Separating plate and surgical robot

Abstract

The embodiment of the invention provides an isolation plate and a surgical robot. The isolation plate comprises an isolation bottom plate; the isolation top plate is connected with the isolation bottom plate, any one of the isolation bottom plate and the isolation top plate is provided with a buckle assembly, and the buckle assembly is configured to be connected with the power box or the instrument box in a clamped mode; the unlocking piece is arranged between the isolation bottom plate and the isolation top plate, the unlocking piece is provided with a pressing part and a stress part, the stress part abuts against the buckle assembly, and a preset distance is formed between the pressing part and the stress part in the first direction; in the second direction, the unlocking piece can move relative to the isolation bottom plate and the isolation top plate; the pressing part is configured to drive the stress part to move in the second direction.

Description

Technical Field

[0001] The present application relates to the technical field of surgical equipment, and in particular, to a partition board and a surgical robot. Background Art

[0002] With the continuous development of medical devices, computer, and control technologies, minimally invasive surgery has been increasingly widely used due to its advantages such as small surgical trauma, short recovery time, and less pain for patients. Minimally invasive surgical robots, with their characteristics of high dexterity, high control precision, and intuitive surgical images, can avoid operation limitations, such as filtering hand tremors during operation, and are widely applicable to surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity. Currently, the most widely used minimally invasive surgical robot is the laparoscopic surgical robot. The laparoscopic surgical robot generally includes a main console (main end) and a slave manipulator (slave end). The operation signals collected by the main console are processed by the control system to generate control signals for the slave manipulator, and the slave manipulator performs surgical operations. The laparoscopic surgical robot is equipped with surgical instruments. The surgical instruments are assembled on the power box of the slave manipulator, and power is transmitted through a partition board clamped between the power box and the surgical instrument. The partition board is provided with a sterile protective cover (also known as a sterile cover) to isolate the areas of the contaminated robotic arm, power box, etc. from the sterile instruments, surgical environment, etc.

[0003] The partition board usually includes a top plate, a bottom plate, and a transmission disc. To improve the connection stability between the partition board and the power box or instrument box, in the related art, the clamping mechanism is provided with two sets of left and right clamping components, and each set of clamping components is configured with at least two clamping parts, providing at least four clamping nodes while ensuring convenient operation, and ensuring sufficient stability when clamping the instrument box or power box, avoiding the situation of the instrument box or power box shaking or even coming off.

[0004] However, in the related art, when unlocking the clamping parts, a force arm is used to unlock two clamping parts with a large span simultaneously, there is a risk of unlocking failure, which affects the surgical process. Summary of the Invention

[0005] The embodiments of the present application provide a partition board and a surgical robot, which can improve the success rate of the unlocking member in unlocking the buckle assembly and ensure the effective progress of the surgical process.

[0006] On the one hand, the embodiments of the present application provide a partition board, including:

[0007] A partition bottom plate;

[0008] A partition top plate, connected to the partition bottom plate, and either the partition bottom plate or the partition top plate is provided with a buckle assembly, and the buckle assembly is configured to be clamped with a power box or an instrument box;

[0009] The unlocking member is disposed between the isolation bottom plate and the isolation top plate. The unlocking member has a pressing portion and a force-receiving portion. The force-receiving portion abuts against the buckle assembly. Along the first direction, there is a preset distance between the pressing portion and the force-receiving portion. Along the second direction, the unlocking member is movable relative to the isolation bottom plate and the isolation top plate. When an external force presses the pressing portion, the pressing portion drives the force-receiving portion to move along the second direction, so that the force-receiving portion drives the buckle assembly to switch from the locked state to the unlocked state. The second direction intersects with the first direction.

[0010] In one implementation, along the second direction, at least part of the thickness of the unlocking member from the force-receiving portion to the pressing portion increases;

[0011] One of the side walls of the isolation bottom plate and the isolation top plate is provided with an unlocking hole. The unlocking hole is aligned with the buckle assembly. The unlocking hole is configured to allow an external tool to be inserted to press the buckle assembly to drive the buckle assembly to switch from the locked state to the unlocked state.

[0012] In one implementation, the buckle assembly includes at least two buckles. The buckles are arranged at intervals along the first direction. The unlocking member straddles between the buckles along the first direction;

[0013] The force-receiving portion abuts against the buckle, and the pressing portion is located between the buckles.

[0014] In one implementation, one of the buckles is rotatably connected to the isolation bottom plate and the isolation top plate. The force-receiving portion drives the buckle to rotate to switch from the locked state to the unlocked state;

[0015] The side of the force-receiving portion facing the buckle has a vertical surface and an inclined surface. The inclined surface is located on the side of the vertical surface facing the rotation axis of the buckle;

[0016] When the buckle is in the locked state, the vertical surface abuts against the buckle;

[0017] When the buckle is in the unlocked state, the inclined surface abuts against the buckle.

[0018] In one implementation, the angle between the inclined surface and the vertical surface is complementary to the rotation angle of the buckle;

[0019] An arc transition surface is provided between the inclined surface and the vertical surface.

[0020] In one implementation, the unlocking member includes a crossbar portion. The crossbar portion is connected between the pressing portion and the force-receiving portion. Along the second direction, the thickness of the crossbar portion is greater than the thickness of the force-receiving portion.

[0021] In one implementation, along the second direction, the thickness of the crossbar portion increases from the end close to the force-receiving portion to the end close to the pressing portion.

[0022] In one implementation, through holes are provided on the isolation bottom plate and the isolation top plate, and a transmission disk is disposed through the through holes;

[0023] At least a part of the side surface of the crossbar portion facing the through hole is an arc surface, and the radian of the arc surface is consistent with the radian of the through hole, so that the thickness of the crossbar portion in the second direction gradually changes along the arc surface.

[0024] In one implementation, one of the isolation bottom plate and the isolation top plate is provided with a connecting column, and the other of the isolation bottom plate and the isolation top plate is provided with a connecting hole, and the connecting column is inserted through the connecting hole to position the isolation bottom plate and the isolation top plate;

[0025] One side of the unlocking member facing the connecting column is provided with an avoidance groove, and the avoidance groove is located in the crossbar portion.

[0026] In one implementation, the buckle assembly includes two groups, and one of the isolation top plate and the isolation bottom plate is provided with a group of buckle assemblies on each of the two sides along the second direction.

[0027] In one implementation, one side of the force-bearing portion away from the buckle assembly has a convex portion, and the convex portion is inserted through the unlocking hole.

[0028] In one implementation, the convex size of the convex portion is less than or equal to the depth size of the unlocking hole along the axial direction.

[0029] In one implementation, the unlocking hole is a tapered hole. Along the axial direction of the unlocking hole, the aperture of the unlocking hole at the end facing the force-bearing portion is larger than the aperture of the unlocking hole at the end away from the force-bearing portion;

[0030] The convex portion is a tapered convex, and the tapered convex is adapted to the axial cross-section of the tapered hole.

[0031] In one implementation, the buckle assembly is provided on the isolation bottom plate, and a first guiding structure is provided on one side of the isolation top plate facing the isolation bottom plate, and a second guiding structure is provided on the unlocking member; the second guiding structure cooperates with the first guiding structure, and the first guiding structure extends along the second direction to guide the unlocking member along the second direction.

[0032] In one implementation, the buckle assembly is provided on the isolation bottom plate, the isolation top plate is provided with an avoidance notch, the pressing portion extends into the avoidance notch, and the pressing portion is configured to move along the second direction within the avoidance notch.

[0033] On the other hand, an embodiment of the present application provides a surgical robot, including:

[0034] A power box disposed on the surgical arm;

[0035] The isolation plate provided in the foregoing embodiment of the present application is detachably disposed on the power box;

[0036] An instrument box, detachably disposed on the isolation plate.

[0037] According to the partition board and surgical robot provided by the embodiments of the present application, by providing a buckle assembly on either the partition bottom board or the partition top board of the partition board, in this way, the partition board can be clamped with the power box or the instrument box through the buckle assembly, which is convenient for fixing the partition board; by providing an unlocking member between the partition bottom board and the partition top board, the stress part of the unlocking member abuts against the buckle assembly, and along the first direction, there is a preset distance between the pressing part and the stress part of the unlocking member. In this way, it is convenient for the unlocking member to adapt to the internal structure of the partition board and move relative to the partition bottom board and the partition top board along the second direction within the partition board; in this way, when an external force presses the pressing part, the pressing part can drive the stress part to move along the second direction, so that the stress part drives the buckle assembly to switch from the locked state to the unlocked state; it is convenient to unlock the buckle assembly, so as to disassemble the partition board from the power box or the instrument box. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings required for use in the description of the embodiments or the related art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0039] Figure 1 is a schematic structural diagram of a surgical robot provided by some embodiments of the present application;

[0040] Figure 2 is a schematic structural diagram of the cooperation between the partition board and the sterile cover in the surgical robot provided by some embodiments of the present application;

[0041] Figure 3 is another schematic structural diagram of the cooperation between the partition board and the sterile cover in the surgical robot provided by some embodiments of the present application;

[0042] Figure 4 is an exploded structural diagram of the cooperation between the partition board and the sterile cover in the surgical robot provided by some embodiments of the present application;

[0043] Figure 5 is a schematic structural diagram of the cooperation between the partition bottom board, the buckle assembly and the unlocking member in the surgical robot provided by some embodiments of the present application;

[0044] Figure 6 is an exploded structural diagram of the cooperation between the partition bottom board, the buckle assembly and the unlocking member in the surgical robot provided by some embodiments of the present application;

[0045] Figure 7 is a schematic structural diagram of the cooperation between the partition top board and the unlocking member in the surgical robot provided by some embodiments of the present application;

[0046] Figure 8 is a sectional view along the A-A line in Figure 7 ;

[0047] Figure 9 is Figure 8 a partial enlarged view at position B in

[0048] Figure 10 is a schematic structural view of an unlocking member in a surgical robot provided by some embodiments of the present application;

[0049] Figure 11 is Figure 10 a partial enlarged view at position C in

[0050] Figure 12 is Figure 5 a partial enlarged view at position D in

[0051] Figure 13 is another schematic structural view of an unlocking member in a surgical robot provided by some embodiments of the present application;

[0052] Figure 14 is Figure 8 another partial enlarged view at position B in

[0053] Figure 15 is an exploded view of the cooperation between the unlocking member and the isolation top plate in a surgical robot provided by some embodiments of the present application.

[0054] Description of reference numerals:

[0055] 10 - power box; 20 - isolation plate; 30 - instrument box; 40 - sterile cover;

[0056] 210 - isolation bottom plate; 220 - isolation top plate; 230 - buckle assembly; 240 - unlocking member; 410 - top opening; 420 - side opening;

[0057] 211 - mounting seat; 212 - through hole; 213 - transmission disc; 214 - connection hole; 215 - first bearing part; 216 - second bearing part; 217 - convex edge; 221 - unlocking hole; 222 - connecting column; 223 - first guiding structure; 224 - avoidance notch; 231 - buckle; 232 - reset member; 241 - pressing part; 242 - stress part; 243 - cross bar part; 244 - second guiding structure;

[0058] 2151 - First recessed groove; 2152 - Second recessed groove; 2231 - First guiding groove; 2232 - Second guiding post; 2233 - Guiding boss; 2311 - Clamping end; 2312 - Operating end; 2411 - Sinking groove; 2421 - Vertical plane; 2422 - Inclined plane; 2423 - Arc transition surface; 2424 - Protruding portion; 2431 - Arc surface; 2432 - Avoidance recess; 2441 - First guiding post; 2442 - Second guiding groove; 2443 - Guiding notch. Detailed implementation manners

[0059] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings in the embodiments of the present application.

[0060] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the protection scope of the present application is only defined by the claims. In other places, well-known structures, circuits, and other details are not shown in detail to avoid misunderstanding the key points of the present application by the public.

[0061] In this specification, the accompanying drawings show schematic diagrams of several embodiments of the present application. However, the accompanying drawings are only schematic, and it should be understood that other embodiments or combinations can also be used, and changes in mechanical structures, physical compositions, electricals, and steps can be made without departing from the spirit and scope of the present application.

[0062] The terms used hereinafter are only for describing specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower part", "above", "upper part", etc., may be used for convenience to describe the relationship between one element or feature illustrated in the figure and another element or feature. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation other than the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover both upper and lower orientations. The device can be oriented in other ways (for example, rotated 90° or in other orientations), and the spatially relative descriptive terms used herein are accordingly interpreted.

[0063] As used herein, "a plurality of", the singular form "one", and "the" are also intended to include the plural form unless the context otherwise indicates. It should be further understood that the terms "comprising" and / or "including" specify the presence of the described features, steps, operations, elements, and / or components, without excluding the presence of one or more other features, steps, operations, elements, components, and / or their groups.

[0064] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "part", "element", and "piece" may be used interchangeably.

[0065] The terms "instrument", "surgical instrument", and "surgical tool" are used herein to describe a medical device configured to be inserted into a patient's body and used to perform a surgical or diagnostic procedure, including an end effector. The end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, a needle holder, scissors, a bipolar cautery, a tissue stabilizer or retractor, a clip applier, an anastomosis device, an imaging device (e.g., an endoscope or an ultrasound probe), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool, such that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a blade that translates along a path. The instrument may also contain information stored permanently or updateable by a surgical system (e.g., on a PCBA board within the instrument). Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0066] The term "coupled" can be broadly understood to mean any situation in which two or more objects are connected in such a way that the coupled objects operate in conjunction with each other. It should be noted that coupling does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to couple two or more objects. For example, object A and B can be coupled by using object C. Additionally, the terms "detachably coupled" or "detachably joined" can be interpreted to mean a non-permanent joining or coupling situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

[0067] Finally, the terms "or" and "and / or" used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B, and C. Exceptions to this definition will only occur when the combination of elements, functions, steps, or acts are inherently mutually exclusive in some way.

[0068] Overview of a master-slave teleoperated laparoscopic surgical robot

[0069] A laparoscopic surgical robot generally includes a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits at the doctor control platform, views two-dimensional or three-dimensional images of the surgical area transmitted by a laparoscope placed inside the patient, and manipulates the movement of the robotic arms on the patient surgical platform, as well as the surgical instruments or laparoscope attached to the robotic arms. The robotic arms are equivalent to simulating a human arm, and the surgical instruments are equivalent to simulating a human hand. The two provide a series of movements that simulate the human wrist for the surgeon, and at the same time can filter out the tremors of the human hand itself.

[0070] The patient surgical platform includes a chassis, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at the ends of the support assemblies of each robotic arm. The surgical instruments and / or laparoscope are detachably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscope operating at the surgical site inside the patient. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Generally, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the relevant surgical instrument about the center of motion on the surgical instrument that remains stationary relative to the patient. This center of motion is typically located at the position where the surgical instrument enters the body, and this center of motion is called the "centered point".

[0071] The image platform generally includes a device with video image capture function (commonly an endoscope) and one or more video monitors for displaying the surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes optics that transmit images from the patient's body to the distal end of the endoscope, and then through steps such as photoelectric conversion, the video images are transmitted to the host of the image platform. Subsequently, through image processing, the processed images are displayed on the video monitors for the assistant to observe.

[0072] The doctor control platform can be at a single location in the surgical system composed of the laparoscopic surgical robot, or it can be distributed at two or more locations in the system. Remote master / slave operation can be completed according to the preset control level. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as control levers, exoskeleton gloves, power and gravity compensation manipulators, etc. These input devices collect the operation signals of the surgeon, and after being processed by the control system, generate control signals for the robotic arms and surgical instrument manipulators, thereby controlling the remote control motors on the surgical instrument manipulators, and the motors further control the movement of the surgical instruments.

[0073] Generally, the force generated by a remote control motor is transmitted via a transmission system, transferring the force from the remote control motor to the end effector of a surgical instrument. In some embodiments of remote surgical operations, the input device for controlling the manipulator can be set at a position far from the patient, inside or outside the room where the patient is located, or even in a different city. Then, the input signal of the input device is transmitted to the control system. Those familiar with remote manipulation, remote control, and telepresence surgery will understand such a system and its components.

[0074] Figure 1 It is a schematic structural diagram of a surgical robot provided by some embodiments of the present application.

[0075] In some examples, with reference to Figure 1 as shown, the surgical robot may include a power box 10. The power box 10 can be arranged on the moving axis of the operating arm. The power box 10 can move linearly along the moving axis.

[0076] In some examples, it can be that the slave operating arm of the surgical robot includes the power box 10.

[0077] In some examples, a plurality of drive motors can be provided inside the power box 10. The plurality of drive motors can output power to drive the end instrument, thereby driving the end instrument to perform different surgical operations.

[0078] In some examples, the slave operating arm of the surgical robot can include a partition plate 20. The partition plate 20 is detachably connected to the power box 10.

[0079] In some examples, a transmission disk 213 can be provided on the partition plate 20. The transmission disk 213 can be connected to the power output disk of the drive motor on the power box 10. The power output by the power output disk can be transmitted to the end instrument through the transmission disk 213.

[0080] In some examples, the surgical robot can include an instrument box 30. The instrument box 30 can be connected with an end instrument.

[0081] In some examples, the instrument box 30 is detachably connected to the partition plate 20. The partition plate 20 can isolate the sterile instrument box 30 from the contaminated power box 10, so it is also called a "sterile partition plate" or "sterile adapter".

[0082] Figure 2 It is a schematic structural diagram of the cooperation between the partition plate and the sterile cover in the surgical robot provided by some embodiments of the present application.

[0083] Figure 3 It is another schematic structural diagram of the cooperation between the partition plate and the sterile cover in the surgical robot provided by some embodiments of the present application.

[0084] Figure 4Exploded structural schematic diagram of the cooperation between the isolation plate and the sterile cover in the surgical robot provided by some embodiments of the present application.

[0085] In some examples, referring to Figures 2 - 4 As shown, the isolation plate 20 is usually assembled with the sterile cover 40 as a whole to isolate the contaminated power box 10 from the sterile instrument box 30.

[0086] In some examples, referring to Figure 4 As shown, the isolation plate 20 may include an isolation bottom plate 210. The isolation bottom plate 210 may be connected to the power box 10.

[0087] In some examples, the isolation plate 20 may include an isolation top plate 220. The isolation top plate 220 may be connected to the isolation bottom plate 210. The isolation top plate 220 may be connected to the instrument box 30.

[0088] In some examples, referring to Figures 2 - 4 As shown, the sterile cover 40 may be in a bag-like or cylindrical structure. The sterile cover 40 may have a top opening 410 and a side opening 420.

[0089] In some examples, referring to Figure 3 As shown, when installing and assembling the sterile cover 40 and the isolation plate 20, the isolation bottom plate 210 may be placed into the sterile cover 40 from the side opening 420 along the Figure 3 negative direction of the x-axis shown in Figure 3 Then, it is moved to the top opening 410 along the direction shown by the negative z-axis in

[0090] After moving the isolation bottom plate 210 to the top opening 410, the isolation top plate 220 may be installed outside the sterile cover 40 and connected to the isolation bottom plate 210. Figure 4 In some examples, referring to

[0091] As shown, after connecting the isolation top plate 220 and the isolation bottom plate 210, the isolation bottom plate 210 and the isolation bottom plate 210 press and fix the rim of the top opening 410 of the sterile cover 40 between the isolation bottom plate 210 and the isolation top plate 220, so that the sterile cover 40 below the isolation top plate 220 covers the periphery of the contaminated power box 10, isolating the contaminated power box 10 from the sterile instrument box 30, thereby ensuring that the use environment of the instrument box 30 and the end effector is in a sterile state.

[0092] In some examples, for the convenience of description, in the embodiments of the present application, the snap component 230 is provided on the isolation bottom plate 210 as a specific example for illustration.

[0093] Figure 5 FIG. is a schematic structural diagram of the cooperation of the isolation bottom plate, the snap component and the unlocking member in the surgical robot provided by some embodiments of the present application. Figure 6 FIG. is an exploded structural diagram of the cooperation of the isolation bottom plate, the snap component and the unlocking member in the surgical robot provided by some embodiments of the present application.

[0094] In some examples, referring to Figure 5 and Figure 6 shown, for the convenience of disassembling the isolation plate 20, the isolation plate 20 may include an unlocking member 240. The unlocking member 240 may be provided between the isolation bottom plate 210 and the isolation top plate 220.

[0095] In some examples, after the isolation top plate 220 is connected to the isolation bottom plate 210, the unlocking member 240 may be located in the accommodation space formed between the isolation bottom plate 210 and the isolation top plate 220.

[0096] In some examples, referring to Figure 5 and Figure 6 shown, the unlocking member 240 may have a pressing portion 241. The pressing portion 241 may be the part where an operator operates on the unlocking member 240.

[0097] In some examples, the pressing portion 241 may extend outside the accommodation space formed between the isolation bottom plate 210 and the isolation top plate 220. In this way, when it is necessary to disassemble the isolation plate 20, the unlocking member 240 can be operated by pressing the pressing portion 241 outside the sterile cover 40.

[0098] In some examples, referring to Figure 5 and Figure 6 shown, the force-receiving portion 242 may be in contact with the snap component 230.

[0099] In some examples, along the first direction (for example, Figure 5 the direction shown by the y-axis in Figure 5 ), the pressing portion 241 and the force-receiving portion 242 have a preset distance. That is to say, along Figure 5 the direction shown by the y-axis in

[0100] ), the pressing portion 241 and the force-receiving portion 242 may be located at different positions respectively. In this way, it is convenient for the unlocking member 240 to adapt to the internal space of the isolation plate 20 and convenient for the setting of the unlocking member 240.

[0100] In some examples, along the second direction (for example, along Figure 5 the direction shown by the x-axis in Figure 5 ), the unlocking member 240 can move relative to the isolation bottom plate 210 and the isolation top plate 220. For example, when the pressing portion 241 is pressed, the unlocking member 240 can move alongFigure 5 It moves inwardly into the partition plate 20 in the negative direction of the x-axis.

[0101] In some examples, when disassembling the partition plate 20, the operator can press the pressing portion 241. At this time, the pressing portion 241 is subjected to an external force, and the pressing portion 241 moves Figure 5 inwardly into the partition plate 20 in the negative direction of the x-axis. The pressing portion 241 drives the force-receiving portion 242 to move Figure 5 in the negative direction of the x-axis. The force-receiving portion 242 can drive the buckle assembly 230 to switch from the locked state to the unlocked state. In this way, it is convenient to release the locking of the buckle assembly 230 and the power box 10, and it is convenient to disassemble the partition plate 20.

[0102] In some examples, referring to Figure 5 and Figure 6 as shown, the buckle assembly 230 may include a buckle 231. The buckle 231 may be provided on the partition bottom plate 210.

[0103] In some examples, the buckle 231 may be rotatably provided on the partition bottom plate 210.

[0104] In some examples, a rotating shaft may be provided on one of the partition bottom plate 210 and the buckle 231. A shaft hole may be provided on the other of the partition bottom plate 210 and the buckle 231. The rotating shaft may be inserted into the shaft hole, so as to realize the rotatable connection between the buckle 231 and the partition bottom plate 210.

[0105] In some examples, a through hole 212 may be provided on the partition bottom plate 210. The through hole 212 may penetrate the upper and lower surfaces of the partition bottom plate 210.

[0106] In some examples, the buckle 231 may pass through the through hole 212. The clamping end 2311 of the buckle 231 may penetrate out of the partition bottom plate 210 from the through hole 212. The clamping end 2311 may be clamped with the power box 10.

[0107] In some examples, the operating end 2312 of the buckle 231 may be located on the side of the partition bottom plate 210 facing the partition top plate 220. The operating end 2312 may be in contact with the force-receiving portion 242.

[0108] In some examples, referring to Figure 5 and Figure 6 as shown, a reset member 232 may be provided on the partition bottom plate 210. One end of the reset member 232 may abut against the side of the operating end 2312 away from the unlocking member 240. For example, taking Figure 5 the direction shown in Figure 5 as an example, along the direction of the x-axis shown in Figure 5 the reset member 232 may abut against the side of the operating end 2312 in the negative direction of the x-axis, and the unlocking member 240 may be located on the side of the operating end 2312 in the positive direction of the x-axis.

[0109] In some examples, the other end of the reset member 232 may be connected to the isolation base plate 210.

[0110] In some examples, referring to Figure 5 as shown, when the pressing portion 241 is pressed in the negative direction of the x-axis in Figure 5 , the unlocking member 240 moves along the negative direction of the x-axis relative to the isolation base plate 210 and the isolation top plate 220, and the force-receiving portion 242 drives the operating end 2312 of the buckle 231 to move along the negative direction of the x-axis. At this time, the operating end 2312 compresses the reset member 232, so that the reset member 232 stores energy. When the pressing portion 241 is no longer pressed by an external force, the stored energy of the reset member 232 is released, pushing the operating end 2312 to move along the positive direction of the x-axis, thereby pushing the unlocking member 240 to reset along the positive direction of the x-axis through the force-receiving portion 242.

[0111] In some examples, referring to Figure 5 and Figure 6 as shown, the isolation base plate 210 may be provided with a mounting seat 211. The mounting seat 211 may be fixedly connected to the isolation base plate 210.

[0112] In some examples, the mounting seat 211 and the isolation base plate 210 may be an integral part. For example, the mounting seat 211 and the isolation base plate 210 may be an integral part formed by one injection molding; or, the mounting seat 211 and the isolation base plate 210 may be an integral part formed by secondary injection molding.

[0113] In some examples, the other end of the reset member 232 may abut against the mounting seat 211, so that the reset member 232 is connected to the isolation base plate 210 through the mounting seat 211.

[0114] In some examples, the reset member 232 may include a compression spring.

[0115] In some examples, the reset member 232 may include a shrapnel.

[0116] It can be understood that in some examples of the embodiments of the present application, the specific type of the reset member 232 is only shown as some specific examples, and does not limit the specific type of the reset member 232. In other examples, the reset member 232 may be other types of components capable of storing energy, and the embodiments of the present application will not list them one by one.

[0117] In some examples, the unlocking member 240 is generally made of an injection molded part or an engineering plastic. To adapt to the internal space of the partition plate 20, the pressing portion 241 and the force receiving portion 242 have a preset distance in the first direction. When disassembling the partition plate 20, the pressing portion 241 is pressed. The pressing portion 241 needs to drive the force receiving portion 242, and the force receiving portion 242 drives the operating end 2312 to move. The operating end 2312 compresses the reset member 232. At this time, the reset member 232 exerts a reaction force on the operating end 2312 and the force receiving portion 242. In this way, there is a certain force arm on the unlocking member 240.

[0118] In some examples, to improve the strength of the unlocking member 240 and ensure that the pressing force applied to the pressing portion 241 can effectively press the operating end 2312 through the force receiving portion 242, so that the operating end 2312 can compress the reset member 232 and displace, refer to Figure 5 and Figure 6 As shown, along the second direction (for example, Figure 5 the direction shown by the x-axis in [the figure]), at least part of the thickness of the unlocking member 240 increases from the force receiving portion 242 to the pressing portion 241. In this way, the pressing portion 241, which is farther from the operating end 2312, has a larger thickness and can withstand a larger moment, which can ensure the strength and stiffness of the unlocking member 240 near the pressing portion 241. By increasing the strength of the unlocking member 240 near the pressing portion 241, in this way, when the pressing portion 241 is pressed, the unlocking member 240 is subjected to the external force at the pressing portion 241 and the force of the reset member 232. The unlocking member 240 with increased strength resists the damage of the external force and can prevent the unlocking member 240 from breaking, ensuring that the unlocking member 240 effectively unlocks the buckle assembly 230. In addition, at least part of the thickness of the unlocking member 240 increases from the force receiving portion 242 to the pressing portion 241, and the stiffness of the unlocking member 240 is increased, improving the anti-deformation ability of the unlocking member 240. When the pressing portion 241 is pressed, the force receiving portion 242 is subjected to the force of the reset member 232. Since the anti-deformation ability of the unlocking member 240 increases, the unlocking member 240 will not deform under the action of the reset member 232, and the force receiving portion 242 can quickly compress the reset member 232, thereby effectively driving the force receiving portion 242 and the operating end 2312, and ensuring the effective unlocking of the unlocking member 240 to the buckle assembly 230.

[0119] In some examples, the thickness of the unlocking member 240 can gradually increase from the force receiving portion 242 to the pressing portion 241. For example, the unlocking member 240 can be made into a conical shape from the force receiving portion 242 to the pressing portion 241, so that the thickness of the unlocking member 240 gradually increases from the force receiving portion 242 to the pressing portion 241.

[0120] In some examples, the thickness of the unlocking member 240 from the force-receiving portion 242 to the pressing portion 241 can be gradually increased. For example, the unlocking member 240 can have a first section, a second section, a third section, etc. that are sequentially connected from the force-receiving portion 242 to the pressing portion 241. The first section can have a first thickness, the second section can have a second thickness, and the third section can have a third thickness; the second thickness can be greater than the first thickness, and the third thickness can be greater than the second thickness.

[0121] It can be understood that in the embodiments of the present application, only taking the unlocking member 240 having three sections as a specific example, in other examples, the unlocking member 240 can have four sections, five sections or even more sections.

[0122] Figure 7 It is a schematic structural diagram of the cooperation between the isolation top plate and the unlocking member in the surgical robot provided by some embodiments of the present application. Figure 8 It is along Figure 7 The cross-sectional view taken along line A-A in Figure 9 It is Figure 8 The partial enlarged view at B in

[0123] In some examples, referring to Figures 7 - 9 As shown, one of the side walls of the isolation bottom plate 210 and the isolation top plate 220 is provided with an unlocking hole 221. In the embodiments of the present application, taking the unlocking hole 221 being provided on the side wall of the isolation top plate 220 as an example. The unlocking hole 221 can penetrate the inner and outer side walls of the isolation top plate 220.

[0124] In some examples, the unlocking hole 221 can be a round hole, a square hole, a waist-shaped hole or other special-shaped holes.

[0125] In some examples, the unlocking hole 221 can be aligned with the buckle assembly 230.

[0126] In some examples, the unlocking hole 221 can be aligned with the operating end 2312.

[0127] In some examples, the unlocking hole 221 can be configured to allow an external tool to be inserted and press the buckle assembly 230.

[0128] In some examples, the external tool can include a pin.

[0129] In some examples, the external tool can include an unlocking rod.

[0130] In some examples, referring to Figure 10 As shown, the external tool can be along Figure 10Insert it into the unlocking hole 221 in the direction shown by the arrow a, and abut against the operating end 2312 of the buckle 231. Press the operating end 2312 with an external tool, and the operating end 2312 compresses the reset member 232. The buckle 231 rotates relative to the isolation bottom plate 210, so as to switch from the locked state to the unlocked state. That is to say, in some examples of the embodiments of the present application, an external tool can be inserted through the unlocking hole 221, and the external tool drives the buckle assembly 230 to switch from the locked state to the unlocked state. In this way, when the unlocking member 240 fails to unlock the buckle assembly 230, the buckle assembly 230 can be quickly unlocked by inserting an external tool into the unlocking hole 221, improving the success rate of unlocking the buckle assembly 230.

[0131] According to the isolation board 20 and the surgical robot provided by the embodiments of the present application, by providing a buckle assembly 230 on any one of the isolation bottom plate 210 and the isolation top plate 220 of the isolation board 20, in this way, the buckle assembly 230 can be clamped with the power box 10 or the instrument box 30, which is convenient for fixing the isolation board 20; by providing an unlocking member 240 between the isolation bottom plate 210 and the isolation top plate 220, the force-receiving portion 242 of the unlocking member 240 abuts against the buckle assembly 230, and along the first direction, the pressing portion 241 of the unlocking member 240 and the force-receiving portion 242 are provided with a preset distance. In this way, it is convenient for the unlocking member 240 to adapt to the internal structure of the isolation board 20, and it is convenient for the unlocking member 240 to move relative to the isolation bottom plate 210 and the geographical top plate along the second direction within the isolation board 20; in this way, when an external force presses the pressing portion 241, the pressing portion 241 can drive the force-receiving portion 242 to move along the second direction, so that the force-receiving portion 242 drives the buckle assembly 230 to switch from the locked state to the unlocked state; it is convenient to unlock the buckle assembly 230, so as to disassemble the isolation board 20 from the power box 10 or the instrument box 30; in the embodiments of the present application, by increasing at least part of the thickness of the unlocking member 240 along the second direction from the force-receiving portion 242 to the pressing portion 241, in this way, when the pressing portion 241 is pressed, the unlocking member 240 can have sufficient strength to transmit the force received by the pressing portion 241 to the force-receiving portion 242, so that the force-receiving portion 242 drives the buckle assembly 230 to switch from the locked state to the unlocked state, ensuring that the force-receiving portion 242 can effectively drive the buckle assembly 230 to switch from the locked state to the unlocked state, improving the success rate of the unlocking member 240 in unlocking the buckle assembly 230, and ensuring the effective progress of the surgical procedure.

[0132] In addition, in the embodiments of the present application, by providing an unlocking hole 221 on the side wall of one side of the isolation bottom plate 210 or the isolation top plate 220, the unlocking hole 221 is aligned with the buckle assembly 230; in this way, an external tool can be inserted into the isolation plate 20 through the unlocking hole 221, and the buckle assembly 230 can be pressed by the external tool, so as to drive the buckle assembly 230 to switch from the locked state to the unlocked state, ensuring that the buckle assembly 230 can be effectively unlocked, improving the success rate of unlocking the buckle assembly 230, and ensuring the effective progress of the surgical procedure.

[0133] In some examples, referring to Figure 5 and Figure 6 as shown, the buckle assembly 230 may include two groups. On both sides of the isolation bottom plate 210 along the second direction (for example, the direction shown by the x-axis in Figure 5 ), one group of buckle assemblies 230 may be provided on each side.

[0134] In some examples, each group of buckle assemblies 230 may be correspondingly provided with an unlocking member 240.

[0135] In some examples, when disassembling the isolation plate 20, the pressing portions 241 of the two unlocking members 240 can be pressed from both sides of the isolation plate 20 towards the middle. In this way, the two unlocking members 240 can unlock the two groups of buckle assemblies 230 at the same time, which can improve the efficiency of disassembling the isolation plate 20.

[0136] In some examples of the embodiments of the present application, by providing one group of buckle assemblies 230 on each side of the isolation bottom plate 210 along the second direction, in this way, the isolation plate 20 can be clamped to the power box 10 on both sides of the isolation bottom plate 210, improving the clamping stability of the isolation plate 20 and the power box 10, and improving the safety of using the surgical robot.

[0137] In some examples, referring to Figure 5 and Figure 6 as shown, the buckle assembly 230 may include at least two buckles 231. The buckles 231 may be arranged at intervals along the first direction (for example, the direction shown by the y-axis in Figure 5 ).

[0138] In some examples, taking the buckle assembly 230 including two buckles 231 as an example for illustration. One of the buckles 231 may be provided at one end of the isolation bottom plate 210 along the first direction. The other buckle 231 may be provided at the other end of the isolation bottom plate 210 along the first direction.

[0139] In some examples, the connection manner between the buckle 231 and the isolation bottom plate 210 may refer to the detailed description of the foregoing embodiments of the present application, and the embodiments of the present application will not elaborate on this.

[0140] In some examples, the unlocking member 240 can span between two latches 231 in the first direction. That is, in the first direction, both ends of the unlocking member 240 can be force-receiving portions 242. The force-receiving portion 242 can abut against the latch 231. Specifically, the force-receiving portion 242 can abut against the operating end 2312.

[0141] In some examples, the pressing portion 241 can be located between two latches 231. For example, the operating portion can be located in the middle of the unlocking member 240.

[0142] In some examples of the embodiments of the present application, by arranging a plurality of latches 231 at intervals along the first direction on the isolation base plate 210, the unlocking member 240 spans between the latches 231 in the first direction. In this way, when the unlocking member 240 is pressed and driven by the pressing portion 241, the unlocking member 240 moves in the second direction, and can simultaneously drive a plurality of latches 231 to switch from the locked state to the unlocked state, improving the efficiency of disassembling the isolation plate 20.

[0143] Figure 10 It is a schematic structural view of an unlocking member in a surgical robot provided by some embodiments of the present application. Figure 11 Is Figure 10 The partial enlarged view at C in. Figure 12 Is Figure 5 The partial enlarged view at D in.

[0144] In some examples, referring to Figure 10 And Figure 11 As shown, the side of the force-receiving portion 242 facing the latch 231 can have a vertical surface 2421.

[0145] In some examples, when the latch 231 is in the locked state, the operating end 2312 can abut against the vertical surface 2421. In this way, the contact area between the operating end 2312 and the force-receiving portion 242 can be increased, the stability of the latch 231 in the locked state can be improved, and the stability of the connection between the isolation plate 20 and the power box 10 can be improved.

[0146] In some examples, referring to Figure 10 And Figure 11 As shown, the side of the force-receiving portion 242 facing the latch 231 can have an inclined surface 2422.

[0147] In some examples, referring to Figure 12 As shown, the inclined surface 2422 can be located on the side of the vertical surface 2421 facing the rotation axis of the latch 231.

[0148] In some examples, the inclined surface 2422 can be formed by cutting the force-receiving portion 242.

[0149] In some examples, when the buckle 231 is in the unlocked state, the operating end 2312 can abut against the inclined surface 2422.

[0150] In some examples, when disassembling the isolation plate 20, the pressing portion 241 can be pressed. The pressing portion 241 drives the force-receiving portion 242 to move, and the force-receiving portion 242 drives the buckle 231 to rotate relative to the isolation bottom plate 210. The buckle 231 switches from the locked state to the unlocked state, and the operating end 2312 switches from the state of contacting the vertical surface 2421 to the state of contacting the inclined surface 2422.

[0151] In some examples of the embodiments of the present application, by providing the vertical surface 2421 on the force-receiving portion 242, when the buckle 231 is in the locked state, the buckle 231 abuts against the vertical surface 2421. In this way, the contact area with the force-receiving portion 242 is increased when the buckle 231 is in the locked state, and the stability of the buckle 231 in the locked state is improved, that is, the stability of the connection between the isolation plate 20 and the power box 10 is improved. The inclined surface 2422 is provided on the force-receiving portion 242, and the inclined surface 2422 is provided on the side of the vertical surface 2421 facing the rotation axis of the buckle 231. In this way, during the process of the force-receiving portion 242 driving the buckle 231 to rotate relative to the isolation bottom plate 210, the operating end can rotate from abutting against the vertical surface 2421 to abutting against the inclined surface 2422. In this way, the contact area between the buckle 231 and the force-receiving portion 242 can be increased when the buckle 231 is in the unlocked state, thereby improving the stability of the buckle 231 in the unlocked state and the success rate of unlocking the buckle 231.

[0152] In some examples, referring to Figure 11 As shown, the included angle α between the inclined surface 2422 and the vertical surface 2421 can be complementary to the rotation angle of the buckle 231.

[0153] In some examples, the rotation angle of the buckle 231 can refer to the angle through which the buckle 231 rotates from the locked state to the unlocked state.

[0154] In some examples of the embodiments of the present application, the included angle α between the inclined surface 2422 and the vertical surface 2421 is set to be complementary to the rotation angle of the buckle 231. In this way, when the force-receiving portion 242 drives the buckle 231 to rotate and the buckle 231 switches from the locked state to the unlocked state, the operating end 2312 of the buckle 231 can just contact the inclined surface 2422, which is convenient for ensuring that the operating end 2312 of the buckle 231 abuts against the inclined surface 2422.

[0155] In some examples, referring to Figure 11 As shown, an arc transition surface 2423 is provided between the inclined surface 2422 and the vertical surface 2421.

[0156] In some examples, the corner between the inclined surface 2422 and the vertical surface 2421 can be polished to form an arc transition surface 2423.

[0157] In some examples, the corner between the inclined surface 2422 and the vertical surface 2421 can be rounded to form an arc transition surface 2423.

[0158] In some examples of the embodiments of the present application, the inclined surface 2422 and the vertical surface 2421 are transitioned through the arc transition surface 2423. In this way, when the force-receiving part 242 pushes the operating end 2312 to rotate, it can be ensured that the operating end 2312 smoothly transitions from the vertical surface 2421 to the inclined surface 2422, improving the smoothness of unlocking the buckle 231.

[0159] Figure 13 It is another structural schematic diagram of the unlocking member in the surgical robot provided by some embodiments of the present application.

[0160] In some examples, referring to Figure 10 and Figure 13 as shown, the unlocking member 240 may include a crossbar portion 243. The crossbar portion 243 may be connected between the pressing portion 241 and the force-receiving portion 242.

[0161] In some examples, the crossbar portion 243, the pressing portion 241, and the force-receiving portion 242 may be an integral part. That is to say, the unlocking member 240 may be an integral part.

[0162] In some examples, the unlocking member 240 may be an integral part formed by one-shot injection molding.

[0163] In some examples, the unlocking member 240 may be an integral part formed by secondary injection molding.

[0164] In some examples, along the second direction, the thickness of the crossbar portion 243 may be greater than the thickness of the force-receiving portion 242. That is to say, in some examples of the embodiments of the present application, the thickness of the unlocking member 240 in the second direction may increase in a stepwise manner from the force-receiving portion 242 to the pressing portion 241. For example, the thickness of the crossbar portion 243 may be greater than the thickness of the force-receiving portion 242, and the thickness of the pressing portion 241 may be greater than the thickness of the crossbar portion 243.

[0165] In some examples of the embodiments of the present application, by providing a crossbar portion 243 between the pressing portion 241 and the force-receiving portion 242, the crossbar portion 243 connects the force-receiving portion 242 and the pressing portion 241; and the thickness of the crossbar portion 243 is set to be greater than the thickness of the force-receiving portion 242. In this way, while facilitating adaptation to the internal space of the partition plate 20 and facilitating unlocking of multiple latches 231 simultaneously, the strength of the unlocking member 240 can be ensured, which is beneficial for the acting force of the pressing portion 241 to be effectively transmitted to the force-receiving portion 242 and drive the operating end 2312 in contact with the force-receiving portion 242, thereby improving the success rate of unlocking the latch 231.

[0166] In some examples, referring to Figure 10 and Figure 13 as shown, along the second direction (for example, Figure 10 the direction shown by the x-axis in

[0167] In some examples, the change in the thickness of the crossbar portion 243 can be a gradual change. For example, the crossbar portion 243 can be set as a tapered structure along the first direction (for example Figure 10 the direction shown by the y-axis in

[0168] In some examples, the change in the thickness of the crossbar portion 243 can be a segmented change. For example, the crossbar portion 243 can be set as a stepped shape that changes step by step along the first direction.

[0169] In some examples of the embodiments of the present application, by setting the thickness of the crossbar portion 243 to increase from the end close to the force-receiving portion 242 to the end close to the pressing portion 241, in this way, the strength of the crossbar portion 243 can be improved, ensuring that the end of the crossbar portion 243 far from the force-receiving portion 242 can withstand a greater moment, thereby facilitating the transmission of the acting force of the pressing portion 241 to the force-receiving portion 242, which is beneficial for the unlocking member 240 to effectively unlock the latch 231.

[0170] In some examples, referring to Figure 5 and Figure 7 as shown, through holes 212 can be provided on the partition bottom plate 210 and the partition top plate 220.

[0171] In some examples, referring to Figure 2 and Figure 4 as shown, a transmission disk 213 can be provided in the through hole 212. The transmission disk 213 can be connected to the power disk of the power box 10, and the transmission disk 213 can be connected to the power input disk in the instrument box 30. In this way, the power in the power box 10 can be transmitted to the instrument box 30.

[0172] In some examples, referring to Figure 10 and Figure 13 as shown, at least a part of the side surface of the crossbar portion 243 facing one side of the through hole 212 (for example, it can be the side shown in the positive x-axis direction in Figure 10 ) can be an arc surface 2431. The radian of the arc surface 2431 can be consistent with the radian of the through hole 212. In this way, the thickness of the crossbar portion 243 in the second direction can be gradually changed along the arc surface 2431.

[0173] In some examples of the embodiments of the present application, the side surface of the crossbar portion 243 facing one side of the through hole 212 is set as an arc surface 2431 that is consistent with the radian of the through hole 212; in this way, on the one hand, it is convenient for the crossbar portion 243 to adapt to the internal space of the partition plate 20, facilitating the setting of the unlocking member 240 in the partition plate 20, and on the other hand, the thickness of the crossbar portion 243 increases in a gradually changing manner, which can eliminate the stress concentration existing at the segmented position of the segmented change, improve the strength of the crossbar portion 243, and can effectively unlock the buckle 231.

[0174] In some examples, referring to Figure 6 and Figure 7 as shown, one of the isolation bottom plate 210 and the isolation top plate 220 is provided with a connecting column 222.

[0175] In some examples, the other of the isolation bottom plate 210 and the isolation top plate 220 is provided with a connection hole 214.

[0176] In some examples, the isolation top plate 220 can be provided with a connecting column 222.

[0177] In some examples, the isolation bottom plate 210 can be provided with a connection hole 214.

[0178] In some examples, when the isolation top plate 220 is matched with the isolation bottom plate 210, the connecting column 222 can pass through the connection hole 214. In this way, it is convenient to position the isolation top plate 220 and the isolation bottom plate 210.

[0179] In some examples, there can be multiple connecting columns 222, and the multiple connecting columns 222 can be arranged at the edge of the isolation top plate 220.

[0180] In some examples, the multiple connecting columns 222 can be arranged at the edge of the isolation top plate 220 and the edge of the through hole 212.

[0181] In some examples, the connection hole 214 can be correspondingly arranged with the connecting column 222.

[0182] In some examples, referring to Figure 10 and Figure 13 as shown, the side of the unlocking member 240 facing the connecting column 222 can be provided with an avoidance groove 2432.

[0183] In some examples, the avoidance groove 2432 may be located in the crossbar portion 243. In this way, since the crossbar portion 243 itself has a relatively thick thickness, setting the avoidance groove 2432 will not have a great impact on the overall strength of the unlocking member 240, and can ensure effective unlocking of the buckle 231.

[0184] Figure 14 Yes Figure 8 Another partial enlarged view at position B in the figure.

[0185] In some examples, referring to Figure 14 As shown, on the side of the force-bearing portion 242 away from the buckle assembly 230, there is a convex portion 2424. The convex portion 2424 can pass through the unlocking hole 221.

[0186] In some examples, the convex portion 2424 and the force-bearing portion 242 may be an integral part.

[0187] In some examples, the depth at which the convex portion 2424 is inserted into the unlocking hole 221 may be greater than the moving stroke when the unlocking member 240 unlocks the buckle 231. That is to say, during the process of the unlocking member 240 unlocking the buckle 231, the convex portion 2424 can move along the axial direction of the unlocking hole 221 in the unlocking hole 221 and maintain the inserted state with the unlocking hole 221. In this way, on the one hand, the unlocking hole 221 can play a guiding and limiting role on the unlocking member 240 through the protruding portion, and can improve the stability of the unlocking member 240 during the moving process.

[0188] In addition, in an emergency, it can reduce the distance that the unlocking tool needs to be inserted from the unlocking hole 221, which is convenient for operation.

[0189] In addition, by inserting the convex portion 2424 into the unlocking hole 221, in this way, the convex portion 2424 can fill and block the unlocking hole 221, and can improve the integrity of the overall appearance of the isolation plate 20.

[0190] In some examples, when installing and assembling the unlocking member 240, the convex portion 2424 can be inserted into the unlocking hole 221, so as to play a positioning role in the assembly of the unlocking member 240; it is convenient for the assembly of the unlocking member 240 and improves the assembly efficiency of the unlocking member 240.

[0191] In some examples, the protruding size of the protruding portion 2424 may be smaller than the axial depth size of the unlocking hole 221. That is to say, after the protruding portion 2424 is inserted into the unlocking hole 221, the end of the protruding portion 2424 facing away from the buckle 231 is recessed into the unlocking hole 221. In this way, the protruding portion 2424 can be protected by the unlocking hole 221 and will not collide or come into contact with external components by mistake, avoiding the situation of accidental collision and unlocking of the protruding portion 2424, and improving the safety of using the surgical robot.

[0192] In some examples, the protruding size of the protruding portion 2424 may be equal to the axial depth size of the unlocking hole 221. That is to say, after the protruding portion 2424 is inserted into the unlocking hole 221, the end of the protruding portion 2424 facing away from the buckle 231 may be flush with the outer side wall of the isolation top plate 220. In this way, the flatness of the outer wall of the isolation plate 20 can be improved.

[0193] In some examples, referring to Figure 14 As shown, the unlocking hole 221 may be a tapered hole.

[0194] In some examples, along the axis of the unlocking hole 221, the aperture of the unlocking hole 221 at the end facing the stress portion 242 may be larger than the aperture of the unlocking hole 221 at the end away from the stress portion 242. That is to say, the aperture of the unlocking hole 221 at the end facing the inside of the isolation plate 20 is larger than the aperture of the unlocking hole 221 at the end facing the outside of the isolation plate 20.

[0195] In some examples of the embodiments of the present application, by setting the unlocking hole 221 as a tapered hole and setting the aperture of the unlocking hole 221 at the end facing the stress portion 242 to be larger than the aperture at the end facing away from the stress portion 242. In this way, during the process of inserting the protruding portion 2424 into the unlocking hole 221, the tapered unlocking hole 221 can guide and position the protruding portion 2424, facilitating the insertion of the protruding portion 2424 into the unlocking hole 221. In addition, when assembling the unlocking member 240, the unlocking member 240 can be positioned through the cooperation of the protruding portion 2424 and the unlocking hole 221, facilitating the assembly of the unlocking member 240 and improving the assembly efficiency of the unlocking member 240.

[0196] In some examples, the protruding portion 2424 may be a tapered protrusion.

[0197] In some examples, the axial cross-section of the tapered protrusion is adapted to the axial cross-section of the tapered hole. For example, the change in the axial cross-section of the tapered protrusion may be consistent with the change in the axial cross-section of the tapered shaft hole. In this way, the fit gap between the tapered protrusion and the tapered hole can be reduced, and the integrity of the appearance structure of the isolation plate 20 can be improved.

[0198] Figure 15 It is an exploded structural view of the cooperation between the unlocking member and the isolation top plate in the surgical robot provided by some embodiments of the present application.

[0199] In some examples, the buckle assembly 230 may be disposed on the isolation bottom plate 210.

[0200] In some examples, a first guiding structure 223 may be provided on the side of the isolation top plate 220 facing the isolation floor.

[0201] In some examples, referring to Figure 13 as shown, the unlocking member 240 may be provided with a second guiding structure 244. The second guiding structure 244 may cooperate with the first guiding structure 223.

[0202] In some examples, referring to Figure 15 as shown, the first guiding structure 223 may extend along a second direction (e.g., Figure 15 the direction output by the y-axis in

[0203] In some examples of the embodiments of the present application, by disposing the buckle assembly 230 on the isolation bottom plate 210 and providing the first guiding structure 223 on the isolation top plate 220. Thus, due to the action of gravity, the unlocking member 240 is naturally placed on the isolation bottom plate 210. That is to say, there may be a certain fitting clearance between the unlocking member 240 and the first guiding structure 223 on the isolation top plate 220, which can reduce the friction force of the first guiding structure 223 on the unlocking member 240. When pressing the unlocking member 240, it is convenient for the unlocking member 240 to move smoothly, improving the success rate of unlocking the buckle 231 by the unlocking member 240.

[0204] In some examples, one of the first guiding structure 223 and the second guiding structure 244 may include a first guiding groove 2231.

[0205] In some examples, the other of the first guiding structure 223 and the second guiding structure 244 may include a first guiding post 2441.

[0206] In some examples, the first guiding post 2441 may be inserted into the first guiding groove 2231. When pressing the pressing portion 241, the first guiding post 2441 may move along the first guiding groove 2231, thereby guiding the unlocking member 240 along the second direction.

[0207] In some examples, referring to Figure 15 as shown, the first guiding structure 223 may include a first guiding groove 2231.

[0208] In some examples, the first guiding groove 2231 may be recessed on the side of the isolation top plate 220 facing the isolation bottom plate 210.

[0209] In some examples, the first guiding groove 2231 can be integrally injection-molded with the isolation top plate 220 when the isolation top plate 220 is injection-molded.

[0210] In some examples, the first guiding groove 2231 can be formed by cutting, drilling, or grooving the side of the isolation top plate 220 facing the isolation bottom plate 210 after the isolation top plate 220 is injection-molded.

[0211] It can be understood that in some examples of the embodiments of the present application, the forming method of the first guiding groove 2231 is only shown as some specific examples, and does not limit the forming method of the first guiding groove 2231.

[0212] In some examples, referring to Figure 13 as shown, the second guiding structure 244 can include a first guiding post 2441.

[0213] In some examples, the first guiding post 2441 can be integrally formed with the unlocking member 240.

[0214] In some examples, the first guiding post 2441 can be integrally injection-molded with the unlocking member 240 when the unlocking member 240 is injection-molded.

[0215] In some examples, the first guiding post 2441 can be formed on the unlocking member 240 by secondary injection molding after the unlocking member 240 is injection-molded.

[0216] In some examples, the first guiding structure 223 can include a first guiding post 2441.

[0217] In some examples, the second guiding structure 244 can include a first guiding groove 2231.

[0218] In some examples of the embodiments of the present application, by setting one of the first guiding structure 223 and the second guiding structure 244 as the first guiding groove 2231, and setting the other of the first guiding structure 223 and the second guiding structure 244 as the first guiding post 2441. The first guiding post 2441 is inserted into the first guiding groove 2231. In this way, when the pressing part 241 is pressed, the first guiding post 2441 is restricted by the side wall of the first guiding groove 2231, and the first guiding post 2441 moves along the extending direction of the first guiding groove 2231, so that the unlocking member 240 moves along the extending direction of the first guiding groove 2231, facilitating the force-receiving part 242 to accurately contact the operating end 2312 and drive the operating end 2312, and improving the accuracy of the unlocking member 240 to unlock the buckle 231.

[0219] In some examples, the second guiding structure 244 can be provided on the pressing part 241.

[0220] In some examples, when the second guiding structure 244 is the first guiding post 2441, along the second direction (for example Figure 15 the direction shown by the y-axis in), the second guiding structure 244 can be located on the side of the pressing part 241 facing the buckle assembly 230. That is to say, the first guiding post 2441 can protrude from the side of the pressing part 241 facing the buckle assembly 230.

[0221] In some examples, when the second guiding structure 244 is the first guiding groove 2231, along the second direction, the second guiding structure 244 can be recessed from the side of the pressing part 241 facing the buckle assembly 230.

[0222] In some examples of the embodiments of the present application, by arranging the second guiding structure 244 on the pressing part 241. In this way, when the pressing part 241 is pressed, the direction of the acting force on the pressing part 241 coincides with the extending directions of the first guiding structure 223 and the second guiding structure 244, and there is no torsional component of the pressing force on the unlocking part 240, which can effectively improve the smoothness of the unlocking part 240 moving along the first guiding structure 223 and the second guiding structure 244, and improve the efficiency of unlocking the buckle 231.

[0223] In addition, when the second guiding structure 244 is the first guiding post 2441, the first guiding post 2441 thickens the pressing part 241 along the second direction, improves the strength of the pressing part 241, and facilitates the transmission of the pressing acting force from the unlocking part 240 along the cross bar part 243 to the stress part 242.

[0224] In addition, when the second guiding structure 244 is the first guiding groove, since the thickness of the unlocking part 240 is set to increase from the stress part 242 to the pressing part 241, and the thickness of the pressing part 241 itself is relatively large, after the first guiding groove is arranged on the pressing part 241, the influence on the transmission of the pressing acting force from the pressing part 241 to the stress part 242 through the cross bar part 243 is relatively small, which can ensure the overall strength of the unlocking part 240 and ensure the effective unlocking of the unlocking part 240 to the buckle 231.

[0225] In some examples, referring to Figure 15 as shown, the first guiding structure 223 can include a second guiding post 2232.

[0226] In some examples, referring to Figure 13 as shown, the second guiding structure 244 can include a second guiding groove 2442.

[0227] In some examples, the second guiding post 2232 can be embedded in the second guiding groove 2442. When the pressing part 241 is pressed, the second guiding post 2232 can move along the second guiding groove 2442, so as to guide the unlocking part 240 in the second direction.

[0228] In some examples, referring to Figure 15 as shown in the figure, the first guiding structure 223 can include a first guiding groove 2231 and a second guiding post 2232.

[0229] In some examples, the second guiding post 2232 can protrude from the bottom wall of the first guiding groove 2231.

[0230] In some examples, referring to Figure 13 as shown in the figure, the second guiding structure 244 can include a first guiding post 2441 and a second guiding groove 2442.

[0231] In some examples, the first guiding post 2441 can be inserted into the first guiding groove 2231.

[0232] In some examples, the second guiding post 2232 can be embedded in the second guiding groove 2442.

[0233] In some examples of the embodiments of the present application, the first guiding structure 223 is set to include a second guiding post 2232 and a first guiding groove 2231, and the second guiding structure 244 is set to include a first guiding post 2441 and a second guiding groove 2442. In this way, after the first guiding structure 223 and the second guiding structure 244 are matched, the first guiding post 2441 can be inserted into the first guiding groove 2231, and the second guiding post 2232 can be embedded in the second guiding groove 2442. The unlocking part 240 can be guided through multiple guiding positions, improving the stability of the unlocking part 240 when unlocking and moving the buckle 231, and can improve the success rate of unlocking the buckle 231.

[0234] In some examples, referring to Figure 15 as shown in the figure, along the first direction (for example Figure 15 the direction shown by the x-axis in the figure), the second guiding post 2232 can be located on both sides of the first guiding groove 2231. That is to say, the first guiding groove 2231 can be located between two second guiding posts 2232.

[0235] In some examples, along the first direction, the second guiding groove 2442 can be located on both sides of the first guiding post 2441. That is to say, the first guiding post 2441 can be located between two second guiding grooves 2442.

[0236] In some examples, referring to Figure 13 as shown in the figure, two second guiding grooves 2442 can be located on both sides of the pressing part 241 along the first direction.

[0237] In some examples, referring to Figure 13 as shown, the second guiding groove 2442 can be recessed on one side of the crossbar portion 243 facing the isolation top plate 220 along the Figure 13 direction shown by the z-axis in

[0238] In some examples of the embodiments of the present application, along the first direction, the second guiding posts 2232 are arranged on both sides of the first guiding groove 2231, and the second guiding grooves 2442 are arranged on both sides of the first guiding posts 2441. In this way, two guiding points can be formed through the cooperation of the second guiding posts 2232 and the second guiding grooves 2442 on both sides, and a guiding point is formed between the first guiding posts 2441 and the first guiding grooves 2231. The unlocking member 240 is guided by three guiding points, improving the stability of guiding the unlocking member 240.

[0239] In some examples, referring to Figure 15 as shown, the thickness by which the second guiding post 2232 protrudes from the bottom wall of the first guiding groove 2231 can be less than the depth of the first guiding groove 2231.

[0240] In some examples, the thickness by which the second guiding post 2232 protrudes from the bottom wall of the first guiding groove 2231 can be one-fourth to one-half of the depth of the first guiding groove 2231.

[0241] In some examples, the thickness by which the second guiding post 2232 protrudes from the bottom wall of the first guiding groove 2231 can be less than one-half of the depth of the first guiding groove 2231.

[0242] In some examples, the thickness by which the second guiding post 2232 protrudes from the bottom wall of the first guiding groove 2231 can be equal to one-half of the depth of the first guiding groove 2231.

[0243] In some examples, the thickness by which the second guiding post 2232 protrudes from the bottom wall of the first guiding groove 2231 can be greater than one-fourth of the depth of the first guiding groove 2231.

[0244] In some examples, the thickness by which the second guiding post 2232 protrudes from the bottom wall of the first guiding groove 2231 can be equal to one-fourth of the depth of the first guiding groove 2231.

[0245] In some examples of the embodiments of the present application, the thickness by which the second guiding post 2232 protrudes from the bottom wall of the first guiding groove 2231 is set to be less than the depth of the first guiding groove 2231. In this way, when the second guiding groove 2442 is provided on the crossbar portion 243 of the unlocking member 240, the depth of the second guiding groove 2442 is less than the crossbar portion 243 along Figure 13The thickness in the direction shown by the z-axis can ensure the connection strength between the pressing portion 241 and the crossbar portion 243, facilitating the transmission of the pressing force received by the pressing portion 241 to the crossbar portion 243 and then to the force-receiving portion 242 through the crossbar portion 243.

[0246] In some examples, referring to Figure 15 as shown, a guiding boss 2233 can be provided in the first guiding groove 2231.

[0247] In some examples, referring to Figure 13 as shown, the first guiding post 2441 can be provided with a guiding notch 2443.

[0248] In some examples, the guiding boss 2233 can be inserted into the guiding notch 2443.

[0249] In some examples, two first guiding posts 2441 can be provided. The two first guiding posts 2441 can be arranged at intervals along the first direction. A guiding notch 2443 can be formed between the two first guiding posts 2441. That is to say, along the first direction, the two first guiding posts 2441 can be located on both sides of the guiding boss 2233.

[0250] In some examples of the embodiments of the present application, by providing the guiding boss 2233 in the first guiding groove. In this way, the first guiding groove can be divided into two parts by the guiding boss 2233 to guide the first guiding post 2441, increasing the guiding points for guiding the unlocking member 240, improving the stability of guiding the unlocking member 240, and enhancing the stability and success rate of the unlocking member 240 for unlocking multiple buckles 231 simultaneously.

[0251] In some examples, referring to Figure 15 as shown, the isolation top plate 220 can be provided with an avoidance notch 224.

[0252] In some examples, the pressing portion 241 can extend into the avoidance notch 224. The pressing portion 241 can be configured to move along the second direction within the avoidance notch 224.

[0253] In some examples, when pressing the pressing portion 241, referring to Figure 15 as shown, the pressing portion 241 can drive the unlocking member 240 to move along Figure 15 the direction shown by the positive y-axis in the figure, and the force-receiving portion 242 exerts a force on the operating end 2312 of the bayonet, causing the buckle 231 to rotate relative to the isolation bottom plate 210 and switch from the locked state to the unlocked state.

[0254] In some examples, after releasing the pressing force on the pressing portion 241, the reset force applied by the reset member 232 to the operating end 2312 pushes the force-receiving portion 242 through the operating end 2312, and the force-receiving portion 242 moves the entire unlocking member 240 along Figure 15 the negative y-axis direction in the figure, and the pressing portion 241 moves within the avoidance notch 224, so that the unlocking member 240 is reset.

[0255] In some examples, referring to Figure 5 and Figure 6 as shown, after the unlocking member 240 is assembled between the isolation bottom plate 210 and the isolation top plate 220, under the action of gravity, the unlocking member 240 is naturally placed on the isolation bottom plate 210.

[0256] In some examples, when the unlocking member 240 moves relative to the isolation bottom plate 210, in order to reduce the influence of the friction force between the unlocking member 240 and the isolation bottom plate 210 on the movement of the unlocking member 240 and improve the unlocking smoothness and success rate. Referring to Figure 6 as shown, a first bearing portion 215 may be provided on one side of the isolation bottom plate 210 facing the isolation top plate 220. The first bearing portion 215 may protrude from one side of the isolation bottom plate 210 facing the isolation top plate 220.

[0257] In some examples, the first bearing portion 215 may be integrally formed with the isolation bottom plate 210.

[0258] In some examples, the first bearing portion 215 may be integrally formed with the isolation bottom plate 210 during the integral injection molding of the isolation bottom plate 210.

[0259] In some examples, after the isolation bottom plate 210 is formed, the first bearing portion 215 may be formed on one side of the isolation bottom plate 210 facing the isolation top plate 220 by means of secondary injection molding.

[0260] In some examples, the unlocking member 240 may be disposed on the first bearing portion 215. That is to say, in some examples of the embodiments of the present application, by providing the first bearing portion 215 on the isolation bottom plate 210 and lifting the unlocking member 240 through the first bearing portion 215, the contact area between the unlocking member 240 and the isolation bottom plate 210 can be reduced, that is, the friction points existing between the unlocking member 240 and the isolation bottom plate 210 can be reduced, and the friction force received by the unlocking member 240 when moving relative to the isolation bottom plate 210 can be reduced, improving the smoothness and stability of the unlocking member 240 in unlocking the buckle 231.

[0261] In some examples, the first bearing portion 215 may be located on one side of the pressing portion 241 facing the isolation bottom plate 210. That is to say, the first bearing portion 215 can lift the unlocking member 240 through the pressing portion 241.

[0262] In some examples, referring toFigure 10 As shown, a sinking groove 2411 may be provided on one side of the pressing portion 241 facing the isolation bottom plate 210.

[0263] In some examples, the sinking groove 2411 may communicate with the guiding notch 2443.

[0264] In some examples, along the first direction, the side wall of the sinking groove 2411 may be flush with the first guiding post 2441.

[0265] In some examples, the opening area of the sinking groove 2411 may be smaller than the area of the first bearing portion 215 on the side facing the pressing portion 241.

[0266] In some examples of the embodiments of the present application, by providing the sinking groove 2411 on one side of the pressing portion 241 facing the isolation bottom plate 210. In this way, the bottom wall of the sinking groove 2411 is separated from the first bearing portion 215, which can reduce the contact area between the pressing portion 241 and the first bearing portion 215, reduce the friction contact points between the pressing portion 241 and the first bearing portion 215, reduce the frictional force received by the unlocking member 240, and improve the smoothness of the movement of the unlocking member 240.

[0267] In some examples, referring to Figure 6 As shown, the first bearing portion 215 is provided with a first concave groove 2151. The first concave groove 2151 may be located on the side of the second guiding knot 244 facing the isolation bottom plate 210.

[0268] In some examples, the first concave groove 2151 may be disposed opposite to the first guiding post 2441. That is to say, after the unlocking member 240 is disposed on the first bearing portion 215, the first concave groove 2151 may be located below the first guiding post 2441.

[0269] In some examples of the embodiments of the present application, by providing the first concave groove 2151 on the first bearing portion 215 and disposing the first concave groove 2151 below the first guiding post 2441. In this way, when the unlocking member 240 moves relative to the isolation bottom plate 210, the first guiding post 2441 slides above the first concave groove 2151, reducing the contact area between the first guiding post 2441 and the first bearing portion 215, reducing the effective friction points between the first guiding post 2441 and the first bearing portion 215, that is, reducing the frictional force between the first guiding post 2441 and the first bearing portion 215, and improving the smoothness of the movement of the unlocking member 240.

[0270] In some examples, the first concave groove 2151 may extend along the second direction.

[0271] In some examples, along the second direction, the length of the first concave groove 2151 may be equal to the length of the first guiding post 2441.

[0272] In some examples, along the second direction, the length of the first recessed groove 2151 may be greater than the length of the first guide post 2441.

[0273] In some examples, along the first direction, the width of the first recessed groove 2151 may be less than the width of the first guide post 2441.

[0274] In some examples, the first recessed groove 2151 may be used as an injection molding process groove for the isolation bottom plate 210.

[0275] In some examples, the first recessed groove 2151 may be used as a weight reduction groove for the isolation bottom plate 210.

[0276] In some examples, the first recessed groove 2151 may be used as a strengthening groove for the isolation bottom plate 210.

[0277] In some examples of the embodiments of the present application, by extending the first recessed groove 2151 along the second direction and setting the length of the first recessed groove 2151 along the second direction to be greater than or equal to the length of the first guide post 2441, and the width of the first recessed groove 2151 along the first direction is less than the width of the first guide post 2441. In this way, in the width direction, the first guide post 2441 can contact the first bearing portion 215, and in the length direction, the contact area between the first guide post 2441 and the first bearing portion 215 is reduced, and the effective friction points between the first guide post 2441 and the first bearing portion 215 are reduced, that is, the frictional force between the first guide post 2441 and the first bearing portion 215 is reduced, and the smoothness of the movement of the unlocking member 240 is improved.

[0278] In some examples, there may be two first recessed grooves 2151, and the two first recessed grooves 2151 are arranged at intervals along the first direction.

[0279] In some examples, the first bearing portion 215 may be provided with a second recessed groove 2152.

[0280] In some examples, the second recessed groove 2152 may be provided between the two first recessed grooves 2151.

[0281] In some examples, the second recessed groove 2152 may be used as a weight reduction groove for the isolation bottom plate 210.

[0282] In some examples of the embodiments of the present application, by providing a second recessed groove 2152 between two first recessed grooves 2151, the material used for the isolation bottom plate 210 can be reduced in this way, and the overall weight of the isolation bottom plate 210 can be alleviated. Additionally, by providing the second recessed groove 2152, the contact area between the first bearing portion 215 and the unlocking member 240 can be reduced, and the effective friction points between the first guide post 2441 and the first bearing portion 215 are decreased, that is, the frictional force between the first guide post 2441 and the first bearing portion 215 is reduced, improving the smoothness of the movement of the unlocking member 240.

[0283] In some examples, the second recessed groove 2152 can be a square groove.

[0284] In some examples, the second recessed groove 2152 can be a strip-shaped groove.

[0285] In some examples, the second recessed groove 2152 can be a waist-shaped groove.

[0286] In some examples, the second recessed groove 2152 can be a circular groove.

[0287] It can be understood that in some examples of the embodiments of the present application, the specific types of the second recessed groove 2152 are only shown as some specific examples, and are not intended to limit the specific types of the second recessed groove 2152.

[0288] In some examples, referring to Figure 5 and Figure 6 as shown, along the first direction (such as Figure 5 the direction shown by the y-axis in Figure 6 ), the unlocking member 240 needs to contact two latches 231 arranged at intervals along the first direction at the same time and unlock the two latches 231. The span of the unlocking member 240 along the first direction is relatively long. To improve the stability of the movement of the unlocking member 240 along the second direction, referring to

[0289] as shown, a second bearing portion 216 can be provided on one side of the isolation bottom plate 210 facing the isolation top plate 220. Along the first direction, the second bearing portion 216 can be arranged at intervals from the first bearing portion 215.

[0290] In some examples, the second bearing portion 216 supports the side of the unlocking member 240 facing the isolation bottom plate 210.

[0291] In some examples, the forming method of the second bearing portion 216 can be the same as, similar to, or close to that of the first bearing portion 215. Specifically, reference can be made to the detailed description of the forming method of the first bearing portion 215 in the foregoing embodiments of the present application, and the embodiments of the present application will not elaborate on this again.

[0292] In the embodiments of the present application, by providing a second bearing portion 216 on the isolation base plate 210, the second bearing portion 216 supports the unlocking member 240 on the side facing the isolation base plate 210, and the second bearing portion 216 is provided between the first bearing portion 215 and the buckle 231. In this way, the unlocking member 240 can be supported jointly by the first bearing portion 215 and the second bearing portion 216. That is to say, there are at least two support points on the isolation base plate 210 to support the unlocking member 240, improving the stability of the unlocking member 240 on the isolation base plate 210, facilitating the effective unlocking of the buckle 231 by the unlocking member 240, and increasing the success rate of unlocking the buckle 231 by the unlocking member 240.

[0293] In some examples, referring to Figure 6 as shown, there may be two second bearing portions 216.

[0294] In some examples, one of the two second bearing portions 216 may be located on one side of the first bearing portion 215 along the first direction.

[0295] In some examples, the other second bearing portion 216 of the two second bearing portions 216 may be located on the other side of the first bearing portion 215 along the first direction.

[0296] In some examples, the two second bearing portions 216 may be symmetrically arranged relative to the first bearing portion 215 on both sides of the first bearing portion 215. That is to say, one second bearing portion 216 may be provided on each side of the first bearing portion 215.

[0297] In some examples of the embodiments of the present application, by providing two second bearing portions 216, one second bearing portion 216 is provided on each side of the first bearing portion 215 along the first direction. In this way, there are three support points, namely the first bearing portion 215 and the two second bearing portions 216, on the isolation base plate 210 to support the unlocking member 240, improving the stability of the unlocking member 240, facilitating the effective unlocking of the buckle 231 by the unlocking member 240, and increasing the success rate of unlocking the buckle 231 by the unlocking member 240.

[0298] In some examples, the second bearing portion 216 may be a boss, a bump, a rib or a ridge protruding from the isolation base plate 210.

[0299] In some examples, referring to Figure 6 as shown, a convex edge 217 may be provided on the hole edge of the through hole 212. The convex edge 217 may surround the through hole 212 along the circumferential direction of the through hole 212. In this way, the axial dimension of the through hole 212 can be increased, facilitating the arrangement of the transmission disk 213.

[0300] In some examples, referring to Figure 6As shown, the second bearing portion 216 can be connected to the convex edge 217. In this way, the strength of the second bearing portion 216 and the convex edge 217 can be increased, and the stability of the support of the second bearing portion 216 for the unlocking member 240 can be improved.

[0301] The above-described embodiments are only specific embodiments of the present application and are not used to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the present application shall be included in the protection scope of the present application.

Claims

1. A separation board, characterized in that: include: Isolation base plate; An isolation top plate connected to the isolation bottom plate, wherein either the isolation bottom plate or the isolation top plate is provided with a buckle assembly, and the buckle assembly is configured to be buckled with a power box or an instrument box; An unlocking member is provided between the isolation bottom plate and the isolation top plate, the unlocking member comprises a pressing portion and a force-bearing portion, the force-bearing portion abuts against the buckle assembly, and along a first direction, the pressing portion and the force-bearing portion have a preset distance; along a second direction, the unlocking member can move relative to the isolation bottom plate and the isolation top plate; when the pressing portion is pressed by an external force, the pressing portion drives the force-bearing portion to move along the second direction, so that the force-bearing portion drives the buckle assembly to switch from a locked state to an unlocked state; The second direction intersects the first direction.

2. The isolation plate according to claim 1, characterized in that Along the second direction, the unlocking member has at least a portion whose thickness increases from the force-bearing portion to the pressing portion; An unlocking hole is provided on the side wall of one of the isolation bottom plate and the isolation top plate, and the unlocking hole is aligned with the buckle assembly. The unlocking hole is configured to allow an external tool to be inserted into and press the buckle assembly to drive the buckle assembly to switch from the locked state to the unlocked state.

3. The isolation plate according to claim 2, characterized in that The buckle assembly includes at least two buckles, the buckles are arranged at intervals along the first direction, and the unlocking member spans between the buckles along the first direction; The force-bearing portion abuts against the buckles, and the pressing portion is located between the buckles.

4. The isolation plate according to claim 3, characterized in that The buckle is rotatably connected to one of the isolation bottom plate and the isolation top plate, and the force-bearing portion drives the buckle to rotate so as to switch from the locked state to the unlocked state; The side of the force-bearing portion facing the buckle has a vertical surface and an inclined surface, and the inclined surface is located on the side of the vertical surface facing the rotation axis of the buckle; When the buckle is in a locked state, the vertical surface abuts against the buckle; When the buckle is in an unlocked state, the inclined surface abuts against the buckle.

5. The isolation plate according to claim 4, characterized in that The angle between the inclined surface and the vertical surface is complementary to the rotation angle of the buckle; An arc transition surface is provided between the inclined surface and the vertical surface.

6. The isolation plate according to claim 2, characterized in that The unlocking member includes a cross bar portion, which is connected between the pressing portion and the force-bearing portion. Along the second direction, the thickness of the cross bar portion is greater than the thickness of the force-bearing portion.

7. The isolation plate according to claim 6, characterized in that Along the second direction, the thickness of the cross bar portion increases from the end portion of the cross bar portion close to the force-bearing portion to the end portion of the cross bar portion close to the pressing portion.

8. The isolation plate according to claim 7, characterized in that The isolation bottom plate and the isolation top plate are provided with through holes, and a transmission disc is inserted into the through holes; At least part of the side surface of the cross bar portion facing the through hole is an arc surface, and the curvature of the arc surface is consistent with the curvature of the through hole, so that the thickness of the cross bar portion along the second direction gradually changes along the arc surface.

9. The isolation plate according to claim 6, characterized in that One of the isolation bottom plate and the isolation top plate is provided with a connecting column, and the other of the isolation bottom plate and the isolation top plate is provided with a connecting hole, and the connecting column is passed through the connecting hole to position the isolation bottom plate and the isolation top plate; A relief groove is provided on one side of the unlocking member facing the connecting column, and the relief groove is located on the cross bar portion.

10. The isolation plate according to any one of claims 1 to 9, characterized in that: The force-bearing portion has a protrusion on one side away from the buckle assembly, and the protrusion is penetrated through the unlocking hole.

11. The isolation plate according to claim 10, characterized in that The protrusion dimension of the protrusion is smaller than or equal to the depth dimension of the unlocking hole along the axial direction.

12. The isolation plate according to claim 10, characterized in that The unlocking hole is a tapered hole, and along the axial direction of the unlocking hole, the hole diameter of the unlocking hole toward the force-bearing portion is larger than the hole diameter of the unlocking hole away from the force-bearing portion; The protrusion is a conical protrusion, and the conical protrusion is adapted to the axial cross section of the conical hole.

13. The isolation plate according to any one of claims 1 to 9, characterized in that: The buckle assembly is arranged on the isolation bottom plate, the isolation top plate is provided with a first guide structure on the side facing the isolation bottom plate, and the unlocking piece is provided with a second guide structure; the second guide structure cooperates with the first guide structure, and the first guide structure extends along the second direction to guide the unlocking piece along the second direction.

14. A surgical robot, characterized in that: include: A power box disposed on the surgical arm; The isolation plate according to any one of claims 1 to 13 is detachably arranged on the power box; The instrument box is detachably arranged on the isolation plate.

Images