Joint lens connecting structure applied to continuum surgical robot

Abstract

The invention belongs to the technical field of surgical robots, and particularly relates to an articulated lens connecting structure applied to a continuum surgical robotic.When the connecting structure is used, firstly, the mounting end of a tool bit penetrates into a first cavity, and the mounting end of the tool bit makes friction contact with the inner wall of the first cavity; the installation end of the tool bit is located between the multiple clamping pieces, the tool bit is higher than the clamping pieces, the installation end of the tool bit is rotated, then the rotary connector and the fixed connector are driven to rotate relatively, the multiple clamping pieces are driven to get close to and clamp the tool bit, installation of the tool bit is achieved, and the tool bit can be disassembled by rotating the tool bit reversely. Connection is convenient, fast and firm, and the possibility of surgical risks is reduced; and meanwhile, the first cavity is arranged to be in an inverted frustum shape, so that the first cavity can be matched with tool bits of different shapes and sizes, and the applicability is higher.

Description

Technical Field

[0001] The present invention belongs to the technical field of surgical robots, and in particular relates to a joint lens connection structure applied to a continuum surgical robot. Background Art

[0002] Arthroscopic surgery is a minimally invasive surgical technique that is widely used in the field of orthopedics. Compared with traditional open surgery, arthroscopic surgery uses arthroscopic instruments to guide operations and complete complex diagnostic and treatment operations through small incisions, thereby reducing patient trauma, reducing the risk of infection, shortening recovery time, and improving patients' surgical experience and recovery speed.

[0003] The application of continuum robotics in arthroscopic surgery has made significant progress. Through precise control of the bending of the continuum skeleton, the continuum robot can improve the accuracy of surgery, especially in a narrow surgical space, and can better adapt to the patient's anatomical structure and reduce damage to surrounding tissues.

[0004] During arthroscopic surgery, tools of different shapes and sizes need to be replaced. However, in actual operations, tools of different shapes and sizes have low adaptability when connected to a continuum robot, and there is a risk of loosening. The replacement process is cumbersome, which increases the possibility of surgical risks. Summary of the invention

[0005] The purpose of the present invention is to provide a joint lens connection structure applied to a continuum surgical robot to solve the above-mentioned problem.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] A joint lens connection structure for a continuum surgical robot, comprising: a fixed joint, the fixed joint is fixedly connected to one end of a continuum skeleton, a second cavity is coaxially opened on the fixed joint, a rotating joint is coaxially arranged in the second cavity, a plurality of clamping members are arranged between the outer wall of the rotating joint and the inner wall of the second cavity, the plurality of clamping members are arranged at equal intervals in the circumferential direction, a first cavity is coaxially opened on the rotating joint, the first cavity is arranged in an inverted frustum shape, the mounting end of a tool head is arranged in the first cavity and in frictional contact with the inner wall of the first cavity, and the tool head is located between the plurality of clamping members;

[0008] When the rotating joint and the fixed joint rotate, the plurality of clamping members approach and clamp the cutter head, and the plurality of clamping members move away and release the cutter head.

[0009] In the articular lens connection structure applied to a continuum surgical robot of the present invention, the clamping member includes a moving rod arranged between the outer wall of the rotating joint and the inner wall of the second cavity, the top end of the moving rod extends out of the second cavity and is fixedly connected to one end of a clamping head, and the other end of the clamping head faces the axis of the second cavity.

[0010] In the articular lens connection structure applied to a continuum surgical robot of the present invention, the second cavity is arranged in an inverted cone shape, the rotating joint is arranged in an inverted cone shape and is adapted to the second cavity, a gap is left between the outer wall of the rotating joint and the inner wall of the second cavity, the moving rod is arranged in the gap, and the axis of the moving rod is arranged parallel to the busbar of the second cavity / rotating joint.

[0011] In the articular lens connection structure applied to a continuum surgical robot of the present invention, a first sliding groove is provided on the outer wall of the rotating joint, the moving rod is slidably connected in the first sliding groove, a first external thread is provided on the side of the moving rod extending out of the first sliding groove, a first internal thread is provided on the inner wall of the second cavity, and the first external thread and the first internal thread are threadedly connected.

[0012] In the articular lens connection structure applied to a continuum surgical robot of the present invention, a second slide groove is provided on the inner wall of the second cavity, the moving rod is slidably connected in the second slide groove, a second internal thread is provided on the side of the moving rod extending out of the second slide groove, a second external thread is provided on the outer wall of the rotating joint, and the second internal thread and the second external thread are threadedly connected.

[0013] In the articular lens connection structure applied to a continuum surgical robot of the present invention, a connecting frame is fixedly connected to the bottom end of the fixed joint, the connecting frame is located in the continuum skeleton, the connecting frame has no interference with the moving rod, a swivel is fixedly connected to the connecting frame, a vertically arranged rotating shaft is rotatably connected to the swivel, both ends of the rotating shaft pass through the swivel and are fixedly connected to a limit plate, the limit plate is in sliding contact with the swivel, the top end of the rotating shaft is fixedly connected to the rotating joint, and the rotating shaft and the rotating joint are coaxially arranged.

[0014] In the articular lens connection structure applied to a continuum surgical robot of the present invention, a frosted surface is circumferentially provided on the inner side wall of the first cavity.

[0015] Compared with the prior art, the present invention has the following advantages and technical effects:

[0016] When the connection structure of the present invention is used, the installation end of the cutter head is first inserted into the first cavity and the installation end of the cutter head is in frictional contact with the inner wall of the first cavity. The installation end of the cutter head is located between the multiple clamping members and the cutter head is higher than the clamping members. By rotating the installation end of the cutter head, the rotating joint and the fixed joint are driven to rotate relative to each other, thereby driving the multiple clamping members to approach and clamp the cutter head, so as to achieve the installation of the cutter head. The existing cutter head can be disassembled by rotating the cutter head in the opposite direction. The connection is convenient, fast and firm, and the possibility of surgical risks is reduced.

[0017] At the same time, the first cavity is set to an inverted cone shape, so that the first cavity can adapt to tool heads of different shapes and sizes, and has stronger applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0019] Figure 1 It is an overall schematic diagram of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the present invention;

[0021] Figure 3 It is a structural schematic diagram of Example 2;

[0022] Among them, 1. continuum skeleton; 2. fixed joint; 3. moving rod; 4. rotating joint; 5. first cavity; 6. connecting frame; 7. swivel; 8. limit plate; 9. rotating shaft; 10. frosted surface; 11. first external thread; 12. first slide groove; 13. clamping head; 14. cutter head; 15. first internal thread; 16. second internal thread; 17. second external thread; 18. second cavity; 19. second slide groove. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Example 1

[0026] Reference Figure 1 to Figure 2 The present embodiment discloses a joint lens connection structure for a continuum surgical robot, comprising: a fixed joint 2, the fixed joint 2 is fixedly connected to one end of a continuum skeleton 1, a second cavity 18 is coaxially provided on the fixed joint 2, a rotating joint 4 is coaxially provided in the second cavity 18, a plurality of clamping members are provided between the outer wall of the rotating joint 4 and the inner wall of the second cavity 18, the plurality of clamping members are circumferentially arranged at equal intervals, a first cavity 5 is coaxially provided on the rotating joint 4, the first cavity 5 is arranged in an inverted frustum shape, the mounting end of a cutter head 14 is arranged in the first cavity 5 and in frictional contact with the inner wall of the first cavity 5, and the cutter head 14 is located between the plurality of clamping members;

[0027] The number of the clamping members is preferably three.

[0028] When the rotating joint 4 rotates with the fixed joint 2 , the plurality of clamping members approach and clamp the cutter head 14 , and the plurality of clamping members move away and release the cutter head 14 .

[0029] When in use, firstly, the mounting end of the cutter head 14 is inserted into the first cavity 5 and the mounting end of the cutter head 14 is in frictional contact with the inner wall of the first cavity 5. The mounting end of the cutter head 14 is located between the multiple clamping members and the cutter head 14 is higher than the clamping members. By rotating the mounting end of the cutter head 14, the rotating joint 4 and the fixed joint 2 are driven to rotate relative to each other, thereby driving the multiple clamping members to approach and clamp the cutter head 14, so as to achieve the installation of the cutter head 14. The existing cutter head 14 can be disassembled by rotating the cutter head 14 in the opposite direction. The connection is convenient, fast and firm, and the possibility of surgical risks is reduced.

[0030] At the same time, the first cavity 5 is configured as an inverted frustum, so that the first cavity 5 can adapt to cutter heads of different shapes and sizes, and has greater applicability.

[0031] In a feasible solution, the clamping member includes a moving rod 3 arranged between the outer wall of the rotating joint 4 and the inner wall of the second cavity 18, the top end of the moving rod 3 extends out of the second cavity 18 and is fixedly connected to one end of the clamping head 13, and the other end of the clamping head 13 faces the axis of the second cavity 18.

[0032] The moving rod 3 moves between the rotating joint 4 and the second cavity 18 , thereby driving the clamping head 13 to approach and clamp the cutter head 14 or to move away and release the cutter head 14 .

[0033] In a feasible solution, the second cavity 18 is configured to be an inverted cone, the rotating joint 4 is configured to be an inverted cone and is adapted to the second cavity 18, a gap is left between the outer wall of the rotating joint 4 and the inner wall of the second cavity 18, the moving rod 3 is disposed in the gap, and the axis of the moving rod 3 is parallel to the busbar of the second cavity 18 / rotating joint 4.

[0034] In a feasible solution, a first sliding groove 12 is opened on the outer wall of the rotating joint 4, the moving rod 3 is slidably connected in the first sliding groove 12, a first external thread 11 is opened on the side of the moving rod 3 extending out of the first sliding groove 12, and a first internal thread 15 is opened on the inner wall of the second cavity 18, and the first external thread 11 and the first internal thread 15 are threadedly connected.

[0035] The second cavity 18 is set to an inverted cone shape, the rotating joint 4 is set to an inverted cone shape and is compatible with the second cavity 18, and the axis of the moving rod 3 is parallel to the busbar of the second cavity 18 / rotating joint 4. When the rotating joint 4 and the second cavity 18 rotate relative to each other, the moving rod 3 slides along the first slide groove 12 under the action of the first external thread 11 and the first internal thread 15, thereby driving the multiple clamping heads 13 to move away from or approach each other, thereby achieving the loosening or clamping of the tool head 14.

[0036] In this process, because the moving rod 3 rotates with the rotating joint 4, it is suitable for connecting the tool head 14 whose installation end is a regular polygonal prism. The number of prisms is preferably a multiple of the moving rod 3. The side of the regular polygonal prism is facing the moving rod 3, and finally the clamping head 13 clamps the side of the prism to make the connection more firm and tight.

[0037] In a feasible solution, the bottom end of the fixed joint 2 is fixedly connected to a connecting frame 6, the connecting frame 6 is located in the continuum skeleton 1, the connecting frame 6 has no interference with the moving rod 3, a swivel 7 is fixedly connected to the connecting frame 6, a vertically arranged rotating shaft 9 is rotatably connected to the swivel 7, both ends of the rotating shaft 9 pass through the swivel 7 and are fixedly connected to a limit plate 8, the limit plate 8 is in sliding contact with the swivel 7, the top end of the rotating shaft 9 is fixedly connected to the rotating joint 4, and the rotating shaft 9 and the rotating joint 4 are coaxially arranged.

[0038] The rotating shaft 9 is coaxially arranged with the rotating joint 4. Both ends of the rotating shaft 9 pass through the rotating ring 7 and are fixedly connected with the limiting plate 8. The rotating ring 7 is fixedly connected with the fixed joint 2 through the connecting frame 6. In this way, the fixed joint 2 and the rotating joint 4 always maintain a coaxial rotation connection.

[0039] In a feasible solution, a frosted surface 10 is circumferentially provided on the inner side wall of the first cavity 5. The provision of the frosted surface 10 can effectively increase the friction between the mounting end of the cutter head 14 and the first cavity 5.

[0040] Example 2

[0041] Reference Figure 3The difference from Example 1 is that in this embodiment, a second slide groove 19 is opened on the inner wall of the second cavity 18, the moving rod 3 is slidably connected in the second slide groove 19, a second internal thread 16 is opened on the side where the moving rod 3 extends out of the second slide groove 19, and a second external thread 17 is opened on the outer wall of the rotating joint 4, and the second internal thread 16 and the second external thread 17 are threadedly connected.

[0042] The rotating joint 4 rotates with the installation end of the cutter head 14, thereby driving the moving rod 3 to slide along the second slide groove 19. During this process, the positions of the moving rod 3 and the fixed joint 2 remain relatively unchanged, which is suitable for connecting the cutter head 14 with a cylindrical installation end.

[0043] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to 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 invention.

[0044] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A joint lens connection structure for a continuum surgical robot, characterized in that: include: A fixed joint (2), the fixed joint (2) being fixedly connected to one end of the continuum skeleton (1), the fixed joint (2) being coaxially provided with a second cavity (18), the second cavity (18) being coaxially provided with a rotating joint (4), a plurality of clamping members being provided between the outer wall of the rotating joint (4) and the inner wall of the second cavity (18), the plurality of clamping members being circumferentially evenly spaced, the rotating joint (4) being coaxially provided with a first cavity (5), the first cavity (5) being provided in an inverted frustum shape, the mounting end of the cutter head (14) being provided in the first cavity (5) and in frictional contact with the inner wall of the first cavity (5), the cutter head (14) being located between the plurality of clamping members; When the rotating joint (4) rotates with the fixed joint (2), the plurality of clamping members approach and clamp the cutter head (14) / the plurality of clamping members move away and release the cutter head (14).

2. The joint lens connection structure for a continuum surgical robot according to claim 1, characterized in that: The clamping member comprises a moving rod (3) arranged between the outer wall of the rotating joint (4) and the inner wall of the second cavity (18), the top end of the moving rod (3) protruding out of the second cavity (18) and fixedly connected to one end of a clamping head (13), and the other end of the clamping head (13) facing the axis of the second cavity (18).

3. The joint lens connection structure for a continuum surgical robot according to claim 2, characterized in that: The second cavity (18) is configured to be an inverted frustum, the rotating joint (4) is configured to be an inverted frustum and is compatible with the second cavity (18), a gap is left between the outer wall of the rotating joint (4) and the inner wall of the second cavity (18), the moving rod (3) is arranged in the gap, and the axis of the moving rod (3) is arranged parallel to the busbar of the second cavity (18) / rotating joint (4).

4. The joint lens connection structure for a continuum surgical robot according to claim 3 is characterized in that: A first sliding groove (12) is provided on the outer wall of the rotating joint (4), and the moving rod (3) is slidably connected in the first sliding groove (12). A first external thread (11) is provided on the side of the moving rod (3) extending out of the first sliding groove (12), and a first internal thread (15) is provided on the inner wall of the second cavity (18), and the first external thread (11) and the first internal thread (15) are threadedly connected.

5. The joint lens connection structure for a continuum surgical robot according to claim 3 is characterized in that: A second slide groove (19) is provided on the inner wall of the second cavity (18), and the moving rod (3) is slidably connected in the second slide groove (19). A second internal thread (16) is provided on the side of the moving rod (3) extending out of the second slide groove (19). A second external thread (17) is provided on the outer wall of the rotating joint (4), and the second internal thread (16) and the second external thread (17) are threadedly connected.

6. The joint lens connection structure for a continuum surgical robot according to claim 2, characterized in that: The bottom end of the fixed joint (2) is fixedly connected to a connecting frame (6), the connecting frame (6) is located in the continuum skeleton (1), the connecting frame (6) has no interference with the moving rod (3), a rotating ring (7) is fixedly connected to the connecting frame (6), a vertically arranged rotating shaft (9) is rotatably connected to the rotating ring (7), both ends of the rotating shaft (9) pass through the rotating ring (7) and are fixedly connected to a limiting plate (8), the limiting plate (8) is in sliding contact with the rotating ring (7), the top end of the rotating shaft (9) is fixedly connected to the rotating joint (4), and the rotating shaft (9) and the rotating joint (4) are coaxially arranged.

7. The joint lens connection structure for a continuum surgical robot according to claim 1, characterized in that: A frosted surface (10) is circumferentially provided on the inner side wall of the first cavity (5).

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