Surgical robot tail end tool

Abstract

The invention discloses a surgical robot tail end tool which comprises a main base, an auxiliary base, a clamp, a sterile cover and a detachable cutting ring, the main base is installed on a flange at the tail end of a mechanical arm, the sterile cover is fixed to the main base through the clamp, and the auxiliary base is installed on the main base. The main base comprises a base plate and a connecting table, a set of fixing holes matched with a flange at the tail end of the mechanical arm and a set of threaded holes used for being connected with the auxiliary base are formed in the connecting table, a first groove is formed in the top face of the main base, a second groove is formed in the side face of the main base, and the first groove is communicated with the second groove.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a surgical robot end tooling. Background Art

[0002] Orthopedic surgical robots are used during surgery to precisely position surgical instruments or implants. They are used in conjunction with specific X-ray imaging equipment to achieve precise robot positioning through preoperative path planning, assisting the surgeon in completing surgical operations with high quality and efficiency.

[0003] As an important intraoperative assistant, the clinical value of orthopedic surgical robots has been recognized by the majority of doctors. With the increase in the frequency of clinical use, the convenience of disassembly and assembly of the surgical robot's end device tools during clinical use not only affects the doctor's acceptance of orthopedic surgical robots, but also affects the duration of robotic surgery and the risk of bacterial infection in patients.

[0004] In actual operation, the operating table, surgical instruments and tools, and the surgical area at the patient's wound all need to be sterile. The surgical robot and the robot end are sterile, and the tool device at the end of the surgical robot is sterile. The sterile tool device is a temporary assembly of multiple independent parts. Now the sterile tool device needs to be installed on the sterile surgical robot end, and after the installation is completed, the sterile tool device must still remain sterile. During the entire installation process, due to structural problems with the tool device, the operation steps are relatively cumbersome, requiring at least two medical personnel to operate collaboratively, and there is a risk that the sterile tool device will fall to the ground and be contaminated, or the sterile tool device will touch other sterile items and be contaminated, thus forcing the temporary adjustment of the surgical plan. Therefore, the medical personnel who operate and install the tool device at the end of the surgical robot are under great on-site pressure. Summary of the Invention

[0005] Purpose of the invention: The technical problem to be solved by the present invention is to provide a surgical robot end tooling in response to the deficiencies of the existing technology.

[0006] In order to solve the above technical problems, the present invention discloses a surgical robot end tooling, including a main base, a slave base, a clamp, a sterile cover and a detachable cutting ring. The main base is installed on the end flange of the robotic arm, the clamp fixes the sterile cover on the slave base, and the slave base is installed on the main base.

[0007] In the present invention, the main base includes a chassis and a connecting platform, the connecting platform is provided with a group of fixing holes adapted to the end flange of the robotic arm and a group of threaded holes for connecting to the slave base, the top surface of the main base is provided with a first groove, and the side surface of the main base is provided with a second groove, and the first groove is connected to the second groove.

[0008] In the present invention, the slave base includes a group of embedded holes adapted to the fixing holes, the embedded holes are stepped holes, a locking screw is provided in the embedded hole, a locking thread is provided at the front end of the locking screw, a spring is provided on the outer ring of the locking thread, the upper part of the spring abuts against the spring limit block in the middle of the locking screw, a locking handle is provided at the upper end of the locking screw, a limit ring is provided at the top of the embedded hole, and the spring limit block is located at the bottom of the limit ring.

[0009] In the present invention, a circle of circular grooves is provided on the inner wall of the base, and a convex strip adapted to the second groove is provided on the inner wall of the circular groove.

[0010] In the present invention, the clamp includes a sterile cover pressure ring, which can be inserted into the circular groove. The inner ring of the clamp is provided with a stop platform, the inner diameter of the stop platform is consistent with the circular groove, and the clamp is provided with an opening for adjusting its diameter.

[0011] In the present invention, a horizontal handle is provided in the middle of the cutting ring, the outer diameter of the cutting ring is adapted to the inner diameter of the clamp, one or more cutting blades are provided on the cutting ring, and a flange is provided on the outer ring of the cutting ring.

[0012] The present invention includes a method for cutting a sterile cover, and the steps are as follows:

[0013] S1: Install the main base on the end flange of the robot arm;

[0014] S2: Place the sterile cover close to the bottom of the slave base, and use the clamp to slowly press the sterile cover into the slave base. Insert the sterile cover pressure ring of the clamp into the circular groove of the slave base until the stop platform abuts against the inner wall end surface of the circular groove;

[0015] S3: Insert the cutting ring from the clamp ring until the flange of the cutting ring abuts against the clamp. At this time, the cutting blade of the cutting ring is aligned with the abutment gap between the inner wall of the circular groove and the stop platform;

[0016] S4: Turn the horizontal handle to make the cutting blade cut the sterile cover along the gap between the inner wall of the circular groove and the stop platform. After the cutting is completed, take out the sterile cover cut inside;

[0017] S5: Screw the locking thread of the slave base into the threaded hole of the main base to complete the installation and fixation of the main base and the slave base. The sterile cover isolates the sterile robotic arm and the main base from the sterile slave base and the clamp.

[0018] Beneficial Effects: The present invention ensures that orthopedic surgical robots can assist in surgery quickly, easily, safely, and effectively. Furthermore, the invention can be easily, simply, quickly, and effectively operated and installed by a single person. Furthermore, the sterile cover can be used to separate the sterile robotic arm and main base from the sterile slave base and clamp, maintaining a sterile surgical environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more apparent.

[0020] Figure 1 It is a schematic diagram of the overall structure.

[0021] Figure 2 It is a diagram of the explosion.

[0022] Figure 3 It is a schematic diagram of the main base structure.

[0023] Figure 4 From the base structure Figure 1 .

[0024] Figure 5 From the base structure Figure 2 .

[0025] Figure 6 It is a schematic diagram of the clamp structure.

[0026] Figure 7 It is a schematic diagram of the cutting ring structure.

[0027] Figure 8 It is a schematic diagram of sterile cover cutting.

[0028] Reference numerals in the figure: main base 1, fixing hole 10, threaded hole 11, first groove 12, second groove 13; slave base 2, connecting rod 20, ridge 21, locking screw 22, circular groove 23, embedded hole 24, spring 25, locking thread 220, locking handle 221, spring limit block 222, limit ring 223;

[0029] Clamp 3, opening 30, sterile cover pressure ring 31, stop platform 32;

[0030] Cutting ring 4, cutting blade 40, flange 41, horizontal handle 42;

[0031] Robot arm end flange 5;

[0032] Sterile hood6. DETAILED DESCRIPTION

[0033] The present invention provides a surgical robot end tooling, such as Figure 1 and Figure 2 , including a main base 1, a slave base 2, a clamp 3, a sterile cover and a detachable cutting ring 4. The main base 1 is installed on the end flange 5 of the robotic arm, the clamp 3 fixes the sterile cover on the slave base 2, and the slave base 2 is installed on the main base 1.

[0034] like Figure 3The main base 1 includes a chassis and a connecting platform. The connecting platform is provided with a group of fixing holes 10 adapted to the end flange 5 of the robotic arm and a group of threaded holes 11 for connecting to the slave base. The top surface of the main base 1 is provided with a first groove 12, and the side surface of the main base is provided with a second groove 13. The first groove 12 is connected to the second groove 13.

[0035] like Figure 4 and Figure 5 The base 2 includes a group of embedded holes 24 that are adapted to the fixing holes 10. The embedded holes are stepped holes. A locking screw 22 is provided in the embedded hole 24. A locking thread 220 is provided at the front end of the locking screw 22. A spring 25 is provided on the outer ring of the locking thread 220. The upper part of the spring 25 abuts against the spring limit block in the middle of the locking screw 22. A locking handle 221 is provided at the upper end of the locking screw 22. A limit ring is provided at the top of the embedded hole, and the spring limit block is located at the bottom of the limit ring.

[0036] A circle of circular groove 23 is formed on the inner wall of the base 2 , and a convex strip 21 adapted to the second groove 13 is formed on the inner wall of the circular groove 23 .

[0037] like Figure 6 The clamp 3 includes a sterile cover pressure ring 31, which can be inserted into the circular groove 23. The inner ring of the clamp 3 is provided with a stop platform 32, and the inner diameter of the stop platform 32 is consistent with the circular groove 23. The clamp 3 is provided with an opening 30 for adjusting its diameter.

[0038] like Figure 7 A horizontal handle 42 is provided in the middle of the cutting ring 4, the outer diameter of the cutting ring is adapted to the inner diameter of the clamp 3, one or more cutting blades 40 are provided on the cutting ring, and a flange 41 is provided on the outer ring of the cutting ring.

[0039] like Figure 8 The sterile cover after cutting will separate the slave base from the surgical robot, and the cut part will be pressed tightly into the slave base 2 by the clamp 3.

[0040] The present invention also includes a method for cutting a sterile cover, comprising the following steps:

[0041] S1: Install the main base 1 on the end flange 5 of the robot arm;

[0042] S2: Place the sterile cover close to the bottom of the slave base 2, and use the clamp 3 to slowly press the sterile cover into the slave base 2. The sterile cover pressing ring 31 of the clamp 3 is inserted into the circular groove 23 of the slave base 2 until the stop 32 abuts against the inner wall end surface of the circular groove 23;

[0043] S3: Insert the cutting ring 4 through the clamp 3 until the flange 41 of the cutting ring 4 abuts against the clamp 3. At this time, the cutting blade 40 of the cutting ring 4 is aligned with the abutment gap between the inner wall of the circular groove 23 and the stop platform 32;

[0044] S4: Turn the horizontal handle 42 so that the cutting blade 40 cuts the sterile cover along the gap between the inner wall of the circular groove 23 and the stop platform 32. After the cutting is completed, take out the sterile cover cut inside;

[0045] S5: Screw the locking thread 220 of the slave base 2 into the threaded hole 11 of the main base 1 to complete the installation and fixation of the main base and the slave base. The sterile cover isolates the sterile robotic arm and the main base from the sterile slave base and the clamp.

[0046] Specifically, the width of the first groove 12 is 1 mm greater than the thickness and width of the protruding strip 21 .

[0047] The tapered upper portion of the second groove 13 has a guiding function, and the rectangular lower portion of the second groove 13 has a locking function.

[0048] The limiting ring 223 is welded to the base when it is first installed.

[0049] The outer opening of the first groove 12 is connected to the upper opening of the second groove 13 to form a pressure relief channel with a cylindrical cavity structure.

[0050] The opening 30 allows the diameter of the clamp 3 to change under tension when it is stressed, and to recover when it is not stressed.

[0051] The connecting rod 20 is welded to the back side of the slave base 2 .

[0052] The outer diameter of the clamp 3 is consistent with the inner diameter of the cylindrical cavity structure of the base, which can clamp the sterile cover 6 so that it will not fall off under a tensile force within 5N, greatly facilitating the operation without bacterial contamination requirements during the process of installing and fixing the sterile component from the base 2 to the main base 1 of the sterile component.

[0053] The outer diameter of the cutting ring 4 is 1 mm smaller than the inner diameter of the clamp 3 .

[0054] The main base 1, the slave base 2, the clamp 3 and the cutting ring 4 are all made of medical stainless steel.

[0055] When the device is in use, the end flange 5 of the robot arm and the main base 1 are in a sterile state, and the slave base 2, the clamp 3, the cutting ring 4, and the sterile cover 6 are in a sterile state.

[0056] The steps are as follows:

[0057] 1. First, fix the main base 1 to the flange 5 at the end of the robot arm with screws through the fixing holes 10. This step is a permanent installation, unless the main base 1 is damaged and needs to be replaced;

[0058] 2. Put on sterile clothes and sterile gloves, place the slave base 2, clamp 3, cutting ring 4, and sterile cover 6 on the sterile instrument table, put the clamp 3 on the inner bottom of the sterile cover 6, and smooth the bottom of the sterile cover 6 and tighten it to cover the sterile cover pressure ring 31 of the clamp 3. Align the sterile cover pressure ring 31 of the clamp 3 covered with the sterile cover 6 with the circular groove 23 of the slave base 2, gently pinch the clamp 3 covered with the sterile cover 6 to reduce its diameter, and clamp it into the inner wall of the slave base 2 until it reaches the stop 32;

[0059] 3. Roll up the sterile cover 6 until the clamp 3 is completely exposed, insert the cutting ring 4 into the clamp 3 until it reaches the flange 41, pinch the horizontal handle 42 and rotate the cutting ring 4 to cut off the excess sterile cover inside the inner diameter of the clamp 3 and remove the cut excess sterile cover. Remove the cutting ring 4 from the clamp 3 and return it to the sterile instrument table;

[0060] 4. Pick up the rolled-up sterile cover 6 with one hand and pick up the slave base 2 with the other hand. Align the ridge 21 on the inner wall of the slave base 2 with the second groove 13 of the main base 1. Press the slave base 2 onto the main base 1 and tighten the locking screw 22 to secure the slave base 2 to the main base 1.

[0061] 5. Pull open the rolled sterile cover 6 and stretch it to cover the entire robotic arm. Use the sterile cover 6 to separate the sterile robotic arm and main base 1 from the sterile slave base 2 and clamp 3, thereby ensuring that during the surgical operation, the surgical area at the patient's wound and the surgical robot-related tools and devices are sterile. At this point, the sterile installation operation of the entire device structure is completed.

[0062] The present invention provides a concept and method for a surgical robot end-use tooling. There are numerous methods and approaches for implementing this technical solution. The above is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art may make improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are considered within the scope of protection of the present invention. Any components not specified in this embodiment may be implemented using existing technologies.

Claims

1. A surgical robot end tooling, characterized in that: The invention comprises a main base (1), a slave base (2), a clamp (3), a sterile cover and a detachable cutting ring (4); the main base (1) is mounted on a flange (5) at the end of the robot arm; the clamp 3 fixes the sterile cover on the slave base (2); and the slave base (2) is mounted on the main base (1).

2. The surgical robot end tooling according to claim 1, characterized in that: The main base (1) comprises a chassis and a connecting platform, wherein the connecting platform is provided with a group of fixing holes (10) adapted to the end flange (5) of the robot arm and a group of threaded holes (11) for connecting to the slave base, a first groove (12) is provided on the top surface of the main base (1), and a second groove (13) is provided on the side surface of the main base, and the first groove (12) is communicated with the second groove (13).

3. The surgical robot end tooling according to claim 2, characterized in that: The slave base (2) includes a group of embedded holes (24) adapted to the fixing holes (10), the embedded holes are stepped holes, a locking screw (22) is provided in the embedded hole (24), a locking thread (220) is provided at the front end of the locking screw (22), a spring (25) is provided on the outer ring of the locking thread (220), the upper part of the spring (25) abuts against a spring limit block (222) in the middle of the locking screw (22), a locking handle (221) is provided at the upper end of the locking screw (22), a limit ring (223) is provided at the top end of the embedded hole, and the spring limit block (222) is located at the bottom of the limit ring (223).

4. The surgical robot end tooling according to claim 3, characterized in that: The inner wall of the base (2) is provided with a circle of circular grooves (23), and the inner wall of the circular groove (23) is provided with a convex strip (21) adapted to the second groove (13).

5. The surgical robot end tooling according to claim 3, characterized in that: The clamp (3) includes a sterile cover pressure ring (31), which can be inserted into the circular groove (23). The inner ring of the clamp (3) is provided with a stop platform (32), and the inner diameter of the stop platform (32) is consistent with the circular groove (23). The clamp (3) is provided with an opening (30) for adjusting its diameter.

6. The surgical robot end tooling according to claim 5, characterized in that: The cutting ring (4) is provided with a horizontal handle (42) in the middle, the outer diameter of the cutting ring is adapted to the inner diameter of the clamp (3), one or more cutting blades (40) are provided on the cutting ring, and the outer ring of the cutting ring is provided with a circle of flanges (41).

7. The surgical robot end tooling according to claim 6, characterized in that: Including the cutting method of the sterile cover, the steps are as follows: S1: Install the main base (1) on the end flange (5) of the robot arm; S2: Place the sterile cover close to the bottom of the slave base (2), use the clamp (3) to slowly press the sterile cover into the slave base (2), and insert the sterile cover pressure ring (31) of the clamp (3) into the circular groove (23) of the slave base (2) until the stop platform (32) abuts against the inner wall end surface of the circular groove (23); S3: insert the cutting ring (4) through the collar of the clamp (3) until the flange (41) of the cutting ring (4) abuts against the clamp (3), and at this time, the cutting blade (40) of the cutting ring (4) is aligned with the abutment gap between the inner wall of the circular groove (23) and the stop platform (32); S4: Turn the horizontal handle (42) so that the cutting blade (40) cuts the sterile cover along the gap between the inner wall of the circular groove (23) and the stop platform (32). After the cutting is completed, take out the sterile cover cut inside; S5: Screw the locking thread (220) of the slave base (2) into the threaded hole (11) of the main base (1) to complete the installation and fixation of the main base and the slave base. The sterile cover isolates the sterile robotic arm and the main base from the sterile slave base and the clamp.

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