Quick release mechanism, surgical arm and surgical robot

Abstract

The invention relates to a quick release mechanism, a surgical arm and a surgical robot. The quick release mechanism comprises a first assembly part and a second assembly part, the second assembly part is in butt joint with the first assembly part; the preassembly structure is arranged on the second assembly part and is clamped with the first assembly part; the preassembly structure is used for preassembling the first assembly part and the second assembly part; and the fastener is fixedly connected with the first assembly part and the second assembly part. Therefore, when the first assembly part and the second assembly part are assembled, the pre-assembly structure can be clamped with the first assembly part, so that the first assembly part and the second assembly part are pre-assembled, then the first assembly part and the second assembly part are fixedly connected through the fastener, and the whole process does not need to be operated by multiple persons and only needs to be operated by one person; therefore, the assembly difficulty of the first assembly part and the second assembly part is reduced, and the assembly efficiency of the surgical arm and the surgical robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a quick-release mechanism, a surgical arm and a surgical robot. Background Art

[0002] Minimally invasive surgery has many advantages, such as small wounds, less bleeding, and fast recovery time. Minimally invasive abdominal surgery robots have received more and more attention and applications in modern medical surgery. Minimally invasive abdominal surgery robots perform surgical operations through surgical arms, which include adjustment arms and surgical actuators mounted on the adjustment arms. The surgical actuators enable endoscopes or surgical instruments to rotate and / or move linearly around a specific point to achieve real-time observation and treatment of lesions. However, the current surgical actuators and adjustment arms are relatively complex to assemble, resulting in low assembly efficiency of surgical robots. Summary of the invention

[0003] Based on this, the present application proposes a quick-release mechanism, a surgical arm and a surgical robot to address the problem of low assembly efficiency of current surgical robots.

[0004] In a first aspect, an embodiment of the present application provides a quick release mechanism, the quick release mechanism comprising:

[0005] First assembly parts;

[0006] a second assembly part docked with the first assembly part;

[0007] A preassembly structure, which is arranged on the second assembly part and is engaged with the first assembly part; the preassembly structure is used to preassemble the first assembly part and the second assembly part;

[0008] A fastener is used to fixedly connect the first assembly part and the second assembly part.

[0009] In one embodiment, the pre-assembly structure includes a clamping member, and the clamping member is rotatably disposed on the second assembly member to be clamped with the first assembly member.

[0010] In one of the embodiments, the pre-assembly structure further includes a force applying member, which applies a force to the clamping member to cause the clamping member to rotate in a clamping direction.

[0011] In one embodiment, the pre-assembled structure further comprises a connecting member, and the connecting member is connected to the second assembly member;

[0012] The connecting member is provided with a rotating shaft, one end of the clamping member is rotatably sleeved on the rotating shaft, and the other end of the clamping member is clamped with the first assembly member;

[0013] The force applying member is an elastic member, and the force applying member applies elastic force to the clamping member to make the clamping member rotate in a clamping direction.

[0014] In one embodiment, the force applying member is a torsion spring, and the body of the torsion spring is sleeved on the rotating shaft;

[0015] A first limiting portion is arranged at one end of the clamping member close to the rotating shaft, a second limiting portion opposite to the first limiting portion is arranged on the connecting member, and two ends of the torsion spring are clamped between the first limiting portion and the second limiting portion.

[0016] In one embodiment, a first clamping portion is provided at one end of the clamping member away from the rotating shaft, and a second clamping portion clamped with the first clamping portion is provided on the first assembly member;

[0017] A guide surface is also provided at one end of the clamping member away from the rotating shaft, and the guide surface is used to guide the docking of the first assembly member and the second assembly member.

[0018] In one embodiment, the quick release mechanism further includes an unlocking member, which is movably disposed on the first assembly member, and is used to apply a force to the clamping member to rotate the clamping member in an unlocking direction.

[0019] In one embodiment, the first assembly and the second assembly are constructed as hollow components having a hollow cavity;

[0020] The pre-assembly structure is arranged in the hollow cavity of the first assembly part and the hollow cavity of the second assembly part.

[0021] In one embodiment, a through hole is provided on the first assembly part, and the through hole penetrates from a side of the first assembly part close to the hollow cavity to a side of the first assembly part away from the hollow cavity;

[0022] The unlocking member comprises a rod body and a first anti-slipping portion and a second anti-slipping portion arranged at two ends of the rod body, wherein the first anti-slipping portion is arranged in the hollow cavity of the first assembly part, and the second anti-slipping portion is arranged on a side of the first assembly part away from the hollow cavity;

[0023] The orthographic projection of the first anti-slip portion on the first assembly part covers the inner contour of the through hole, and the orthographic projection of the second anti-slip portion on the first assembly part covers the inner contour of the through hole.

[0024] In one embodiment, the quick release mechanism further includes a second elastic member, one end of the second elastic member abuts against the first assembly member, and the other end of the second elastic member abuts against the second anti-detachment portion;

[0025] And / or, a side of the first assembly part away from the hollow cavity is provided with an avoidance groove, the through hole passes through the bottom of the avoidance groove, and the second anti-slip portion is located in the avoidance groove.

[0026] In one embodiment, a step groove is provided at one end of the second assembly part close to the first assembly part, and an end of the first assembly part close to the second assembly part is arranged in the step groove;

[0027] The quick release mechanism further includes a positioning pin, and the positioning pin is passed through the first assembly part and the second assembly part;

[0028] And / or, a first electrical connection structure is disposed in the hollow cavity of the first assembly part, a second electrical connection structure is disposed in the hollow cavity of the second assembly part, and the first electrical connection structure is electrically connected to the second electrical connection structure.

[0029] In a second aspect, an embodiment of the present application provides a surgical arm, which includes the quick-release mechanism of any embodiment in the first aspect.

[0030] In a third aspect, an embodiment of the present application provides a surgical robot, which includes the surgical arm in the second aspect.

[0031] The quick-release mechanism, surgical arm, and surgical robot provided in the embodiment of the present application are provided with a pre-assembly structure on the second assembly part, and the pre-assembly structure is engaged with the first assembly part. In this way, when assembling the first assembly part and the second assembly part, the pre-assembly structure can be engaged with the first assembly part, so that the first assembly part and the second assembly part are pre-assembled, and then the first assembly part and the second assembly part are fixedly connected by fasteners. The whole process does not require multiple people to operate, but only one person can operate, thereby reducing the difficulty of assembling the first assembly part and the second assembly part, which is conducive to improving the assembly efficiency of the surgical arm and the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A schematic diagram of the structure of the quick release mechanism provided in an embodiment of the present application.

[0034] Figure 2 for Figure 1 A perspective view of the quick release mechanism is shown.

[0035] Figure 3 for Figure 1 Exploded view of the quick release mechanism shown.

[0036] Figure 4 for Figure 1 Schematic diagram of the internal structure of the quick release mechanism shown.

[0037] Figure 5 for Figure 4 A partial enlarged view of part I.

[0038] Figure 6 for Figure 2 The schematic structural diagram of the pre-assembled structure of the quick-release mechanism is shown in the first viewing angle.

[0039] Figure 7 for Figure 2 The schematic structural diagram of the pre-assembled structure of the quick-release mechanism is shown in the second viewing angle.

[0040] Figure 8 for Figure 2 A schematic diagram of the assembly of a second assembly part of the quick release mechanism and a second electrical connection structure is shown.

[0041] Description of reference numerals:

[0042] 10. quick release mechanism; 11. first assembly part; 111. second clamping part; 112. through hole; 113. avoidance groove; 12. second assembly part; 121. step groove; 13. pre-assembly structure; 131. clamping part; 1311. first limiting part; 1312. first clamping part; 1313. guide surface; 132. force applying member; 133. connecting member; 1331. connecting part; 13311. avoidance gap; 1332. connecting plate; 134. second limiting part; 135. rotating shaft; 14. fastener; 15. unlocking member; 151. rod body; 152. first anti-slip part; 153. second anti-slip part; 16. second elastic member; 17. positioning pin; 181. first electrical connection structure; 182. first fixing plate; 191. second electrical connection structure; 192. second fixing plate. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0046] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0047] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0048] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0049] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, in this specification, the term "and / or" includes any and all combinations of the relevant listed items.

[0050] As described in the background technology, the surgical actuator and the adjustment arm are generally connected by screws. Since the surgical actuator is heavy, when assembling the surgical actuator and the adjustment arm, one person is required to lift the surgical actuator and align it with the connection interface of the adjustment arm, and another person uses a wrench to tighten the screws to fix the surgical actuator and the adjustment arm. During the assembly process, not only does the person who lifts the surgical actuator bear the weight, but it also requires two people to cooperate with each other to complete it, which results in the assembly of the surgical robot being more labor-intensive and inefficient.

[0051] The quick-release mechanism, surgical arm, and surgical robot provided in the embodiment of the present application are provided with a pre-assembly structure on the second assembly part, and the pre-assembly structure is engaged with the first assembly part. In this way, when assembling the first assembly part and the second assembly part, the pre-assembly structure can be engaged with the first assembly part, so that the first assembly part and the second assembly part are pre-assembled, and then the first assembly part and the second assembly part are fixedly connected by fasteners. The whole process does not require multiple people to operate, but only one person can operate, thereby reducing the difficulty of assembling the first assembly part and the second assembly part, which is conducive to improving the assembly efficiency of the surgical arm and the surgical robot.

[0052] First, refer to Figure 1 , Figure 2 and Figure 3 As shown, the embodiment of the present application provides a quick release mechanism 10, which can be used for a surgical arm. It should be noted that the quick release mechanism 10 refers to a mechanism that can be quickly disassembled and assembled.

[0053] Specifically, the quick release mechanism 10 includes a first assembly part 11 , a second assembly part 12 , a pre-assembly structure 13 and a fastener 14 .

[0054] The first assembly part 11 is connected to the second assembly part 12. The pre-assembly structure 13 is arranged on the second assembly part 12 and is connected to the first assembly part 11. The pre-assembly structure 13 is used to pre-assemble the first assembly part 11 and the second assembly part 12. The fastener 14 is used to fix the first assembly part 11 and the second assembly part 12.

[0055] In one example, the first assembly 11 may be an adjustment arm in a surgical arm, and the second assembly 12 may be a surgical implementation mechanism in the surgical arm.

[0056] The quick-release mechanism 10 provided in the embodiment of the present application is provided with a pre-assembly structure 13 on the second assembly part 12, and the pre-assembly structure 13 is engaged with the first assembly part 11. In this way, when assembling the first assembly part 11 and the second assembly part 12, the pre-assembly structure 13 can be engaged with the first assembly part 11, so as to pre-assemble the first assembly part 11 and the second assembly part 12. After the pre-assembly is completed, there is no need for a dedicated person to lift the second assembly part 12. Then, the operator can assemble the fastener 14 to fix the first assembly part 11 and the second assembly part 12. The whole process does not require multiple people to operate, but only one person is needed, thereby reducing the difficulty of assembling the first assembly part 11 and the second assembly part 12, which is not only conducive to improving the assembly efficiency of the surgical arm and the surgical robot, but also conducive to reducing labor costs.

[0057] In one embodiment, the pre-assembly structure 13 includes a clamping member 131 , which is rotatably disposed on the second assembly member 12 to be clamped with the first assembly member 11 .

[0058] In this way, it is convenient to engage the clamping member 131 with the first assembly member 11. For example, the clamping member 131 rotates clockwise around the rotation axis 135 to engage the clamping member 131 with the first assembly member 11, and the clamping member 131 rotates counterclockwise around the rotation axis 135 to disconnect the clamping member 131 from the first assembly member 11, that is, to unlock the two. Here, the clockwise rotation direction of the clamping member 131 is the engaging direction, and the counterclockwise rotation direction of the clamping member 131 is the unlocking direction.

[0059] In one embodiment, the pre-assembly structure 13 further includes a force applying member 132 , and the force applying member 132 applies a force to the clamping member 131 to rotate the clamping member 131 in a clamping direction.

[0060] In this way, the clamping member 131 is not easy to fall off from the first assembly member 11 , which is conducive to firmly clamping the clamping member 131 and the first assembly member 11 , thereby improving the assembly stability of the clamping member 131 and the first assembly member 11 .

[0061] In one embodiment, referring to Figure 4 , Figure 6 and Figure 7 As shown, the pre-assembly structure 13 further includes a connecting member 133, and the connecting member 133 is connected to the second assembly member 12. A rotating shaft 135 is provided on the connecting member 133, and one end of the clamping member 131 is rotatably sleeved on the rotating shaft 135, and the other end of the clamping member 131 is clamped with the first assembly member 11. A force applying member 132 is provided on the connecting member 133, and the force applying member 132 is an elastic member, and the force applying member 132 applies elastic force to the clamping member 131, so that the clamping member 131 rotates in the clamping direction.

[0062] In this way, when the pre-assembled structure 13 is assembled, it can be fixedly connected to the second assembly part 12 through the connecting piece 133 .

[0063] It should be noted that the force applying member 132 may be a rubber band, one end of which is connected to the clamping member 131 , and the other end of which is connected to the connecting member 133 . The rubber band applies tension to the clamping member 131 to rotate the clamping member 131 in the clamping direction.

[0064] Specifically, the connecting member 133 includes a connecting portion 1331 and two connecting plates 1332 arranged on one side of the connecting portion 1331. The two connecting plates 1332 are arranged at intervals from each other, the rotating shaft 135 passes through the two connecting plates 1332, and the clamping member 131 is arranged between the two connecting plates 1332. Furthermore, an avoidance notch 13311 is also provided on the connecting portion 1331. When the clamping member 131 is in a clamping state, the clamping member 131 is located in the avoidance notch 13311.

[0065] In one embodiment, referring to Figure 6 and Figure 7 As shown, the force applying member 132 is a torsion spring, and the body of the torsion spring is sleeved on the rotating shaft 135. A first limiting portion 1311 is provided at one end of the clamping member 131 close to the rotating shaft 135, and a second limiting portion 134 opposite to the first limiting portion 1311 is provided on the connecting member 133, and the two ends of the torsion spring are clamped between the first limiting portion 1311 and the second limiting portion 134. In one example, the first limiting portion 1311 can be a limiting groove. In one example, the second limiting portion 134 can be a limiting column, which is penetrated on the two connecting plates 1332.

[0066] By configuring the force applying member 132 as a torsion spring, on the one hand, the force applying effect of the force applying member 132 can be improved, and on the other hand, the assembly of the force applying member 132 can be facilitated.

[0067] It should be noted here that Figure 6 and Figure 7 The torsion spring is not disposed between the first limiting portion 1311 and the second limiting portion 134 .

[0068] In one embodiment, referring to Figure 5 As shown, the end of the clamping member 131 away from the rotating shaft 135 is provided with a first clamping portion 1312, and the first assembly part 11 is provided with a second clamping portion 111 that is clamped with the first clamping portion 1312. The end of the clamping member 131 away from the rotating shaft 135 is also provided with a guide surface 1313, and the guide surface 1313 is used to guide the docking of the first assembly part 11 and the second assembly part 12.

[0069] In this way, when the first assembly part 11 and the second assembly part 12 are docked, the guide surface 1313 can provide guidance to facilitate the assembly of the first assembly part 11 and the second assembly part 12 .

[0070] In one embodiment, referring to Figure 3 and Figure 5 As shown, the quick release mechanism 10 further includes an unlocking member 15 movably disposed on the first assembly member 11 . The unlocking member 15 is used to apply a force to the clamping member 131 to rotate the clamping member 131 in an unlocking direction.

[0071] In this way, when the quick-release mechanism 10 is disassembled, the pre-assembly structure 13 can be unlocked by the unlocking member 15 , thereby reducing the difficulty of unlocking the pre-assembly structure 13 .

[0072] In one embodiment, the first assembly part 11 and the second assembly part 12 are constructed as hollow components with a hollow cavity. The pre-assembly structure 13 is disposed in the hollow cavity of the first assembly part 11 and the hollow cavity of the second assembly part 12 .

[0073] By arranging the pre-assembled structure 13 in the hollow cavity, the pre-assembled structure 13 can be hidden, thereby improving the aesthetic appearance of the surgical arm.

[0074] It should be noted that the pre-assembly structure 13 may also be arranged on the outer surfaces of the first assembly part 11 and the second assembly part 12 .

[0075] In one embodiment, a through hole 112 is provided on the first assembly part 11, and the through hole 112 runs from the side of the first assembly part 11 close to the hollow cavity to the side of the first assembly part 11 away from the hollow cavity. The unlocking member 15 includes a rod body 151 and a first anti-slip portion 152 and a second anti-slip portion 153 provided at both ends of the rod body 151. The first anti-slip portion 152 is provided in the hollow cavity of the first assembly part 11, and the second anti-slip portion 153 is provided on the side of the first assembly part 11 away from the hollow cavity. The orthographic projection of the first anti-slip portion 152 on the first assembly part 11 covers the inner contour of the through hole 112, and the orthographic projection of the second anti-slip portion 153 on the first assembly part 11 covers the inner contour of the through hole 112.

[0076] It can also be understood that the two ends of the unlocking member 15 are “large end”, and the outer diameter of the large end is larger than the inner diameter of the through hole 112. In this way, the unlocking member 15 can be prevented from falling off from the through hole 112.

[0077] In the embodiment of the present application, when the pre-assembly structure 13 needs to be unlocked, the unlocking piece 15 is pressed, and the unlocking piece 15 moves toward the direction close to the hollow cavity. At the same time, the unlocking piece 15 pushes the clamping piece 131 open, so that the clamping piece 131 rotates in the unlocking direction. After the first clamping portion 1312 of the clamping piece 131 is disengaged from the second clamping portion 111, the pre-assembly structure 13 is unlocked.

[0078] In one example, the unlocking member 15 may be composed of two screws, wherein one screw is screwed into the end of the other screw, and the heads of the two screws constitute the first anti-detachment portion 152 and the second anti-detachment portion 153 of the unlocking member 15. In this way, when assembling the unlocking member 15, the unlocking member 15 can be assembled more conveniently.

[0079] In one embodiment, the quick release mechanism 10 further includes a second elastic member 16 , one end of the second elastic member 16 abuts against the first assembly member 11 , and the other end of the second elastic member 16 abuts against the second anti-detachment portion 153 .

[0080] In this way, when unlocking is not required, the elastic force of the second elastic member 16 can keep the unlocking member 15 in the "non-unlocking state". At the same time, when unlocking is required, the force applied to the unlocking member 15 must be greater than the elastic force of the second elastic member 16 to unlock the pre-assembly structure 13. In this way, misoperation can be reduced.

[0081] In one example, the through hole 112 is a stepped hole, and one end of the second elastic member 16 close to the hollow cavity abuts against a stepped surface of the stepped hole.

[0082] In one embodiment, a side of the first assembly part 11 away from the hollow cavity is provided with an avoidance groove 113 , the through hole 112 passes through the bottom of the avoidance groove 113 , and the second anti-slip portion 153 is located in the avoidance groove 113 .

[0083] In this way, the avoidance groove 113 can provide a space for accommodating the unlocking member 15, preventing the unlocking member 15 from extending out of the surface of the first assembly member 11, which not only avoids the unlocking member 15 from interfering with other components but also improves the appearance of the surgical arm.

[0084] In one embodiment, a step groove 121 is provided at one end of the second assembly part 12 close to the first assembly part 11, and one end of the first assembly part 11 close to the second assembly part 12 is arranged in the step groove 121. Furthermore, one end of the first assembly part 11 close to the second assembly part 12 abuts against the step surface of the step groove 121. In this way, the docking accuracy of the first assembly part 11 and the second assembly part 12 can be improved.

[0085] Further, refer to Figure 5 As shown, the quick release mechanism 10 further includes a positioning pin 17, which is disposed on the first assembly part 11 and the second assembly part 12. The positioning pin 17 is provided to help position the first assembly part 11 and the second assembly part 12, thereby preventing the first assembly part 11 and the second assembly part 12 from rotating relative to each other after pre-assembly.

[0086] In one example, the positioning pins 17 are disposed on the first assembly member 11 and the second assembly member 12 along the mating direction of the first assembly member 11 and the second assembly member 12 .

[0087] In another example, the locating pins 17 are arranged on the first assembly part 11 and the second assembly part 12 along the radial direction of the first assembly part 11 and the second assembly part 12. Here, the radial direction of the first assembly part 11 and the second assembly part 12 is perpendicular to the docking direction of the first assembly part 11 and the second assembly part 12.

[0088] In one embodiment, referring to Figure 8 As shown, a first electrical connection structure 181 is disposed in the hollow cavity of the first assembly part 11 , and a second electrical connection structure 191 is disposed in the hollow cavity of the second assembly part 12 . The first electrical connection structure 181 is electrically connected to the second electrical connection structure 191 .

[0089] In one example, a first fixing plate 182 is disposed in the hollow cavity of the first assembly part 11, and the first electrical connection structure 181 is assembled on the first fixing plate 182 by screws. A second fixing plate 192 is disposed in the hollow cavity of the second assembly part 12, and the second electrical connection structure 191 is assembled on the second fixing plate 192 by screws.

[0090] It can be understood that in order to improve the docking accuracy between the first electrical connection structure 181 and the second electrical connection structure 191, a guide assembly structure can be set on the first assembly part 11 or the second assembly part 12, and the first electrical connection structure 181 and / or the second electrical connection structure 191 can be set as a flexible and floating structure.

[0091] In one embodiment, the number of the pre-assembly structure 13 is one, and the pre-assembly structure 13 is disposed on one side of the center line of the second assembly part 12 close to the center of gravity of the second assembly part 12 .

[0092] In this way, when assembling the first assembly part 11 and the second assembly part 12, only one pre-assembly structure 13 is needed to hang the second assembly part 12 on the first assembly part 11, and the second assembly part 12 is not likely to fall off.

[0093] In one embodiment, there are multiple pre-assembled structures 13 , and the multiple pre-assembled structures 13 are evenly arranged around the center line of the second assembly part 12 .

[0094] In this way, the stability of the first assembly part 11 and the second assembly part 12 after pre-assembly can be improved.

[0095] It should be noted that the fastener 14 in the embodiment of the present application may be a screw or a bolt, and the fastener 14 is used to fix the first assembly part 11 and the second assembly part 12 together and improve the assembly stability of the first assembly part 11 and the second assembly part 12.

[0096] Specifically, the first assembly part 11 is provided with an assembly hole, the second assembly part 12 is provided with a threaded hole, and the fastener 14 passes through the assembly hole and is threadedly connected with the threaded hole. It is understandable that the threaded hole can also be provided on the first assembly part 11, and the assembly hole is provided on the second assembly part 12 accordingly.

[0097] In a specific example, a first connecting ear is disposed on the outer surface of the first assembly part 11, and an assembly hole is disposed on the first connecting ear. A second connecting ear is disposed on the outer surface of the second assembly part 12, and a threaded hole is disposed on the second connecting ear.

[0098] In another specific example, a step groove 121 is provided at one end of the second assembly part 12 close to the first assembly part 11, and a threaded hole is provided at the bottom of the step groove 121. The assembly hole is provided at one end of the first assembly part 11 close to the second assembly part 12, and one end of the first assembly part 11 close to the second assembly part 12 is assembled in the step groove 121.

[0099] It is understandable that the number of the fasteners 14 can be one or more. When the number of the fasteners 14 is multiple, the fasteners 14 can be evenly arranged around the center of the first assembly part 11 and / or the second assembly part 12, so that the assembly stability of the first assembly part 11 and the second assembly part 12 can be further improved.

[0100] It should be noted that the arrangement of the fastener 14 is not limited to the arrangement listed in the embodiment of the present application, and the embodiment of the present application does not limit the arrangement of the fastener 14.

[0101] In a second aspect, an embodiment of the present application provides a surgical arm, which includes the quick-release mechanism 10 in any embodiment of the first aspect.

[0102] The surgical execution mechanism of the surgical arm is the second assembly part 12 of the quick release mechanism 10 , and the adjustment arm of the surgical arm is the first assembly part 11 of the quick release mechanism 10 .

[0103] The surgical arm provided in the embodiment of the present application is provided with a pre-assembly structure 13 on the second assembly part 12, and the pre-assembly structure 13 is engaged with the first assembly part 11. In this way, when assembling the first assembly part 11 and the second assembly part 12, the pre-assembly structure 13 can be engaged with the first assembly part 11, so as to pre-assemble the first assembly part 11 and the second assembly part 12. After the pre-assembly is completed, there is no need for a special person to lift the second assembly part 12. Then, the operator can fix the first assembly part 11 and the second assembly part 12 by assembling the fastener 14. The whole process does not require multiple people to operate, but only one person is needed, thereby reducing the difficulty of assembling the first assembly part 11 and the second assembly part 12, which is not only conducive to improving the assembly efficiency of the surgical arm and the surgical robot, but also conducive to reducing labor costs.

[0104] In a third aspect, an embodiment of the present application provides a surgical robot, which includes the surgical arm in the second aspect.

[0105] The surgical robot provided in the embodiment of the present application is provided with a pre-assembly structure 13 on the second assembly part 12, and the pre-assembly structure 13 is engaged with the first assembly part 11. In this way, when assembling the first assembly part 11 and the second assembly part 12, the pre-assembly structure 13 can be engaged with the first assembly part 11, so as to pre-assemble the first assembly part 11 and the second assembly part 12. After the pre-assembly is completed, there is no need for a special person to lift the second assembly part 12. Then, the operator can fix the first assembly part 11 and the second assembly part 12 by assembling the fastener 14. The whole process does not require multiple people to operate, but only one person can operate, thereby reducing the difficulty of assembling the first assembly part 11 and the second assembly part 12, which is not only conducive to improving the assembly efficiency of the surgical arm and the surgical robot, but also conducive to reducing labor costs.

[0106] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0107] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features of the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A quick release mechanism, characterized in that: include: A first assembly (11); a second assembly part (12) docked with the first assembly part (11); A preassembly structure (13) is arranged on the second assembly part (12) and is snap-connected with the first assembly part (11); the preassembly structure (13) is used to pre-assemble the first assembly part (11) and the second assembly part (12); A fastener (14) fixedly connects the first assembly part (11) and the second assembly part (12).

2. The quick release mechanism according to claim 1, characterized in that: The pre-assembly structure (13) comprises a clamping member (131), and the clamping member (131) is rotatably arranged on the second assembly member (12) so as to be clamped with the first assembly member (11).

3. The quick release mechanism according to claim 2, characterized in that: The pre-assembly structure (13) further comprises a force applying member (132), wherein the force applying member (132) applies a force to the clamping member (131) so as to cause the clamping member (131) to rotate in a clamping direction.

4. The quick release mechanism according to claim 3, characterized in that: The pre-assembled structure (13) further comprises a connecting member (133), wherein the connecting member (133) is connected to the second assembly member (12); The connecting member (133) is provided with a rotating shaft (135), one end of the clamping member (131) is rotatably sleeved on the rotating shaft (135), and the other end of the clamping member (131) is clamped with the first assembly member (11); The force applying member (132) is arranged on the connecting member (133); the force applying member (132) is an elastic member; the force applying member (132) applies elastic force to the clamping member (131) so that the clamping member (131) rotates in a clamping direction.

5. The quick release mechanism according to claim 4, characterized in that: The force applying member (132) is a torsion spring, the body of which is sleeved on the rotating shaft (135). A first limiting portion (1311) is provided at one end of the clamping member (131) close to the rotating shaft (135), and a second limiting portion (134) opposite to the first limiting portion (1311) is provided on the connecting member (133), and two ends of the torsion spring are clamped between the first limiting portion (1311) and the second limiting portion (134).

6. The quick release mechanism according to claim 5, characterized in that: A first clamping portion (1312) is provided at one end of the clamping member (131) away from the rotating shaft (135), and a second clamping portion (111) is provided on the first assembly member (11) for clamping with the first clamping portion (1312); A guide surface (1313) is also provided at one end of the clamping member (131) away from the rotating shaft (135), and the guide surface (1313) is used to guide the docking of the first assembly member (11) and the second assembly member (12).

7. The quick release mechanism according to claim 2, characterized in that: The quick-release mechanism (10) further comprises an unlocking member (15), wherein the unlocking member (15) is movably arranged on the first assembly member (11), and the unlocking member (15) is used to apply a force to the clamping member (131) so that the clamping member (131) rotates in an unlocking direction.

8. The quick release mechanism according to claim 7, characterized in that: The first assembly part (11) and the second assembly part (12) are constructed as hollow components having a hollow cavity; The pre-assembly structure (13) is arranged in the hollow cavity of the first assembly part (11) and the hollow cavity of the second assembly part (12).

9. The quick release mechanism according to claim 8, characterized in that: The first assembly part (11) is provided with a through hole (112), and the through hole (112) penetrates from a side of the first assembly part (11) close to the hollow cavity to a side of the first assembly part (11) far from the hollow cavity; The unlocking member (15) comprises a rod body (151) and a first anti-slipping portion (152) and a second anti-slipping portion (153) arranged at two ends of the rod body (151), wherein the first anti-slipping portion (152) is arranged in the hollow cavity of the first assembly part (11), and the second anti-slipping portion (153) is arranged on a side of the first assembly part (11) away from the hollow cavity; The orthographic projection of the first anti-slip portion (152) on the first assembly part (11) covers the inner contour of the through hole (112), and the orthographic projection of the second anti-slip portion (153) on the first assembly part (11) covers the inner contour of the through hole (112).

10. The quick release mechanism according to claim 9, characterized in that: The quick release mechanism (10) further comprises a second elastic member (16), one end of the second elastic member (16) abuts against the first assembly member (11), and the other end of the second elastic member (16) abuts against the second anti-detachment portion (153); And / or, a side of the first assembly part (11) away from the hollow cavity is provided with an avoidance groove (113), the through hole (112) passes through the bottom of the avoidance groove (113), and the second anti-slip portion (153) is located in the avoidance groove (113).

11. The quick release mechanism according to claim 8, characterized in that: A step groove (121) is provided at one end of the second assembly part (12) close to the first assembly part (11), and an end of the first assembly part (11) close to the second assembly part (12) is arranged in the step groove (121); The quick-release mechanism (10) further comprises a positioning pin (17), wherein the positioning pin (17) is passed through the first assembly part (11) and the second assembly part (12); And / or, a first electrical connection structure (181) is arranged in the hollow cavity of the first assembly part (11), and a second electrical connection structure (191) is arranged in the hollow cavity of the second assembly part (12), and the first electrical connection structure (181) is electrically connected to the second electrical connection structure (191).

12. A surgical arm, characterized in that: It comprises a quick release mechanism (10) as claimed in any one of claims 1 to 11.

13. A surgical robot, characterized in that: Comprising a surgical arm as described in claim 12.

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