the present invention;

[0032] Figure 11 yes Figure 10 sectional view of

[0033] Figure 12 is a schematic structural diagram of an adapter provided in Embodiment 3 of the present invention;

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

[0035] In the picture:

[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. Intermediate part; 35. Rotating shaft;

[0038] 4. Driving seat; 41. Slide groove;

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

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

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

[0042] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

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

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

[0046] Example 1

[0047] This embodiment provides a surgical robot. The surgical robot includes a surgeon's control terminal and a patient's surgical terminal. The patient's surgical terminal includes a surgical instrument mounting assembly. The surgical instrument mounting assembly is used to mount surgical instruments. During surgery, the surgeon controls the surgical instruments using a control handle on the surgeon's control terminal.

[0048] like Figures 1-9 As shown, the surgical instrument mounting assembly includes a drive seat 4 and an adapter, wherein the drive seat 4 is detachably connected to the adapter. Specifically, a first connecting member 1 is movably provided on the drive seat 4, and the first connecting member 1 has a connection position for detachably connecting to the adapter and a separation position for separating 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 described here.

[0050] The adapter includes a base plate 5 and a movable member 3. A second connector 2 is provided on the base plate 5. When the first connector 1 is in the connected position, the first connector 1 is detachably connected to the second connector 2. When the first connector 1 is in the disconnected position, the first connector 1 and the second connector 2 are disconnected. The movable member 3 is rotatably connected to the base plate 5. When the first connector 1 is in the connected position, the movable member 3 can push the first connector 1 away from the second connector 2 to disconnect the first connector 1 and the second connector 2, thereby switching the first connector 1 from the connected position to the disconnected 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, 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 the driving parts, electronic devices and other structures in the drive seat 4, reducing the design and assembly difficulty of the drive seat 4, and is conducive to the miniaturization of 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 inside the drive seat 4, and reduces the space occupied in the drive seat 4, making it convenient to arrange drive parts, electronic devices and other structures in the drive seat 4, reducing the design and assembly difficulty of the surgical instrument mounting assembly, and is conducive to the miniaturization of the surgical instrument mounting assembly. It also reduces the possibility of interference between the holding arms during the operation, thereby ensuring the safety of the operation.

[0053] The surgical robot provided in this embodiment includes the above-mentioned surgical instrument mounting assembly, which realizes the miniaturization of the surgical instrument mounting assembly, reduces the possibility of interference between the robotic arms during the operation, and ensures 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. The latching protrusion 11 can be extended 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 drive 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 bayonet hole 21 is provided on the second connecting member 2 . The bayonet hole 21 passes through the second connecting member 2 .

[0056] For ease of description, a first direction, a second direction, and a third direction are defined. 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 along the thickness direction of the base plate 5. Among them, the detachable connection structure between the adapter and the instrument box can refer to the existing technology, which is not the focus of protection of this embodiment and will not be repeated here.

[0058] In this embodiment, a first connector 1 is provided on either side of the drive base 4 along the second direction. Correspondingly, the adapter includes two second connectors 2, one corresponding to each of the two first connectors 1. The two second connectors 2 are provided on either side of the base plate 5 along the second direction. It will be appreciated that two movable members 3 are also provided, one on either side of the base plate 5 along the second direction.

[0059] Furthermore, each movable member 3 is located on one side of the base plate 5. 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. 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 places the movable member 3 close to the edge of the base plate 5, facilitating the operator's pressing operation and improving the convenience of operation. At the same time, it also allows the first connecting member 1 and the second connecting member 2 to be close to the edge of the surgical instrument mounting assembly, facilitating the avoidance of the transmission structure of the adapter located in the middle of the base plate 5 and the drive member and other structures in the drive seat 4. This facilitates the arrangement of the drive member, electronic components, and other structures in the drive seat 4, reduces the difficulty of designing and assembling the drive seat 4, and facilitates the miniaturization of the drive seat 4.

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

[0061] In this embodiment, according to the description above, 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 the adapter needs to be disassembled, 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 protruding therefrom. The plurality of ridges can increase the friction of the pressing surface 311 and prevent the operator's fingers from falling off 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 parallel to 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 provided with a rotating shaft 35 protruding on both sides along the first direction, and the axis of the rotating shaft 35 extends along the first direction. The above arrangement can arrange the pressing portion 31 and the push portion 33 on the same side of the rotating shaft 35 in 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 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 arranged in the middle of the middle portion 34, and the pressing portion 31 and the pushing portion 33 are respectively arranged 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 arranged between the two second connecting parts 2, and the two first connecting parts 1 are arranged on the side of the two second connecting parts 2 opposite to each other; the direction of the rotating shaft 35 can also be along other directions, which are not limited here.

[0067] As a preferred embodiment, when the first connector 1 is in the connected position, the push portion 33 contacts the first connector 1, and the second end of the pressing portion 31 is tilted away from the middle of the base plate 5. That is, the second end of the pressing portion 31 is tilted toward the outside of the base plate 5, making it easier for the operator to press, further improving operational convenience.

[0068] Specifically, the base plate 5 includes a first connecting plate 51 and a second connecting plate 52, which 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 snap or other structure. The separate arrangement of the first connecting plate 51 and the second connecting plate 52 facilitates the sandwiching of 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 arranged toward the driving seat 4, and the second connecting plate 52 is arranged toward the instrument box. The second connecting member 2 is protruding from the first connecting plate 51.

[0070] Preferably, a groove 511 is defined on the first end surface of the first connecting plate 51. The depth and width of the groove 511 are the same as the diameter of the rotating shaft 35. The rotating shaft 35 is positioned within the groove 511. The second connecting plate 52 is snugly mounted on the first end surface to confine the rotating shaft 35 within the groove 511, thereby achieving rotational connection of the movable member 3 to the base plate 5. When the first connecting plate 51 and the second connecting plate 52 are engaged and installed, the movable member 3 is simultaneously confined to the base plate 5 and the movable member 3 and the base plate 5 are rotationally connected, simplifying the installation process of the adapter and the surgical instrument mounting assembly.

[0071] A receiving groove 512 is also provided on the first end face. 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 grooves 511 are provided on both side walls of the receiving groove 512 that are opposite to each other along the first direction. The above arrangement allows the connection portion 32 of the movable part 3 to be placed in the receiving groove 512 when the operator presses the movable part 3 to move the first connecting part 1 from the connection position to the separation position, and the middle portion 34 of the movable part 3 is attached to the side wall of the base plate 5, which can limit the rotation angle of the movable part 3 and also avoid the contact between the edges on the base plate 5 and the movable part 3, thereby ensuring the durability of the movable part 3, reducing the possibility of the movable part 3 breaking, improving the reliability of the surgical instrument mounting assembly during use, and allowing the adapter to be disassembled in time.

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

[0073] Furthermore, a sidewall of the second connecting plate 52 is provided with an escape groove 521, which is disposed opposite the receiving groove 512 and is used to escape the connection portion 32. The escape groove 521 extends along the thickness of the base plate 5. The escape groove 521 may or may not extend through the second connecting plate 52 along the thickness direction, without specific limitation.

[0074] As a preferred solution, the surgical instrument mounting assembly also includes a guide assembly 7, which includes a guide groove 71 and a guide member 72. A guide groove 71 is provided on one of the drive seat 4 and the first connecting member 1, and a 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 connected position and the disconnected position. By providing the guide assembly 7, the moving direction of the first connecting member 1 is limited, ensuring that the first connecting member 1 can switch between the connected position and the disconnected position, ensuring that the adapter and the drive seat 4 can be separated in time, improving the efficiency of assembly and disassembly, and ensuring 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 engagement and disengagement of the latching protrusion 11 into or out of the latching notch 21 is typically achieved by bending and elastically deforming an elastic arm on the first connector 1. The elastic arm is disposed along the thickness direction of the adapter base plate, and a protrusion is provided on one side of the elastic arm. In this embodiment, the two first connectors 1 are capable of linear movement along the second direction. Compared to utilizing the elastic deformation of the elastic arm to engage or disengage the latching protrusion 11 into or out of the latching notch 21, this embodiment utilizes linear movement of the first connector 1 to engage and disengage the latching protrusion 11 into or out of the latching notch 21. This improves the durability of the first connector 1, reduces the likelihood of damage to the first connector 1, and enhances the reliability of the surgical instrument mounting assembly during use. This allows for timely disassembly of the adapter, ensures smooth switching of the first connector 1 between the connected and disconnected positions, and ensures timely separation of the adapter from the drive seat 4. This improves assembly and disassembly efficiency and ensures a reliable connection between the adapter and the drive seat 4, thereby ensuring reliable installation of the surgical instrument and ensuring surgical safety.

[0076] In addition, when the elastic deformation of the elastic arm is used to achieve the insertion or disengagement of the latch 11 into or from the bayonet 21, before the adapter is installed on the drive seat 4, the movable part 3 rotates downward due to gravity until the middle part 34 is in contact with the side wall of the base plate 5, and the push portion 33 is placed in the bayonet 21. During the process of plugging and matching the adapter with the drive seat 4, the latch 11 needs to first move in a direction away from the movable part 3 until the latch 11 is directly opposite the bayonet 21, and under the elastic force of the elastic arm, the latch 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 latch 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 mounting assembly. In the prior art, a spring is usually provided to enable the movable part 3 to rotate until the push portion 33 is disengaged from the bayonet 21 to solve the above problem. In this embodiment, the linear movement of the first connecting member 1 is utilized to achieve 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 volume of the adapter, and realizing the miniaturization of the surgical instrument mounting assembly.

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

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

[0079] Furthermore, the surgical instrument mounting assembly includes a reset member 8. Reset member 8 is connected to the drive base 4 and the first connector 1 and is capable of moving the first connector 1 from a disconnected position to a connected position. The reset member 8 automatically resets the first connector 1 to the connected position, ensuring a secure connection between the adapter and the drive base 4, thus ensuring reliable installation of the surgical instrument and ensuring safe surgery. Its simple structure also simplifies 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 the 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 latch 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. 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] Example 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. Two stoppers 53 are provided at intervals along the axial direction of the rotating shaft 35. The two stoppers 53 form an accommodating space 531 relative to each other's side walls and the side wall of the base plate 5. When the first connecting member 1 is in the connected position, the movable member 3 is placed in the accommodating space 531. In other words, when the first connecting member 1 is in the connected 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, the accidental touching of the pressing portion 31 during operation, which causes the pressing of the first connecting member 1 to move from the connected position to the separated position, thereby causing the adapter to separate from the drive seat 4, is avoided. This ensures a reliable connection between the adapter and the drive seat 4, thus ensuring the reliable installation of the surgical instrument and the safety of the operation. In addition, the structure is simple.

[0085] In this embodiment, accommodating spaces 531 are provided on the sidewalls on both sides of the substrate 5 along the second direction.

[0086] Furthermore, a channel 54 is formed 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 a first direction. The adapter also includes a sliding member 6, which is placed in the channel 54. The sliding member 6 is provided with a contact bevel 61 on the side facing the middle of the base plate 5. The contact bevel 61 is inclined toward the middle of the base plate 5 from the end away from the movable member 3. When the first connecting member 1 is in the connected position, the sliding member 6 can slide out of the channel 54 along the first direction so that the contact bevel 61 contacts the pressing surface 311, and can drive the first connecting member 1 to switch from the connected position to the disconnected position through the pressing portion 31. The above arrangement increases the number of operating methods that can achieve the switching of the first connecting member 1 from the connected position to the disconnected position, which is convenient for the operator to choose to directly press the movable member 3 or toggle the sliding member 6 according to their own habits, thereby improving the comfort of operation. Moreover, on the basis of avoiding accidental contact with 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 passes through the side wall of the channel 54 and extends out of the stop portion 53 , so as to facilitate toggle by the operator.

[0088] Furthermore, an elastic member 63 is disposed within the channel 54. This elastic member 63 can return the slider 6 to its position within the channel 54, away from the movable member 3. The elastic member 63 is a tension spring and is disposed on the side of the slider 6 away from the movable member 3. The ends of the elastic member 63 are connected to the slider 6 and the inner wall of the channel 54, respectively. In other embodiments, the elastic member 63 can also be a compression spring or other elastic structure, which is not limited here.

[0089] Example 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 protruding from the side wall of the base plate 5, and the rotating shaft 35 is rotatably inserted into the connecting ear. The connecting ear is arranged 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. The pushing portion 33 is protruding from the side wall of the pressing portion 31 on the side opposite to the pressing surface. When the movable member 3 is required to push the latch protrusion 11, the movable member 3 can be rotated until the pushing portion 33 is directly opposite the latch 21 and pushes the first connecting member 1 from the connected position to the disconnected position. When the movable member 3 is no longer required to push the latch protrusion 11, the movable member 3 can be rotated until the pressing surface is in contact with the side wall of the base plate 5. This prevents the pressing portion 31 from accidentally touching the first connecting member 1 during operation, causing the first connecting member 1 to move from the connected position to the disconnected position, thereby causing the adapter to separate from the drive seat 4. This ensures a reliable connection between the adapter and the drive seat 4, thus ensuring the reliable installation of the surgical instrument and the safety of the operation. The structure is simple.

[0092] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. An adapter for detachably connecting to a drive seat, wherein the drive seat is provided with a first connecting member, the first connecting member having a connection position and a separation position, characterized in that: The invention comprises a base plate and a movable member, wherein the base plate is provided with a second connecting member, and when the first connecting member is configured to be in the connected 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 separated 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 connected position to the separated position; The movable member is located on one side of the base plate, and the movable member includes a pressing portion, a connecting portion, a pushing portion, an intermediate portion and a rotating shaft. The pushing portion is arranged in parallel with the connecting portion, and the intermediate portion is connected between the connecting portion and the pushing portion to form a U-shaped structure. The pressing portion is connected to a side of the intermediate portion away from the opening of the U-shaped structure. A pressing surface for an operator to press is provided on a side of the pressing portion opposite to the middle portion of the base plate. The rotating shaft is protruded from both sides of the connecting portion along the length direction of the base plate. The pushing portion is used to push the first connecting member. The first connecting member is located on a side of the second connecting member close to the middle portion of the base plate, and the movable member is located on a side of the second connecting member opposite to the middle portion of the base plate. The base plate includes a first connecting plate, a first end surface of the first connecting plate further defines a receiving groove, one end of the receiving groove along the width direction of the base plate passes through a side wall of the first connecting plate, and a side wall of the other end of the receiving groove defines a groove, the rotating shaft being disposed in the groove; When the first connecting member is configured to be in the connected position, the pushing portion contacts the first connecting member, and the end of the pressing portion away from the rotating shaft is inclined toward a direction away from the middle of the substrate. When the first connecting member is configured to be in the separated position, the connecting portion is placed in the accommodating groove, and the middle portion is in contact with the side wall of the substrate.

2. The adapter according to claim 1, wherein: A stopper is provided on the side wall of the substrate. Two stoppers are provided 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. The movable part is placed in the accommodating space.

3. The adapter according to claim 2, wherein: The stopper portion is provided with a channel, the channel penetrating a side wall of the stopper portion facing the movable member. The adapter further comprises a sliding member disposed in the channel. The sliding member is provided with a contact inclined surface on a side facing the middle of the base plate. The contact inclined surface is inclined at an end away from the movable member and toward the middle of the base plate. 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 can drive the first connecting member to switch from the connecting position to the disconnecting position through the pressing portion.

4. The adapter according to any one of claims 1 to 3, characterized in that: The base plate also includes a second connecting plate, a first end surface of the first connecting plate is provided with a groove, the depth and width of the groove are the same as the diameter of the rotating shaft, and the second connecting plate is fitted on the first end surface to confine the rotating shaft in the groove.

5. 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 4, 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.

6. The surgical instrument mounting assembly according to claim 5, wherein: The surgical instrument mounting assembly also includes a guide assembly, which includes a guide groove and a guide member. The guide groove is provided on one of the drive seat and the first connecting member, and the guide member is provided on the other. The guide groove extends toward the movable member, and the guide member is placed in the guide groove. The first connecting member can move along the guide groove relative to the drive seat so that the first connecting member can switch between the connected position and the separated position.

7. The surgical instrument mounting assembly according to claim 5, wherein: The surgical instrument mounting assembly further includes a reset member connected to the driving seat and the first connecting member, and the reset member is capable of moving the first connecting member from the separated position to the connected position.

8. A surgical robot, characterized in that Comprising a surgical instrument mounting assembly as described in any one of claims 5-7.

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