Quick connecting device and surgical robot

Abstract

The disclosure relates to a quick-connect device for a surgical robot. The quick-connect device includes a first quick-connect assembly, a follower, and a second quick-connect assembly. The first quick-connect assembly is configured to connect with a robotic arm of a surgical robot. The follower is axially and circumferentially secured to the quick-connect assembly by the first quick-connect assembly, and the follower is configured to be connected to the surgical tool by the second quick-connect assembly. The invention further relates to a surgical robot which comprises the quick connecting device.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and in particular to a quick connection device and a surgical robot. Background Art

[0002] With the development of technology, doctors usually use surgical robots to perform surgical operations. Specifically, when a screw needs to be implanted in a patient's body, the doctor will use a surgical robot to locate the implanted screw. Compared with the traditional manual implantation method, the surgical robot implantation method has accurate positioning, simple operation, and less bleeding. Summary of the invention

[0003] Embodiments of the present disclosure provide a quick connection device and a surgical robot.

[0004] According to a first aspect of the present disclosure, a device is provided, comprising: a first quick-connect assembly configured to be connected to a robotic arm of a surgical robot; a follower, which is axially and circumferentially fixed by the first quick-connect assembly; and a second quick-connect assembly, which is configured to be connected to a surgical tool by the second quick-connect assembly.

[0005] Through the quick connection device of the disclosed embodiment, the robotic arm of the surgical robot can quickly connect to surgical tools such as nailers and taps, thereby improving surgical efficiency and allowing the surgical machine to be separated from the patient in an emergency.

[0006] In one embodiment, the first quick-connect assembly includes: a connecting joint, a proximal end of the connecting joint is connected to the robotic arm of the surgical robot, and a distal end of the connecting joint has a first axial through hole; a coupling having a second axial through hole, the distal end of the connecting joint and the proximal end of the coupling are connected to each other via a first fastener; and a screw assembly, the screw assembly includes a screw and a knob connected to the screw, and the screw assembly is configured to axially fix the follower.

[0007] In one embodiment, the connecting joint has a accommodating cavity, which is configured to accommodate a knob. The accommodating cavity is connected to the first axial through hole, and the knob is arranged at the proximal end of the screw rod. The screw rod passes through the first axial through hole and the distal end of the screw rod is located in the second axial through hole.

[0008] In one embodiment, the driven member includes: a driven shaft, which is threadedly connected to the screw.

[0009] Preferably, the internal thread at the proximal end of the driven shaft is locked with the external thread at the distal end of the screw rod via the second axial through hole.

[0010] Preferably, the driven shaft is provided with a receiving groove, and the wall of the driven shaft constituting the receiving groove has a through hole, the second quick connection assembly includes a locking knob sleeved on the driven shaft and a steel ball arranged in the through hole of the driven shaft, the locking knob is connected to the driven shaft by a thread, and the distal end of the receiving groove is used to install a connecting rod of a surgical tool, wherein when the connecting rod is inserted into the receiving groove, the locking knob is rotated to clamp the steel ball in a groove arranged on the connecting rod, thereby fixing the connecting rod.

[0011] Preferably, the quick connection device further comprises: a retaining ring, which is arranged on the driven shaft to limit the distal movement of the second quick connection assembly along the axial direction of the driven shaft.

[0012] Preferably, the connecting joint, the coupling, the screw assembly and the driven shaft are coaxially arranged.

[0013] Preferably, the proximal end of the driven shaft is provided with a flat key extending in the axial direction, and the second axial through hole includes a keyway extending in the axial direction, wherein before the proximal end of the driven shaft is threadedly connected with the distal end of the screw via the second axial through hole, the flat key enters the keyway, thereby preventing the driven shaft from radially rotating relative to the coupling.

[0014] In the above-mentioned embodiments, the surgical tool includes a stapler.

[0015] The present disclosure also provides a surgical robot, comprising the quick connection device in the above embodiment.

[0016] In one embodiment, the robotic arm includes a motion system, an insulating member and a connecting member, the motion system and the insulating member are connected via a second fastener, the insulating member and the connecting member are connected via a second fastener, and the distal end of the connecting member and the proximal end of the connecting joint are connected via a third fastener.

[0017] Preferably, one of the distal end of the connector and the proximal end of the connector is provided with a recess, the other of the distal end of the connector and the proximal end of the connector is provided with a boss, and the recess and the boss match each other so that the connector and the connector are coaxially connected.

[0018] Further details and advantages of the examples described in detail herein will become apparent from the following detailed description of the examples in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure.

[0020] Figure 1 is a schematic diagram of a mechanical arm equipped with a quick connection device and a nailer according to an embodiment of the present disclosure;

[0021] Figure 2 is a schematic diagram of a quick connection device according to an embodiment of the present disclosure;

[0022] Figure 3 is a schematic diagram of a quick connection device according to an embodiment of the present disclosure from another perspective;

[0023] Figure 4 is a schematic cross-sectional view of a quick-connect device according to an embodiment of the present disclosure, showing the proximal end of the connection connector;

[0024] Figure 5 is a schematic diagram of a mechanical arm of a surgical robot according to an embodiment of the present disclosure; and

[0025] Figure 6 is a schematic diagram of a surgical tool including a nailer and a screw according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0027] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present disclosure belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" and the like mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0028] The technical term "orthopedic surgery" in the present disclosure includes but is not limited to laminectomy, discectomy, vertebroplasty, discectomy, lamina lamina resection, lumbar fusion, etc. The ordinal numbers "first", "second", and "third" only indicate different components and do not limit the order.

[0029] In the embodiments of the present disclosure, the terms "proximal end" and "distal end" are relative to the physician operating the surgical robot. The term "proximal end" refers to the part of a component or structure close to the physician, and the term "distal end" refers to the part of a component or structure away from the physician.

[0030] During a surgical procedure performed by a physician using a surgical robot, it becomes critical to quickly remove the surgical robot from the patient when an emergency situation occurs that renders the robotic arm unable to move.

[0031] In order to solve the above technical problems, the present disclosure provides a quick connection device for a surgical robot, including a first quick connection assembly, a follower and a second quick connection assembly. The first quick connection assembly is configured to be connected to the robotic arm of the surgical robot. The follower is axially and circumferentially fixed by the first quick connection assembly 10. And the follower is configured to be connected to the surgical tool through the second quick connection assembly. The design of the quick connection device can enable the surgical machine to be detached from the patient when the robotic arm cannot move, and through the quick connection device of the embodiment of the present disclosure, the robotic arm of the surgical robot can quickly connect surgical tools such as nailers and taps, thereby improving surgical efficiency.

[0032] The present disclosure is described below through specific embodiments. In order to keep the following description of the embodiments of the present disclosure clear and concise, detailed descriptions of known functions and known components may be omitted. When any component of the embodiments of the present disclosure appears in more than one figure, the component may be represented by the same reference numeral in each figure.

[0033] Figure 1 Schematic diagram of a mechanical arm equipped with a quick connection device and a nailer according to an embodiment of the present disclosure. Figure 1 As shown, the robot arm 100, the quick connection device 200, the nailing device 300 and the screw 400 are connected in sequence. The robot arm 100 provides a torsional force for the quick connection device 200. The end of the quick connection device 200 can be connected to a variety of surgical tools, such as Figure 1 In one embodiment, the surgical tool may be a tap. It should be noted that the surgical tool is not limited to the nailing tool and tap described herein, and other surgical tools may also be used. When the robotic arm 100 rotates, the quick connection device 200 and the surgical tool are driven to rotate accordingly, thereby providing a torsional force for the screw 400 implantation process.

[0034] Figure 2 is a schematic diagram of a quick connection device 200 according to an embodiment of the present disclosure. Figure 3 FIG. 2 is a schematic diagram of a quick connection device 200 according to an embodiment of the present disclosure from another perspective, to illustrate the proximal end of the connection joint. Figure 4 FIG. 2 is a cross-sectional view of a quick connection device 200 according to an embodiment of the present disclosure. Figures 2 to 4 As shown, the quick connection device 200 includes a first quick connection assembly 10, a follower 20, and a second quick connection assembly 30. The first quick connection assembly 10 is configured to be connected to a robotic arm 100 of a surgical robot. The follower 20 is axially and circumferentially fixed by the first quick connection assembly 10, and the follower 20 is configured to be connected to a surgical tool by the second quick connection assembly 30. This will be described in detail below with reference to the accompanying drawings.

[0035] like Figure 2 and Figure 4 As shown, the first quick connection assembly 10 includes a connecting joint 210, a coupling 220 and a screw assembly 250. The proximal end of the connecting joint 210 is connected to the mechanical arm 100 of the surgical robot, and the distal end of the connecting joint 210 has a first axial through hole 213. The distal end of the connecting joint 210 is connected to the proximal end of the coupling 220 through a first fastener 240, and the coupling 220 has a second axial through hole 221. In one embodiment, a cylindrical protrusion having a first axial through hole 213 is provided at the proximal end of the connecting joint 210, and when the connecting joint 210 is connected to the coupling 220, the cylindrical protrusion can enter the second axial through hole 221, thereby limiting the radial movement of the connecting joint 210. Preferably, the outer diameter of the cylindrical protrusion is the same as the inner diameter of the second axial through hole. The first fastener 240 can be a connecting assembly with a fastening function. In one embodiment, the first fastener 240 can be a screw, such as Figure 1 As shown, other fasteners may also be used as long as they are firmly connected. In another embodiment, the first fastener 240 may be a bolt. In addition, the number of the first fasteners 240 is set according to actual needs. Figure 3 Two first fasteners 240 are provided. The screw assembly 250 includes a screw 252 and a knob 251 connected to the screw 252. In one embodiment, the knob 251 is detachably mounted on the end of the screw 252, for example, by a radial screw. In another embodiment, the knob 251 can be fixedly connected to the screw 252.

[0036] Continue to refer Figure 2 and Figure 4 The connecting joint 210 has a housing chamber 214, which is configured to accommodate a knob 251, and the housing chamber 214 is connected to the first axial through hole 213. The knob 251 is arranged at the proximal end of the screw 252, the screw 252 passes through the first axial through hole 213 and the distal end of the screw 252 is located in the second axial through hole 221. The driven member 20 includes a driven shaft 230, which is threadedly connected to the screw 252. Specifically, the internal thread of the proximal end of the driven shaft 230 is locked with the external thread of the distal end of the screw 252 via the second axial through hole 221. Therefore, the screw assembly 250 is configured to axially fix the driven member 20.

[0037] like Figure 4 As shown, the driven shaft 230 is provided with a receiving groove 235. In one embodiment, the receiving groove is a through hole, such as Figure 4 As shown. The wall of the driven shaft 230 forming the receiving groove 235 has a through hole 232, and the second quick connection assembly 30 includes a locking knob 231 sleeved on the driven shaft 230 and a steel ball 234 disposed in the through hole 232 of the driven shaft 230. The locking knob 231 is connected to the driven shaft 230 by threads, and the internal thread of the locking knob 231 is locked with the external thread of the driven shaft. The distal end of the receiving groove 235 is provided with a driving groove 233 (as shown in FIG. Figure 2 In one embodiment, the driving slot 233 may be a hexagonal driving slot (eg Figure 2 The driving groove 233 is used to install the connecting rod 310 of the surgical tool, wherein when the connecting rod 310 is inserted into the receiving groove 235, the steel ball 234 is stuck in the groove 312 set on the connecting rod 310 by rotating the locking knob 231, thereby fixing the movement of the connecting rod 310 in the axial direction. In one embodiment, the through holes 232 are evenly distributed on the circumference of the wall of the receiving groove 235, so that in the process of rotating the locking knob 231 to make the steel ball 234 stuck in the groove 312 set on the connecting rod 310, the force of the steel ball 234 on the groove 312 is evenly distributed, so that the connecting rod 310 is better fixed by the steel ball 234. In one embodiment, the number of through holes is set according to actual needs.

[0038] In one embodiment, the quick connection device further includes a retaining ring 232. The retaining ring 232 is disposed on the driven shaft 230 to limit the distal movement of the second quick connection assembly 30 along the axial direction of the driven shaft 230.

[0039] In one embodiment, the connection joint 210, the coupling 220, the screw assembly 250 and the driven shaft 230 are coaxially arranged. The coaxial arrangement can, on the one hand, facilitate the doctor to assemble and disassemble the quick connection device; on the other hand, the coaxial arrangement can enable the robot arm to better operate the surgical tool via the quick connection device.

[0040] In one embodiment, Figure 4As shown, the proximal end of the driven shaft 230 is provided with a flat key 236 extending in the axial direction, and the second axial through hole 221 includes a key groove 222 extending in the axial direction. Before the proximal end of the driven shaft 230 is threadedly connected with the distal end of the screw rod 252 via the second axial through hole 221, the flat key 236 can enter the key groove 222, so that the driven shaft 230 cannot rotate radially relative to the coupling 220. In addition, the key groove 222 and the flat key 236 have a guiding effect during the assembly process of the connecting joint 210 and the coupling 220, which facilitates the connection of the connecting joint 210 and the coupling 220.

[0041] As described above, the end of the quick-connect device 200 can be connected to a variety of surgical tools, such as Figure 1 The stapler shown. Figure 6 A schematic diagram of a surgical tool including a nailing device 300 and a screw 400 according to an embodiment of the present disclosure is provided. The nailing device 300 includes a connecting rod 310 and an outer sleeve 320. After the head of the nailing device 300 is inserted into the nail seat 410, the outer sleeve 320 is tightened, and the external thread on the outer sleeve 320 is locked with the internal thread on the nail seat 410, and the stopper presses the bottom of the nail seat or the head of the nail rod. At this time, the screw 400 to be implanted is tightly fixed at the end of the nailing device 300. After the screw 400 is implanted, the knob on the outer sleeve 320 is rotated, and the connecting rod can be separated from the screw seat.

[0042] Through the quick connection device of the disclosed embodiment, the mechanical arm of the surgical robot can quickly connect surgical tools such as nailers and taps, thereby improving surgical efficiency. Specifically, during the actual installation process, one end of the surgical tool with the connecting rod 310 is inserted into the driving groove 233 of the driven shaft 230, and then the locking knob 231 is rotated so that the locking knob 231 presses the steel ball 234 to clamp the steel ball 234 on the groove of the connecting rod, thereby fixing the surgical tool on the quick connection device.

[0043] In addition, doctors need to rely on internal system software and external power support to perform surgical operations with the help of surgical robots. If the system software encounters a fault or the system loses power, the surgical robot will suspend the current surgical operation, and the doctor will not be able to continue the operation through the surgical robot in the short term. This has a great safety impact on the physical health of patients undergoing surgery. At this time, through the quick connection device of the embodiment of the present disclosure, the doctor can remove the first quick connection assembly 10, the second quick connection assembly 30, and the follower 20 in sequence, so that the surgical machine can be separated from the patient as soon as possible. It should be noted that the specific structure of the first quick connection assembly 10 and the second quick connection assembly 30 described herein is not limited to the quick connection structure mentioned above, and it only needs to meet the quick connection function.

[0044] The specific operation is as follows: remove the two screws on the coupling 220, drag the coupling 220 toward the nailing device 300; then rotate the knob 251 to disconnect the driven shaft 230 from the connecting joint 210. At this point, the quick connection device 200 has been separated from the end face of the driven shaft 230, the robotic arm trolley can be pushed away, and then the locking knob 231 can be rotated to remove the driven shaft 230, leaving only the nailing device 300. At this time, the manual handle can be used to connect the nailing device 300 to complete the nailing according to the doctor's requirements, or the nailing device 300 can be directly removed.

[0045] The present disclosure further provides a surgical robot, comprising the quick connection device 200 of the above various embodiments. Figure 5 It is a schematic diagram of the robotic arm of the surgical robot according to an embodiment of the present disclosure. The robotic arm 100 includes a motion system 110, an insulating member 120 and a connecting member 130. The motion system 110 and the insulating member 120 are connected via a second fastener 140. The insulating member 120 and the connecting member 130 are connected via a second fastener 140. The distal end of the connecting member 130 and the proximal end of the connecting joint 210 are connected via a third fastener 260. The "second fastener 140" and "third fastener 260" here may be connecting components with a fastening function, which may be screws or bolts. In addition, the number of the second fastener 140 and the third fastener 260 is set according to actual needs. Figure 4 Two third fasteners 260 are provided.

[0046] In one embodiment, a positioning hole 132 is disposed at the distal end of the connector 130, and a positioning pin 211 is disposed at the proximal end of the connector. Figure 2 and Figure 5 As shown. The positioning hole 132 is matched with the positioning pin 211, so that the positioning of the connecting joint and the connecting piece of the robot arm is more accurate, thereby saving assembly time. The number of the positioning hole 132 and the positioning pin 211 can be set according to actual needs. Preferably, the number of the positioning hole 132 and the positioning pin 211 are both 1, as shown in FIG. Figure 2 and Figure 5 shown.

[0047] In one embodiment, a recess is provided at the distal end of the connector 130, a boss 212 is provided at the proximal end of the connector 210, and the recess matches the boss 212 so that the connector 130 and the connector 210 are coaxially connected. In another embodiment, the boss 212 may be provided at the distal end of the connector 130, and the recess may be provided at the proximal end of the connector 210.

[0048] During a surgical operation performed by a doctor using a surgical robot, when an emergency situation occurs and the robotic arm cannot move, it becomes critical to quickly separate the surgical robot from the patient. In order to solve the above technical problems, the present disclosure provides a quick connection device for a surgical robot. Through the quick connection device of the embodiment of the present disclosure, the robotic arm of the surgical robot can quickly connect to surgical tools such as nailers and taps, thereby improving the efficiency of the operation and separating the surgical robot from the patient in an emergency.

[0049] Although examples of the present disclosure are provided in the foregoing description, those skilled in the art may modify and change these examples without departing from the scope and spirit of the present disclosure. For example, it should be understood that the features of the embodiments herein may be applicable to other embodiments described herein. Therefore, the description is intended to illustrate rather than to limit. The disclosure is defined by the appended claims, and all changes to the disclosure within the meaning and equivalent scope of the claims will be included within their scope.

Claims

1. A quick connection device for a surgical robot, characterized in that: include: A first quick connection assembly, configured to be connected to a robotic arm of the surgical robot; a follower, the follower being axially and circumferentially secured by the first quick connect assembly; as well as A second quick-connect assembly, wherein the follower is configured to be connected to a surgical tool via the second quick-connect assembly.

2. The quick connection device according to claim 1, characterized in that: The first quick connection assembly comprises: A connecting joint, the proximal end of which is connected to the mechanical arm of the surgical robot, and the distal end of which has a first axial through hole; a coupling having a second axial through hole, wherein the distal end of the connecting joint is connected to the proximal end of the coupling via a first fastener; and The screw assembly comprises a screw and a knob connected to the screw, and the screw assembly is configured to axially fix the follower.

3. The quick connection device according to claim 2, characterized in that: The connecting joint has a accommodating cavity, which is configured to accommodate the knob. The accommodating cavity is connected to the first axial through hole. The knob is arranged at the proximal end of the screw rod. The screw rod passes through the first axial through hole and the distal end of the screw rod is located in the second axial through hole.

4. The quick connection device according to claim 2, characterized in that: The driven member comprises: A driven shaft is threadedly connected to the screw rod.

5. The quick connection device according to claim 4, characterized in that: The internal thread at the proximal end of the driven shaft is locked with the external thread at the distal end of the screw rod via the second axial through hole.

6. The quick connection device according to claim 4, characterized in that: The driven shaft is provided with a receiving groove, and the wall of the driven shaft constituting the receiving groove has a through hole, the second quick connection assembly includes a locking knob sleeved on the driven shaft and a steel ball arranged in the through hole of the driven shaft, the locking knob is connected to the driven shaft by a thread, and the distal end of the receiving groove is used to install the connecting rod of the surgical tool, wherein when the connecting rod is inserted into the receiving groove, the locking knob is rotated to clamp the steel ball in the groove set on the connecting rod, thereby fixing the connecting rod.

7. The quick connection device according to claim 4, characterized in that: Also includes: A retaining ring is disposed on the driven shaft to limit the distal movement of the second quick-connect assembly along the axial direction of the driven shaft.

8. The quick connection device according to claim 4, characterized in that: The connecting joint, the coupling, the screw assembly and the driven shaft are coaxially arranged.

9. The quick connection device according to claim 4, characterized in that: The proximal end of the driven shaft is provided with a flat key extending in the axial direction, and the second axial through hole includes a keyway extending in the axial direction, wherein before the proximal end of the driven shaft is threadedly connected with the distal end of the screw rod via the second axial through hole, the flat key enters the keyway, thereby preventing the driven shaft from radially rotating relative to the coupling.

10. The quick connection device according to any one of claims 1 to 9, characterized in that: The surgical tool comprises a stapler.

11. A surgical robot comprising the quick connection device according to any one of claims 1-10.

12. The surgical robot according to claim 11, characterized in that: The robotic arm includes a motion system, an insulating member and a connecting member. The motion system and the insulating member are connected via a second fastener, the insulating member and the connecting member are connected via a second fastener, and the distal end of the connecting member and the proximal end of the connecting joint are connected via a third fastener.

13. The surgical robot according to claim 12, characterized in that: One of the distal end of the connector and the proximal end of the connector is provided with a recessed portion, and the other of the distal end of the connector and the proximal end of the connector is provided with a boss, and the recessed portion and the boss match each other so that the connector and the connector are coaxially connected.

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