Mounting mechanism and surgical robot

Abstract

The invention relates to the technical field of surgical robots, and discloses a mounting mechanism and a surgical robot. The installation mechanism is used for installing the card poking mechanism, an installation piece is arranged on the card poking mechanism in a protruding mode, and the installation mechanism comprises a mechanism body, an adapter and a movable piece. One end of the mechanism body is connected with a holding arm, and the other end is provided with a mounting channel; the adapter comprises a containing part, the containing part is arranged in the mounting channel and can be separated from the mounting channel through an opening of the mounting channel, one end of the containing part is open, the mounting part can enter or be separated from an inner cavity of the containing part through the opening of the containing part, and a clamping part is movably arranged on the side wall of the containing part in a penetrating mode; the movable part is arranged in the installation channel and movably connected to the mechanism body, and when the installation part is located in the inner cavity of the containing part, the movable part can push the clamping part to move towards the inner cavity of the containing part so as to abut against the installation part. The structure reliability degree of the adapter is improved, the operation safety is guaranteed, the machining and assembling requirements of an installation mechanism are reduced, and the production cost is reduced.

Description

Technical Field

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

[0002] Surgical robots are widely used in the medical field. The surgical robot includes a doctor control end and a patient operation end. The patient operation end includes a holding arm, which is used to install surgical instruments. During the operation, the doctor controls the surgical instruments through the input handle of the doctor control end to perform the operation. One end of the holding arm is connected to the trolley, and the other end is equipped with a poking mechanism through a mounting mechanism. The poking mechanism passes through the patient's abdomen, and the surgical instruments extend into the patient's abdominal cavity through the poking mechanism.

[0003] According to the disclosure of Chinese patent CN117179905A-Surgical cannula installation structure and surgical robot system. A sterile isolation plate is provided between the surgical cannula and the main body, and the sterile isolation plate includes a plastic plate and a positioning plate portion, and the positioning plate portion is used to directly position the surgical cannula. The protruding portion on the surgical cannula is inserted into the plastic plate, and the plastic plate can be deformed inwardly with the lock buckle under the action of the lock buckle to clamp the surgical cannula. That is to say, in order to clamp the surgical cannula, the plastic plate needs to undergo corresponding elastic deformation, which reduces the reliability of the structure, and also reduces the reliability of the sterile isolation board during use, and increases the risk of damage to the sterile isolation board, thereby affecting the role of the sterile isolation board in isolating bacteria, and thus affecting the safety of the operation; when the sterile isolation board is damaged, it also needs to be replaced, which affects the efficiency of preoperative preparation and increases the fatigue of medical staff; in addition, a lock buckle is provided on the above-mentioned protruding portion, and a matching card convex is provided on the plastic plate, and a groove structure is formed on the back of the card convex, and the lock buckle is placed in the groove structure. Since the plastic plate is made of elastic material, the locking contact surface and the locking inclined surface must be in contact to achieve clamping of the surgical cannula, which limits the contact range between the lock buckle and the plastic plate, increases the processing and assembly requirements of the surgical cannula installation structure, and increases the production cost.

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

[0005] The purpose of the present invention is to provide an installation mechanism and a surgical robot that do not require elastic deformation of the accommodating parts, thereby ensuring the structural reliability of the adapter, ensuring the safety of the operation, avoiding limiting the contact range between the movable parts and the clamping parts, reducing the processing and assembly requirements of the installation mechanism, and reducing production costs.

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

[0007] The mounting mechanism is used to mount the card poking mechanism, and the card poking mechanism is protrudingly provided with a mounting piece, including:

[0008] The main body of the mechanism has one end for connecting with the holding arm and the other end is provided with a mounting channel;

[0009] The adapter comprises a receiving member, the receiving member is placed in the installation channel and can be separated from the installation channel through the opening of the installation channel, the interior of the receiving member is hollow and one end of the receiving member is open to the outside of the installation channel, the installation member can enter or separate from the inner cavity of the receiving member through the opening of the receiving member, and a clamping member is movably provided on the inner cavity side wall of the receiving member;

[0010] A movable part is placed in the installation channel and located on the outside of the accommodating part. The movable part is movably connected to the mechanism body. When the installation part is configured to be in the inner cavity of the accommodating part, the movable part can move away from the clamping part or push the clamping part to move toward the inner cavity of the accommodating part to loosen or tighten the installation part.

[0011] As an optional technical solution for the installation mechanism, the clamping member is provided with an inclined side wall, and the side wall of the mounting member is provided with a matching inclined surface. When the clamping member is configured to be pressed against the mounting member, the inclined side wall fits with the matching inclined surface, and the inclined side wall and the matching inclined surface are both inclined toward the inner wall of the accommodating member along the direction from the outside to the inside of the mounting channel.

[0012] As an optional technical solution for the installation mechanism, a guide hole is opened through the inner cavity side wall of the accommodating member, and the clamping member is movably inserted into the guide hole. The guide hole can guide the clamping member to switch between a clamping position against the installation member and an avoidance position away from the installation member.

[0013] As an optional technical solution for the installation mechanism, the installation mechanism also includes an elastic isolation member, which is attached to the outer wall of the accommodating member and completely covers the clamping member to seal the gap formed between the clamping member and the side wall of the guide hole.

[0014] As an optional technical solution for the installation mechanism, the elastic isolation member includes a middle portion and a connecting ring portion, the edge of the middle portion is circumferentially connected to the inner edge of the connecting ring portion, the end face of the connecting ring portion is fittedly connected to the outer wall of the accommodating member, the middle portion completely covers the clamping member, and the elasticity of the middle portion is greater than the elasticity of the connecting ring portion.

[0015] As an optional technical solution for the installation mechanism, the side wall of the guide hole is circumferentially fitted with the side wall of the clamping member, and the installation mechanism also includes an elastic connecting member, one end of which is connected to the outer wall of the accommodating member, and the other end is connected to the end face of the clamping member for abutting against the movable member.

[0016] As an optional technical solution of the mounting mechanism, a first accommodating groove is provided on the outer side wall of the accommodating member, the first accommodating groove passes through the side wall of the guide hole, and the elastic connecting member is placed in the first accommodating groove; and / or,

[0017] A second accommodating groove is provided on the end surface of the clamping member, and the elastic connecting member is placed in the second accommodating groove.

[0018] As an optional technical solution for the installation mechanism, the movable member is provided with a contact end for contacting the clamping member, and an elastic member is provided in the installation channel, and the elastic member can push the clamping member toward the inner cavity of the accommodating member through the contact end.

[0019] As an optional technical solution of the mounting mechanism, a guide hole is provided through the inner cavity side wall of the accommodating member, the clamping member is movably inserted into the guide hole, a groove is provided on the hole side wall of the guide hole, a stop surface is formed between the groove and the hole side wall of the guide hole, a protrusion is provided on the side wall of the clamping member, the protrusion is placed in the groove, the stop surface is located on the side facing the protrusion towards the inner cavity of the accommodating member, and the stop surface can stop the protrusion;

[0020] When the clamping member is configured to press against the mounting member, the stop surface and the protruding portion are in contact with or spaced apart from each other;

[0021] When the mounting member is configured to be separated from the inner cavity of the receiving member, the stop surface abuts against the protrusion.

[0022] As an optional technical solution for the installation mechanism, a slide groove is provided on the outer wall of the accommodating member, and the extension direction of the slide groove is the same as the extension direction of the installation channel. The slide groove is located on the side of the guide hole opposite to the opening end of the installation channel and passes through the side wall of the guide hole, and when the protrusion is configured to be in contact with the stop surface, the edge of the bottom surface of the slide groove and the end surface of the protrusion opposite to the stop surface are located in the same plane.

[0023] As an optional technical solution of the mounting mechanism, the mounting mechanism also includes a first connecting structure and a second connecting structure, the first connecting structure is arranged on the adapter, the second connecting structure is arranged on the mechanism body, and the first connecting structure and the second connecting structure are detachably connected.

[0024] A surgical robot comprises a poking mechanism and the mounting mechanism as described above, wherein the mounting mechanism can clamp or release the mounting piece on the poking mechanism.

[0025] Beneficial effects of the present invention:

[0026] The present invention provides a mounting mechanism, which includes a mechanism body, an adapter and a movable part. The clamping part of the adapter is movably arranged on the side wall of the receiving part. When the mounting part is placed in the inner cavity of the receiving part, the movable part is used to push the clamping part to move toward the inner cavity of the receiving part, and the clamping part can press the mounting part tightly, thereby realizing that the mounting mechanism clamps the poking mechanism, and the movable part can also move away from the clamping part to cancel the clamping force of the clamping part on the mounting part, thereby realizing that the mounting mechanism releases the poking mechanism. The installation mechanism provided by the present invention utilizes a clamping member that is movably arranged on the side wall of the accommodating member. There is no need for the accommodating member to undergo elastic deformation, thereby ensuring the structural reliability of the adapter, and thus ensuring the reliability of the adapter when in use, reducing the risk of adapter damage, thereby ensuring the adapter's function of isolating bacteria and surgical safety, avoiding the need to replace the adapter, improving the efficiency of preoperative preparation, and relieving the fatigue of medical staff. In addition, in order to achieve clamping of the installation member, the movable member and the clamping member can be contacted at any position of the end face opposite to the inner cavity of the accommodating member to push the clamping member to move toward the inner cavity of the accommodating member, thereby avoiding limiting the contact range between the movable member and the clamping member, reducing the processing and assembly requirements of the installation mechanism, and reducing production costs.

[0027] The surgical robot provided by the present invention comprises the above-mentioned mounting mechanism and poking mechanism. The mounting mechanism clamps or releases the poking mechanism by using the movable part to move away from or push against the clamping part that is movably provided on the side wall of the receiving part, without elastic deformation of the receiving part, thereby ensuring the reliability of the adapter during use and reducing the risk of damage to the adapter, thereby ensuring the role of the adapter in isolating bacteria and the safety of the operation, avoiding the replacement of the adapter, improving the efficiency of preoperative preparation, relieving the fatigue of medical staff, and avoiding limiting the contact range between the movable part and the clamping part, reducing the processing and assembly requirements of the mounting mechanism, and reducing the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic structural diagram of a robotic arm provided by an embodiment of the present invention;

[0029] Figure 2 is a cross-sectional view in a first direction when the card poking mechanism provided by an embodiment of the present invention is installed on the mounting mechanism;

[0030] Figure 3 yes Figure 2 A partial enlarged view of the middle A;

[0031] Figure 4is a cross-sectional view in a second direction when the card poking mechanism provided by an embodiment of the present invention is installed on the mounting mechanism;

[0032] Figure 5 is a cross-sectional view of a mounting mechanism provided by an embodiment of the present invention;

[0033] Figure 6 yes Figure 5 A partial enlarged view of point B in the middle;

[0034] Figure 7 is a schematic diagram of the structure of an adapter provided by an embodiment of the present invention;

[0035] Figure 8 is a schematic structural diagram of an adapter and an elastic isolation member provided in an embodiment of the present invention;

[0036] Fig. 9 is a cross-sectional view of an elastic isolation piece provided in an embodiment of the present invention.

[0037] In the figure:

[0038] 10. Card poking mechanism; 101. Mounting seat; 1011. Mounting piece; 1012. Matching groove; 1013. Matching inclined surface; 102. Card poking; 20. Arm;

[0039] 1. Mechanism body; 11. Installation channel;

[0040] 2. adapter; 21. receiving member; 211. guide hole; 212. first receiving groove; 213. slide groove; 214. stop surface; 22. positioning member; 23. clamping member; 231. inclined side wall; 232. protrusion; 233. second receiving groove;

[0041] 3. Moving parts; 31. Contact end; 32. Operating parts;

[0042] 4. elastic isolating member; 41. middle portion; 42. connecting ring portion; 5. elastic connecting member;

[0043] 61. A first connection structure; 62. A second connection structure;

[0044] 7. Elastic part; 8. Detection part; 9. Sealing part; 91. Arc-shaped part. DETAILED DESCRIPTION

[0045] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0046] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0048] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0049] This embodiment provides a surgical robot. The surgical robot includes a doctor's console and a patient's surgical end. The doctor's console is provided with a control handle, and the patient's surgical end includes Figure 1 The illustrated mechanical arm 20 has surgical instruments mounted thereon. During surgery, the doctor can control the surgical instruments on the mechanical arm 20 through a control handle to perform surgery.

[0050] The patient operation end also includes a mounting mechanism and a poking mechanism 10. The mounting mechanism is used to mount the poking mechanism 10. The poking mechanism 10 includes a poking card 102 and a mounting seat 101, and the poking card 102 is mounted on the mounting seat 101. One end of the mechanical arm 20 is connected to the trolley at the patient operation end, and the other end of the mechanical arm 20 is connected to the poking mechanism 10 through the mounting mechanism.

[0051] The card punching mechanism 10 is provided with a protruding Figure 2-Figure 4 The mounting member 1011 shown in the figure can be clamped or released by the mounting mechanism on the card punching mechanism 10 .

[0052] like Figure 1-Figure 9As shown, the mounting mechanism includes a mechanism body 1, an adapter 2 and a movable part 3. One end of the mechanism body 1 is used to connect with the mechanical arm 20, and the other end is provided with a mounting channel 11. The adapter 2 includes a receiving part 21, which is placed in the mounting channel 11 and can be separated from the mounting channel 11 through the opening of the mounting channel 11. The interior of the receiving part 21 is hollow and one end is open toward the outside of the mounting channel 11. The mounting part 1011 can enter or separate from the inner cavity of the receiving part 21 through the opening of the receiving part 21. A clamping part 23 is movably provided on the side wall of the inner cavity of the receiving part 21. The movable part 3 is placed in the mounting channel 11 and is located outside the receiving part 21, and at least part of the movable part 3 is arranged opposite to the clamping part 23. The movable part 3 is movably connected to the mechanism body 1. When the mounting member 1011 is in the inner cavity of the accommodating member 21, the movable member 3 can move away from the clamping member 23 to loosen the mounting member 1011, so that the mounting mechanism can release the mounting member 1011 on the card poking mechanism 10; the movable member 3 can also push the clamping member 23 to move toward the inner cavity of the accommodating member 21 to press against the mounting member 1011, so that the mounting mechanism can clamp the mounting member 1011 on the card poking mechanism 10.

[0053] The present embodiment provides a mounting mechanism, which includes a mechanism body 1, an adapter 2 and a movable part 3. The clamping member 23 of the adapter 2 is movably disposed on the side wall of the receiving member 21. When the mounting member 1011 is placed in the inner cavity of the receiving member 21, the movable part 3 is used to push the clamping member 23 to move toward the inner cavity of the receiving member 21, and the clamping member 23 can be pressed against the mounting member 1011, so that the mounting mechanism clamps the poking mechanism 10. The movable part 3 can also be moved away from the clamping member 23 to cancel the clamping force of the clamping member 23 on the mounting member 1011, so that the mounting mechanism releases the poking mechanism 10. The installation mechanism provided in the present embodiment utilizes a clamping member 23 movably provided on the side wall of the accommodating member 21. There is no need for the accommodating member 21 to undergo elastic deformation, thereby ensuring the structural reliability of the adapter 2, and thus ensuring the reliability of the adapter 2 during use, reducing the risk of damage to the adapter 2, thereby ensuring the role of the adapter 2 in isolating bacteria and the safety of the operation, avoiding the need to replace the adapter 2, improving the efficiency of preoperative preparation, and relieving the fatigue of medical staff; in addition, in order to achieve the clamping installation member 1011, the movable member 3 can contact the clamping member 23 at any position of the end face opposite to the inner cavity of the accommodating member 21 to push the clamping member 23 to move toward the inner cavity of the accommodating member 21, thereby avoiding limiting the contact range between the movable member 3 and the clamping member 23, reducing the processing and assembly requirements of the installation mechanism, and reducing the production cost.

[0054] The surgical robot provided in this embodiment includes the above-mentioned mounting mechanism and the poking mechanism 10. The mounting mechanism clamps or releases the poking mechanism 10 by using the movable member 3 to move away from or push against the clamping member 23 that is movably provided on the side wall of the receiving member 21, without elastic deformation of the receiving member 21, thereby ensuring the reliability of the adapter 2 during use and reducing the risk of damage to the adapter 2, thereby ensuring the role of the adapter 2 in isolating bacteria and the safety of the operation, avoiding the replacement of the adapter 2, improving the efficiency of preoperative preparation, relieving the fatigue of medical staff, and avoiding limiting the contact range between the movable member 3 and the clamping member 23, reducing the processing and assembly requirements of the mounting mechanism, and reducing the production cost.

[0055] In this embodiment, two clamping members 23 and two movable members 3 are provided. The two clamping members 23 are respectively located at opposite sides of the receiving member 21 along the first direction. The receiving member 21 is located between the two movable members 3.

[0056] A guide hole 211 is formed on the inner cavity side wall of the receiving member 21, and the clamping member 23 is movably inserted into the guide hole 211. The guide hole 211 can guide the clamping member 23 to move along the first direction, so that the clamping member 23 switches between a clamping position against the mounting member 1011 and a avoiding position away from the mounting member 1011. In this embodiment, the first direction is perpendicular to the extension direction of the mounting channel 11. Figure 2 In the embodiment, the first direction is the left-right direction, and the extending direction of the installation channel 11 is the up-down direction.

[0057] Preferably, the side wall of the guide hole 211 is circumferentially fitted with the side wall of the clamping member 23 to achieve the guiding effect of the guide hole 211 on the clamping member 23. In other embodiments, the guide hole 211 guides the clamping member 23 using a guide groove or other structures.

[0058] As a preferred solution, matching grooves 1012 are respectively provided on the side walls on opposite sides of the mounting member 1011. When the mounting member 1011 is in the inner cavity of the receiving member 21, the clamping member 23 can extend into the matching groove 1012, ensuring that the mounting member 1011 and the card poking mechanism 10 can be reliably clamped by the clamping member 23.

[0059] The clamping member 23 is provided with an inclined side wall 231, and the groove side wall of the matching groove 1012 includes a matching inclined surface 1013. When the mounting member 1011 is in the inner cavity of the receiving member 21 and the clamping member 23 is pressed against the mounting member 1011, the inclined side wall 231 and the matching inclined surface 1013 are in contact with each other. When the clamping member 23 is pressed against the mounting member 1011, the inclined side wall 231 and the matching inclined surface 1013 are both inclined toward the inner wall of the receiving member 21 along the direction from the outside to the inside of the mounting channel 11. The arrangement of the inclined side wall 231 and the matching inclined surface 1013 allows a larger contact area between the clamping member 23 and the mounting member 1011, and the inclined direction of the inclined side wall 231 and the matching inclined surface 1013 ensures that the clamping member 23 can clamp the mounting member 1011.

[0060] In this embodiment, "the direction from the outside to the inside of the installation channel 11" is the extension direction of the installation channel 11, the receiving member 21 extends into the installation channel 11 along the extension direction, and the mounting member 1011 extends into the inner cavity of the receiving member 21 along the extension direction. When the mounting member 1011 is in the inner cavity of the receiving member 21, and the clamping member 23 is pressed against the mounting member 1011, the two matching inclined surfaces 1013 are arranged in an "eight" shape, and the ends of the two matching inclined surfaces 1013 away from the opening of the installation channel 11 are inclined in a direction away from each other. The inclination direction of the two inclined side walls 231 is the same as the inclination direction of the matching inclined surfaces 1013, which will not be repeated here.

[0061] Furthermore, the groove side wall of the mating groove 1012 also includes a first inclined surface arranged opposite to the mating inclined surface 1013 and in an inclination direction opposite to the mating inclined surface 1013. The clamping member 23 is provided with a second inclined surface arranged back to back with the inclined side wall 231 and in an inclination direction opposite to the inclined side wall 231. When the clamping member 23 is in the clamping position, the first inclined surface and the second inclined surface are arranged in a fit.

[0062] As a preferred solution, the movable member 3 is provided with a contact end 31 for contacting the clamping member 23, and an elastic member 7 is provided in the installation channel 11, and the elastic member 7 can push the clamping member 23 toward the inner cavity of the accommodating member 21 through the contact end 31. Through the provision of the elastic member 7, the clamping member 23 can automatically move toward the inner cavity of the accommodating member 21 to clamp the mounting member 1011, avoiding the manual pushing of the movable member 3, and improving the convenience of operation. In this embodiment, when the clamping member 23 is in the clamping position, the force applied by the elastic member 7 to the clamping member 23 through the movable member 3 is greater than zero, so that the elastic member 7 can not only push the clamping member 23 to move to the clamping position, but also apply a clamping force to the clamping member 23 for clamping the mounting member 1011, without adding other structures for applying a clamping force to the clamping member 23, which is conducive to reducing the number of parts of the installation mechanism, simplifying the structure of the installation mechanism, reducing the volume of the installation mechanism and the mechanical arm 20, and improving the flexibility of the surgical robot.

[0063] Furthermore, the movable member 3 is rotatably arranged in the installation channel 11, and a contact end 31 for contacting the clamping member 23 is arranged at one end of the movable member 3 facing the opening end of the installation channel 11, and the elastic member 7 is arranged on the side of the contact end 31 opposite to the clamping member 23, and the elastic member 7 abuts against the contact end 31.

[0064] In this embodiment, the elastic member 7 is configured as a metal spring sheet, and one end of the elastic member 7 is fixedly connected to the inner wall of the installation channel 11 .

[0065] Specifically, the rotation axis of the movable member 3 is perpendicular to the first direction and the extension direction of the installation channel 11. An operating member 32 is movably provided on the side wall of the mechanism body 1, and the operating member 32 can move along the first direction relative to the mechanism body 1. One end of the operating member 32 extending into the installation channel 11 contacts the end of the movable member 3 away from the clamping member 23, and the operator can push the operating member 32 into the installation channel 11 to drive the movable member 3 to rotate, so that the contact end 31 faces away from the clamping member 23, thereby realizing that the clamping member 23 can move from the clamping position to the avoidance position.

[0066] Since the installation mechanism is small in size and the moving distance of the operating member 32 is short, in this embodiment, the operating member 32 and the clamping member 23 are respectively arranged on both sides of the rotation axis of the movable member 3, so that the rotation angle of the movable member 3 is small, thereby achieving a small moving distance of the contact end 31 and avoiding interference between the movable member 3 and other structures.

[0067] Furthermore, a torsion spring may be provided on the movable member 3. One end of the torsion spring is fixedly connected to the mechanism body 1, and the other end is fixedly connected to the movable member 3. The torsion spring can enable the movable member 3 to push the clamping member 23 toward the inner cavity of the receiving member 21, thereby ensuring that the clamping member 23 is maintained in the clamping position. In this embodiment, the torsion spring and the elastic member 7 work together to not only quickly push the clamping member 23 to move to the clamping position, but also to apply a larger clamping force to the clamping member 23 for clamping the mounting member 1011, thereby further ensuring that the clamping member 23 can reliably clamp the mounting member 1011.

[0068] In this embodiment, two operating members 32 are provided. The two operating members 32 are respectively provided in one-to-one correspondence with the two movable members 3 . The two operating members 32 are provided on opposite sides of the mechanism body 1 along the first direction.

[0069] As a preferred solution, a groove is provided on the side wall of the guide hole 211, and a stop surface 214 is formed between the groove and the side wall of the guide hole 211. A protrusion 232 is provided on the side wall of the clamping member 23, and the protrusion 232 is placed in the groove. The stop surface 214 is located on the side of the protrusion 232 close to the inner cavity of the receiving member 21, and the stop surface 214 can stop the protrusion 232. When the clamping member 23 is pressed against the mounting member 1011, the stop surface 214 is spaced apart from the protrusion 232; when the adapter 2 is mounted to the mechanism body 1 and the mounting member 1011 is separated from the inner cavity of the receiving member 21, the stop surface 214 is fitted and abutted against the protrusion 232, so that the stop surface 214 can stop the protrusion 232.

[0070] Due to the setting of the elastic member 7, when the adapter 2 is installed to the mechanism body 1 and the mounting member 1011 is separated from the inner cavity of the receiving member 21, the elastic member 7 pushes the clamping member 23 to continue to move toward the inner cavity of the receiving member 21 through the movable member 3. At this time, the depth of the clamping member 23 entering the inner cavity of the receiving member 21 is greater than the depth of the clamping member 23 entering the inner cavity of the receiving member 21 when it is in the clamping position. By setting the stop surface 214, it can be ensured that the clamping member 23 is always in the guide hole 211 to avoid being separated from the guide hole 211, which is convenient for the subsequent re-installation of the punching mechanism 10. Moreover, when the clamping member 23 is pressed against the mounting member 1011, the stop surface 214 is spaced apart from the protrusion 232, which also ensures that the elastic member 7 can apply a clamping force to the mounting member 1011 through the clamping member 23, avoiding the stop surface 214 from hindering the clamping member 23 from clamping the mounting member 1011.

[0071] In this embodiment, the protrusion 232 is arranged along the circumference of the clamping member 23 . The protrusion 232 may be arranged in a ring shape or in a strip shape, which is not limited here.

[0072] In some other embodiments, when the clamping member 23 is pressed against the mounting member 1011 , the stop surface 214 is disposed in close contact with the protruding portion 232 , which is not limited herein.

[0073] In this embodiment, the groove passes through the outer wall of the receiving member 21. In other embodiments, the groove may be spaced apart from the outer wall of the receiving member 21, so that another stopper is formed between the groove and the side wall of the guide hole 211, and the stopper is located on the side of the protrusion 232 opposite to the inner cavity of the receiving member 21, and the stopper can stop the protrusion 232, thereby preventing the clamping member 23 from being separated from the receiving member 21.

[0074] Preferably, a slide groove 213 is provided on the outer wall of the receiving member 21. The slide groove 213 extends along the extension direction of the installation channel 11. The slide groove 213 is located on the side of the guide hole 211 opposite to the opening end of the installation channel 11 and passes through the side wall of the guide hole 211. When the protrusion 232 is in contact with the stop surface 214, the edge of the bottom surface of the slide groove 213 and the end surface of the protrusion 232 opposite to the stop surface 214 are located in the same plane, that is, the edge formed between the bottom surface of the slide groove 213 and the side wall of the guide hole 211 and the end surface of the protrusion 232 opposite to the stop surface 214 are located in the same plane. By setting the slide groove 213, it is avoided that the edge formed between the guide hole 211 and the outer wall of the receiving member 21 hinders the relative movement between the adapter 2 and the movable member 3, which facilitates the removal of the adapter 2 from the mechanism body 1, and improves the efficiency of postoperative arrangement. In this embodiment, the axis of the guide hole 211 extends along the first direction.

[0075] In this embodiment, the receiving member 21 is of a prism structure, and the small end of the receiving member 21 faces the inside of the installation channel 11 , that is, the outer wall of the receiving member 21 with the guide hole 211 is inclined to the extension direction of the installation channel 11 .

[0076] Slide grooves 213 are provided on the outer side walls of the receiving member 21 on both sides along the first direction, and the two slide grooves 213 are respectively arranged corresponding to the two movable members 3. Preferably, the bottom surfaces of the two slide grooves 213 are arranged along the extension direction of the installation channel 11. In some embodiments, the bottom surfaces of the two slide grooves 213 are inclined from the direction away from the open end of the installation channel 11 to the direction close to each other. The above arrangement avoids the bottom surface of the slide groove 213 from hindering the relative movement between the adapter 2 and the movable member 3, facilitates the removal of the adapter 2 from the mechanism body 1, and improves the efficiency of postoperative arrangement.

[0077] In this embodiment, the width of the slide slot 213 along the second direction is smaller than the width of the guide hole 211 along the second direction. The second direction, the first direction and the extension direction of the installation channel 11 are arranged perpendicular to each other. That is, the rotation axis of the movable member 3 extends along the second direction.

[0078] As a preferred solution, the installation mechanism further includes an elastic connector 5, one end of which is connected to the outer wall of the receiving member 21, and the other end is connected to the end surface of the clamping member 23 for contacting with the movable member 3. Due to the provision of the elastic connector 5, it is further ensured that the clamping member 23 is always in the guide hole 211, and avoids being separated from the guide hole 211, which is convenient for the subsequent re-installation of the card punching mechanism 10. Moreover, before the adapter 2 is installed to the mechanism body 1, the connection relationship between the clamping member 23 and the receiving member 21 is ensured, which is convenient for the subsequent installation of the adapter 2. In this embodiment, the elastic connector 5 is in a strip shape, and is made of a material such as a spring sheet or rubber, and the elastic connector 5 is bonded to the clamping member 23 and the receiving member 21 by an adhesive.

[0079] As a preferred solution, a first accommodating groove 212 is opened on the outer wall of the accommodating member 21, and the first accommodating groove 212 passes through the side wall of the guide hole 211. The elastic connecting member 5 is placed in the first accommodating groove 212, which improves the structural compactness of the adapter 2, reduces the volume of the adapter 2 and the installation mechanism, and improves the compactness of the robotic arm 20.

[0080] Furthermore, a second receiving groove 233 is formed on the end surface of the clamping member 23, and the elastic connecting member 5 is placed in the second receiving groove 233, which further improves the compactness of the structure of the adapter 2 and reduces the volume of the adapter 2 and the installation mechanism.

[0081] Specifically, the first receiving groove 212 is formed on the bottom surface of the slide groove 213, and the end surface of the elastic connector 5 exposed in the first receiving groove 212 is flush with the bottom surface of the slide groove 213. The above arrangement further improves the compactness of the adapter 2 and reduces the volume of the adapter 2 and the installation mechanism.

[0082] As a preferred solution, the mounting mechanism further includes an elastic isolating member 4. The elastic isolating member 4 is attached to the outer wall of the receiving member 21, and the elastic isolating member 4 completely covers the clamping member 23 to block the gap formed between the clamping member 23 and the side wall of the guide hole 211. The above arrangement prevents bacteria inside the mounting channel 11 from entering the sterile environment through the above gap, further ensures the bacteria isolation effect of the adapter 2, reduces the risk of infection of the patient, and improves the safety of the operation.

[0083] In this embodiment, the elastic isolation member 4 can be an elastic-plastic film such as a silicone rubber film, a PE film, a TPU film, etc., and is bonded to the outer wall of the container 21 by an adhesive.

[0084] Preferably, the elastic isolating member 4 includes a middle portion 41 and a connecting ring portion 42, the edge of the middle portion 41 is circumferentially connected to the inner edge of the connecting ring portion 42, the end face of the connecting ring portion 42 is fitted and connected to the outer wall of the receiving member 21, the middle portion 41 completely covers the clamping member 23, and the elasticity of the middle portion 41 is greater than the elasticity of the connecting ring portion 42. The above arrangement ensures that the movable member 3 can smoothly push against the clamping member 23, and when the adapter 2 is separated from the mechanism body 1, the movable member 3 can smoothly slide along the slide groove 213 to ensure smooth removal of the adapter 2. In addition, the elasticity of the connecting ring portion 42 is relatively small, which also ensures that the connecting ring portion 42 can be reliably connected to the receiving member 21, ensuring the bacteria isolation effect of the elastic isolating member 4. Further, the middle portion 41 can completely cover the guide hole 211.

[0085] Furthermore, the middle portion 41 completely covers the clamping member 23 and the slide groove 213, that is, the connection between the slide groove 213 and the outer wall of the accommodating member 21 is covered by the middle portion 41. The arrangement of the slide groove 213 and the first accommodating groove 212 causes the outer wall structure of the accommodating member 21 to be more complicated. The above arrangement covers the above-mentioned complex structure within the range of the middle portion 41, thereby avoiding the connection ring portion 42 from being attached along the side walls of the slide groove 213 and the first accommodating groove 212, thereby ensuring the bacteria-isolating effect of the adapter 2.

[0086] The elasticity of the middle portion 41 is greater than that of the connecting ring portion 42, which means that the middle portion 41 is more easily deformed than the connecting ring portion 42. The middle portion 41 may be fixedly connected to the clamping member 23 or may have no connection with the clamping member 23, which is not limited here.

[0087] Preferably, the middle portion 41 of the elastic isolator 4 is integrally formed with the connecting ring portion 42, and the thickness of the middle portion 41 is smaller than the thickness of the connecting ring portion 42, so that the elasticity of the middle portion 41 is greater than the elasticity of the connecting ring portion 42. The middle portion 41 of the elastic isolator 4 and the connecting ring portion 42 may also be bonded with an adhesive, and the middle portion 41 and the connecting ring portion 42 may be made of the same material or different materials.

[0088] In some embodiments, only the elastic isolation member 4 or the elastic connection member 5 may be provided, which is not limited here.

[0089] The installation process of the poking mechanism 10 provided in this embodiment is roughly as follows: first, rotate the movable part 3 until the contact end 31 is away from the clamping part 23; second, install the adapter 2 on the mechanism body 1, specifically place the accommodating part 21 in the installation channel 11; then, install the poking mechanism 10, specifically extend the mounting part 1011 into the inner cavity of the accommodating part 21; finally, relax the movable part 3, and the movable part 3 pushes the clamping part 23 under the action of the elastic part 7 to clamp the mounting part 1011.

[0090] Preferably, the adapter 2 is detachably connected to the mechanism body 1. Further, the receiving member 21 is detachably connected to the mechanism body 1. When the adapter 2 is installed and the poking mechanism 10 is not installed, the above arrangement ensures the reliable connection between the adapter 2 and the bracket of the mechanism body 1, avoids the adapter 2 from being separated from the mechanism body 1, and avoids the manual fixing of the adapter 2 before installing the poking mechanism 10, simplifies the process of preoperative preparation, and improves the efficiency of preoperative preparation; at the same time, after the poking mechanism 10 is installed, the movable member 3 and the detachable connection structure between the adapter 2 and the mechanism body 1 can fix the adapter 2, further ensuring that the poking mechanism 10 can be reliably installed on the mechanism body 1, reducing the possibility of the poking mechanism 10 falling off, ensuring that the surgical instrument is maintained at the desired position, and avoiding the possibility of the adapter 2 falling off, ensuring the maintenance of the sterile environment during the operation, and improving the safety of the operation.

[0091] Specifically, the mounting mechanism also includes the above-mentioned detachable connecting structure, which includes a first connecting structure 61 and a second connecting structure 62. The first connecting structure 61 is arranged on the adapter 2, and the second connecting structure 62 is arranged on the mechanism body 1. The first connecting structure 61 and the second connecting structure 62 are detachably connected.

[0092] In this embodiment, the first connection structure 61 is a card slot, and the second connection structure 62 is a card hook. The second connection structure 62 is rotatably connected to the mechanism body 1 through a rotating shaft. The first connection structure 61 is provided on the outer wall of the accommodating member 21, and a card protrusion is provided on one end of the second connection structure 62 and is located in the installation channel 11, and the other end of the second connection structure 62 is placed on the outer side of the mechanism body 1.

[0093] Specifically, two first connection structures 61 and two second connection structures 62 are provided, and the two first connection structures 61 are respectively provided on opposite sides of the receiving member 21, and the receiving member 21 is placed between the two second connection structures 62. A clamping protrusion is provided on the same side of the two second connection structures 62. In the step of "installing the adapter 2 on the mechanism body 1", specifically, first press the end of the second connection structure 62 to move the two clamping protrusions away from each other, so that the two second connection structures 62 are opened, and then the receiving member 21 is placed between the two second connection structures 62, and then the two second connection structures 62 are loosened, so that the two clamping protrusions are respectively clamped into the two first connection structures 61, so as to achieve the installation of the adapter 2.

[0094] In other embodiments, the first connection structure 61 and the second connection structure 62 may also be bolts and nuts or other structures that can achieve detachable connection, which is not limited here.

[0095] In this embodiment, two operating members 32 are arranged on opposite sides of the accommodating member 21 along the first direction, and two second connecting mechanisms 62 are arranged on opposite sides of the accommodating member 21 along the second direction, that is, the second connecting structures 62 and the operating members 32 are arranged on different sides of the mechanism body 1. When there is no need to disassemble the mounting mechanism, it is avoided that when one of the operating members 32 or the second connecting structures 62 is pressed by mistake, the other is touched by mistake, the reliable connection between the adapter 2 and the bracket of the mechanism body 1 is ensured, the adapter 2 is prevented from being separated from the mechanism body 1, the sterile environment during the operation is maintained, and the safety of the operation is improved.

[0096] In some embodiments, the second connection structure 62 and the operating member 32 may also be arranged on the side wall of the same side of the mechanism body 1, which is not limited here.

[0097] Specifically, the adapter 2 further includes a positioning member 22. The opening end of the receiving member 21 is located outside the installation channel 11, and the outer wall extends outward to be provided with a positioning member 22, which abuts against the opening end of the installation channel 11 of the mechanism body 1 to position the adapter 2.

[0098] The end of the holding arm 20 is also provided with a detection member 8. When the adapter 2 is mounted on the mechanism body 1, the end of the detection member 8 is inserted into the end surface of the receiving member 21 away from the open end and extends into the inner cavity of the receiving member 21. When the mounting member 1011 extends into the inner cavity of the receiving member 21, the mounting member 1011 can push the detection member 8 to move in a direction away from the mounting member 1011, so as to trigger the detection switch in the holding arm 20, thereby detecting the installation status of the card poking mechanism 10.

[0099] Among them, the structure and triggering principle of the detection switch can refer to the existing technology, which is not the protection focus of this embodiment and will not be described here.

[0100] The end of the detection member 8 that contacts the mounting member 1011 is arc-shaped. In order to avoid the detection member 8, a through hole is provided on the end surface of the container 21 away from the opening end, so that the end of the detection member 8 can pass through the through hole and enter the inner cavity of the container 21. Preferably, a blocking member 9 is provided on the inner side wall of the container 21, and an arc-shaped portion 91 is provided on the blocking member 9, and the arc-shaped portion 91 is arched toward the opening end of the installation channel 11. When the adapter 2 is installed and the card poking mechanism 10 is not installed, the end of the detection member 8 is placed in the arc-shaped portion 91. By providing the blocking member 9, the through hole can be blocked, thereby preventing bacteria on the inside of the installation channel 11 from entering the sterile environment through the through hole, further ensuring the bacteria-isolating effect of the adapter 2, reducing the risk of infection for the patient, and improving the safety of the operation; in addition, by providing the arched arc portion 91, the detection member 8 can be avoided. When the poking mechanism 10 is not installed at the end of the mechanical arm 20, the blocking member 9 can avoid pushing the detection member 8 until the detection switch is triggered, thereby ensuring that the detection member 8 can accurately detect the installation status of the poking mechanism 10, thereby improving the safety of the operation.

[0101] Specifically, a spring is disposed in the installation channel 11, and the spring ensures that the end of the detection member 8 is placed in the arc portion 91 when the adapter 2 is installed and the card poking mechanism 10 is not installed. When the adapter 2 is installed and the card poking mechanism 10 is not installed, the interaction force between the arc portion 91 and the detection member 8 is zero.

[0102] In this embodiment, the blocking member 9 is made of rubber and is integrally formed. The blocking member 9 is bonded to the adapter 2 via an adhesive layer.

[0103] In this embodiment, the first end of the detection member 8 can extend out of the mechanical arm 20. Preferably, the thickness of the arc portion 91 decreases from the middle to the periphery. When the detection member 8 contacts the card punching mechanism 10, the center of the first end of the detection member 8 contacts the card punching mechanism 10, so the center of the end of the detection member 8 exerts the greatest pressure on the arc portion 91. The thickness of the arc portion 91 is set to decrease from the middle to the periphery, which reduces the possibility of damage to the arc portion 91, ensures the integrity of the arc portion 91, prevents bacteria from entering the sterile environment through the through hole on the receiving member 21, further ensures the bacteria isolation effect of the adapter 2, reduces the risk of infection of the patient, and improves the safety of the operation.

[0104] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The mounting mechanism is used to mount the card poking mechanism, and the card poking mechanism is provided with a mounting member protruding thereon, characterized in that: include: The main body of the mechanism has one end for connecting with the holding arm and the other end is provided with a mounting channel; The adapter comprises a receiving member, the receiving member is placed in the installation channel and can be separated from the installation channel through the opening of the installation channel, the interior of the receiving member is hollow and one end of the receiving member is open to the outside of the installation channel, the installation member can enter or separate from the inner cavity of the receiving member through the opening of the receiving member, and a clamping member is movably provided on the inner cavity side wall of the receiving member; A movable part is placed in the installation channel and located on the outside of the accommodating part. The movable part is movably connected to the mechanism body. When the installation part is configured to be in the inner cavity of the accommodating part, the movable part can move away from the clamping part or push the clamping part to move toward the inner cavity of the accommodating part to loosen or tighten the installation part.

2. The mounting mechanism according to claim 1, characterized in that: The clamping member is provided with an inclined side wall, and the side wall of the mounting member is provided with a matching inclined surface. When the clamping member is configured to be pressed against the mounting member, the inclined side wall fits with the matching inclined surface, and the inclined side wall and the matching inclined surface are both inclinedly arranged toward the inner wall of the accommodating member along the direction from the outside to the inside of the mounting channel.

3. The mounting mechanism according to claim 1, characterized in that: A guide hole is formed through the inner cavity side wall of the accommodating member, and the clamping member is movably inserted into the guide hole. The guide hole can guide the clamping member to switch between a clamping position pressed against the mounting member and an evasive position away from the mounting member.

4. The mounting mechanism according to claim 3, characterized in that: The mounting mechanism further comprises an elastic isolating member, which is attached to the outer side wall of the receiving member and completely covers the clamping member to block a gap formed between the clamping member and the side wall of the guide hole.

5. The mounting mechanism according to claim 4, characterized in that: The elastic isolation member includes a middle portion and a connecting ring portion, the edge of the middle portion is circumferentially connected to the inner edge of the connecting ring portion, the end face of the connecting ring portion is fittedly connected to the outer wall of the accommodating member, the middle portion completely covers the clamping member, and the elasticity of the middle portion is greater than that of the connecting ring portion.

6. The mounting mechanism according to claim 3, characterized in that: The side wall of the guide hole is circumferentially fitted with the side wall of the clamping member, and the mounting mechanism also includes an elastic connecting member, one end of which is connected to the outer wall of the accommodating member, and the other end is connected to the end surface of the clamping member for abutting against the movable member.

7. The mounting mechanism according to claim 6, characterized in that: A first receiving groove is formed on the outer side wall of the receiving member, the first receiving groove passes through the side wall of the guide hole, and the elastic connecting member is placed in the first receiving groove; and / or, A second accommodating groove is provided on the end surface of the clamping member, and the elastic connecting member is placed in the second accommodating groove.

8. The mounting mechanism according to any one of claims 1 to 7, characterized in that: The movable member is provided with a contact end for contacting the clamping member, and an elastic member is provided in the installation channel. The elastic member can push the clamping member toward the inner cavity of the accommodating member through the contact end.

9. The mounting mechanism according to claim 8, characterized in that: A guide hole is formed through the inner cavity side wall of the receiving member, the clamping member is movably inserted into the guide hole, a groove is formed on the hole side wall of the guide hole, a stop surface is formed between the groove and the hole side wall of the guide hole, a protrusion is formed on the side wall of the clamping member, the protrusion is placed in the groove, the stop surface is located on the side of the protrusion facing the inner cavity of the receiving member, and the stop surface can stop the protrusion; When the clamping member is configured to press against the mounting member, the stop surface and the protruding portion are in contact with or spaced apart from each other; When the mounting member is configured to be separated from the inner cavity of the receiving member, the stop surface abuts against the protrusion.

10. The mounting mechanism according to claim 9, characterized in that: A slide groove is provided on the outer wall of the accommodating member, and the extension direction of the slide groove is the same as the extension direction of the installation channel. The slide groove is located on the side of the guide hole opposite to the opening end of the installation channel and passes through the side wall of the guide hole. When the protrusion is configured to fit with the stop surface, the edge of the bottom surface of the slide groove and the end surface of the protrusion opposite to the stop surface are located in the same plane.

11. The mounting mechanism according to any one of claims 1 to 7, characterized in that: The mounting mechanism further comprises a first connection structure and a second connection structure, wherein the first connection structure is arranged on the adapter, and the second connection structure is arranged on the mechanism body, and the first connection structure and the second connection structure are detachably connected.

12. A surgical robot, characterized in that: It comprises a poking mechanism and a mounting mechanism as described in any one of claims 1 to 11, wherein the mounting mechanism can clamp or release the mounting piece on the poking mechanism.

Images