Fixing device, surgical instrument and surgical robot

Abstract

The invention belongs to the technical field of medical instruments, and particularly provides a fixing device, a surgical instrument and a surgical robotic.The fixing device comprises a fixing body, a locking assembly, a first rotating supporting piece and a second rotating supporting piece, the fixing body is used for being connected with a mechanical arm, and a through hole is formed in the fixing body and used for installing an execution device; the locking assembly is inserted into the through hole, and the locking assembly is used for locking the execution device to the fixing main body; the first rotating supporting piece is arranged at the end, away from the locking assembly, of the fixing body, the first rotating supporting piece is detachably connected with the fixing body, and the first rotating supporting piece is used for supporting the execution device; and the second rotating supporting piece is arranged in the locking assembly, the second rotating supporting piece is detachably connected with the locking assembly, and the second rotating supporting piece is used for supporting the execution device. According to the fixing device, the replacement convenience of the first rotating supporting piece and the second rotating supporting piece can be improved, and the use cost of the fixing device is reduced.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and more specifically, relates to a fixation device, a surgical instrument, and a surgical robot. Background Art

[0002] The actuators in surgical instruments are generally connected to the robotic arm through a fixing device, and during the use of some surgical instruments, the actuators and the fixing device will move relative to each other. These movements will cause wear on the fixing device. The current fixing devices are mainly integrated designs. After local wear of the fixing device occurs, the locally worn parts of the fixing device cannot be replaced individually, and the fixing device can only be replaced as a whole, resulting in a shorter overall service life of the fixing device and higher usage costs. Summary of the Invention

[0003] The purpose of this application is to provide a fixing device, a surgical instrument and a surgical robot to solve the technical problem in the prior art that the fixing device needs to be replaced as a whole, resulting in high usage costs.

[0004] To achieve the above objectives, the technical solution adopted in this application is:

[0005] In one aspect, a fixing device is provided, comprising:

[0006] A fixed body, the fixed body being used to connect to the robotic arm, the fixed body being provided with a through hole for mounting an actuator;

[0007] a locking assembly, the locking assembly being inserted into the through hole and being used to lock the actuator to the fixed body;

[0008] a first rotation support member, the first rotation support member being disposed at one end of the fixed body away from the locking assembly, the first rotation support member being detachably connected to the fixed body, and the first rotation support member being used to support the actuator;

[0009] The second rotation support member is arranged in the locking assembly, the second rotation support member is detachably connected to the locking assembly, and the second rotation support member is used to support the actuator.

[0010] The rotational connection between the actuator and the fixed body is realized by the first rotation support and the second rotation support, so that the first rotation support and the second rotation support bear the main movement wear, thereby greatly reducing the wear rate of other parts and effectively extending the service life of other parts; under this premise, the first rotation support and the fixed body are detachably connected, and the second rotation support and the locking assembly are detachably connected, and the first rotation support and the second rotation support are both exposed. On the one hand, the convenience of replacing the first rotation support and the second rotation support is greatly improved, thereby improving the efficiency of maintenance of the fixing device; on the other hand, since the movement wear is mainly concentrated on the first rotation support and the second rotation support, the fixing device generally only needs to replace the first rotation support and the second rotation support, without replacing other parts or the entire device, thereby greatly reducing the use cost of the fixing device.

[0011] As an embodiment, the locking assembly includes:

[0012] a locking inner sleeve, the locking inner sleeve being fixedly disposed in the through hole, the locking inner sleeve having an insertion hole extending in the axial direction and a locking hole penetrating in the radial direction, the actuator being insertable in the insertion hole, and the second rotation support being disposed at an end of the insertion hole away from the first rotation support;

[0013] a locking outer sleeve, the locking outer sleeve being sleeved on the periphery of the locking inner sleeve, the inner side of the locking outer sleeve being provided with a release portion and a locking portion, and the locking outer sleeve being capable of sliding relative to the locking inner sleeve so that the release portion faces the locking hole or the locking portion faces the locking hole;

[0014] A locking ball is arranged in the locking hole, and the diameter of the locking ball is greater than the wall thickness of the locking inner sleeve at the locking hole. When the locking portion is aligned with the locking hole, the locking ball partially protrudes from the locking hole and extends into the insertion hole; when the release portion is aligned with the locking hole, the locking ball can move radially of the locking inner sleeve and is allowed to move outside the insertion hole.

[0015] By arranging the locking outer sleeve and the locking inner sleeve that can slide relative to each other, and arranging the releasing portion and the locking portion on the inner side of the locking outer sleeve, the locking ball has two states: detached from the insertion hole and inserted into the insertion hole, and the locking ball can switch between two different states, thereby enabling the locking assembly to switch between locking the actuator and releasing the actuator, thereby realizing rapid disassembly and locking of the actuator and the fixed body, and the repeated disassembly and assembly reliability of this assembly structure is high.

[0016] As an embodiment, the locking assembly further includes an elastic member and an adjuster, wherein the adjuster is arranged on the fixed body, and the position of the adjuster relative to the fixed body is adjustable, one end of the elastic member abuts against the adjuster, and the other end of the elastic member abuts against the locking sleeve, and the elastic member is used to provide elastic force so that the locking sleeve has a tendency to slide axially.

[0017] On the one hand, by providing the elastic member, the locking sleeve can be kept in a state where the locking portion is facing the locking hole in the absence of external force, and the fixing device can be kept in a locked state in the absence of external force, so that the actuator can be reliably fixed to the fixed body during use, effectively ensuring the working reliability of the actuator; on the other hand, by providing the adjuster connected to the elastic member, the original elastic force of the elastic member can be adjusted, and the locking force of the locking sleeve can be adjusted so that the locking force is at an appropriate value. This design can not only ensure the position reliability of the locking sleeve and the locking reliability of the actuator, but also allow the operator to drive the locking sleeve to slide and unlock with a general force, thereby taking into account the operator's usage experience.

[0018] As an embodiment, a first limiting groove is provided at one end of the locking outer sleeve close to the first rotating support member, a limiting block is provided on the outer side of the locking inner sleeve, and a limiting stop is provided at one end of the limiting block away from the first rotating support member. When the limiting block is located in the first limiting groove, the locking portion is opposite to the locking hole. When the end face of the locking outer sleeve close to the first rotating support member abuts against the limiting stop, the release portion is opposite to the locking hole.

[0019] By providing the first limiting groove and the limiting block that cooperate with each other, and providing the limiting stop on the limiting block, on the one hand, the locking sleeve can be abutted against the limiting stop to keep the locking sleeve in a position where the release portion is directly opposite the locking hole, thereby improving the convenience of disassembling and assembling the actuator, and on the other hand, the rotation angle of the locking sleeve can be limited, providing position feedback to the operator and preventing the locking sleeve from rotating too much, so that the operator can more intuitively judge whether the locking sleeve is in a position where the release portion is directly opposite the locking hole. Furthermore, when the locking sleeve is disengaged from the limiting stop, the elastic member can drive the locking sleeve to slide in a direction close to the first rotation support member, so that the limiting block is located in the groove, thereby keeping the locking sleeve in a position where the locking portion is directly opposite the locking hole.

[0020] As an embodiment, the locking assembly also includes a locking end cover, which is fixedly arranged at one end of the locking sleeve away from the first rotating support member, and is used for the operator to hold and drive the locking sleeve to slide relative to the locking inner sleeve. The locking end cover is provided with a disassembly through hole, and the disassembly through hole is connected to the insertion hole.

[0021] By providing the locking end cover with the disassembly through hole, and the disassembly through hole being connected to the insertion hole, the operational convenience of driving the locking sleeve to slide can be improved, and the second rotating support member can be kept exposed, thereby ensuring the convenience of replacing the second rotating support member.

[0022] As an embodiment, a first limiting surface centered on the axis of the locking inner sleeve is provided on the outer side of the locking inner sleeve, and a second limiting surface centered on the axis of the through hole is provided in the fixed body, and the first limiting surface is in contact with the second limiting surface.

[0023] By setting the first limiting surface and the second limiting surface in contact with each other, and the first limiting surface is centered on the axis of the locking inner sleeve, and the second limiting surface is centered on the axis of the through hole, the coaxiality of the locking inner sleeve and the fixed body can be improved, thereby improving the coaxiality of the first rotating support member and the second rotating support member, thereby effectively improving the rotational stability of the actuator.

[0024] As an embodiment, the second rotating support member includes a support bearing and two clamping members arranged on both sides of the outer periphery of the support bearing, the clamping member includes a limit rod and a limit boss, the limit rod extends along the axial direction of the support bearing, one end of the limit rod is arranged on the support bearing, the other end of the limit rod is suspended, and the limit boss is arranged at the suspended end of the limit rod; second limit grooves and limit holes are provided on both sides of the locking inner sleeve, the second limit groove extends along the axial direction of the locking inner sleeve, the limit rod is inserted into the second limit groove, and the limit boss is inserted into the limit hole.

[0025] On the one hand, by providing the limiting rod and the second limiting groove, the relative rotation of the second rotation support and the locking inner sleeve can be limited. By providing the limiting boss and the limiting hole, the relative axial sliding of the second rotation support and the locking inner sleeve can be limited, thereby realizing the relative rotation limitation and relative axial sliding limitation between the second rotation support and the locking inner sleeve as a whole, and realizing a reliable connection between the second rotation support and the locking inner sleeve; on the other hand, by providing the limiting boss at one end of the suspension of the limiting rod, when the two limiting rods are squeezed toward the side close to the axis, When compressed and deformed, the limiting boss can be separated from the limiting hole. At this time, the second rotating support can slide axially relative to the locking inner sleeve, thereby realizing the rapid separation of the second rotating support and the locking inner sleeve. On the contrary, when the two limiting rods are squeezed and deformed toward the side close to the axis, the second rotating support can be axially inserted into the insertion hole of the locking inner sleeve under the premise that the limiting rods are aligned with the second limiting groove. At this time, the squeezing of the two limiting rods is released, and the limiting boss can be inserted into the limiting hole, thereby realizing the rapid connection of the second rotating support and the locking inner sleeve.

[0026] As an embodiment, the first rotating support member has a first end and a second end fixedly connected in the axial direction, the second end is inserted into the through hole of the fixed body, and the second end is provided with at least one first fixing hole; the fixed body is provided with at least one second fixing hole, and the axis of the second fixing hole is the same as the axis of the first fixing hole; the first fixing hole and / or the second fixing hole is provided with a glue-containing groove, and glue is provided in the glue-containing groove; the fixing device also includes a fixing pin, which is inserted into the first fixing hole and the second fixing hole at the same time, and the fixing pin is in contact with the glue.

[0027] By providing the first fixing hole and the second fixing hole, as well as the fixing pin, the first rotation support and the fixed body can be rotationally limited and axially sliding limited, thereby achieving a reliable connection between the first rotation support and the fixed body; by providing the glue groove and glue, the fixing pin can be fixed in the first fixing hole and the second fixing hole, preventing the fixing pin from falling off during the use of the fixing device, thereby improving the reliability of the fixing device. Furthermore, when it is necessary to remove the first rotation support, it is only necessary to use a rod-shaped tool to knock the fixing pin out of the first fixing hole and the second fixing hole, and the first rotation support can be directly removed along the axial direction of the through hole.

[0028] On the other hand, a surgical instrument is provided, comprising an actuator and any one of the above-mentioned fixing devices, wherein the actuator is inserted into and mounted in the through hole.

[0029] On the other hand, a surgical robot is provided, which includes a robotic arm and the above-mentioned surgical instrument, wherein the surgical instrument is installed at the end of the robotic arm.

[0030] The beneficial effects of the fixation device, surgical instrument, and surgical robot provided in this application are:

[0031] The rotational connection between the actuator and the fixed body is realized by the first rotation support and the second rotation support, so that the first rotation support and the second rotation support bear the main movement wear, thereby greatly reducing the wear rate of other parts and effectively extending the service life of other parts; under this premise, the first rotation support and the fixed body are detachably connected, and the second rotation support and the locking assembly are detachably connected, and the first rotation support and the second rotation support are both exposed. On the one hand, the convenience of replacing the first rotation support and the second rotation support is greatly improved, thereby improving the efficiency of maintenance of the fixing device; on the other hand, since the movement wear is mainly concentrated on the first rotation support and the second rotation support, the fixing device generally only needs to replace the first rotation support and the second rotation support, without replacing other parts or the entire device, thereby greatly reducing the use cost of the fixing device. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0033] Figure 1 A schematic diagram of the structure of the surgical instrument provided in an embodiment of the present application;

[0034] Figure 2 A cross-sectional view of a fixing device provided in an embodiment of the present application;

[0035] Figure 3 A partially enlarged view of a cross-sectional view of a fixing device provided in an embodiment of the present application;

[0036] Figure 4 A schematic structural diagram of a locking assembly in one state provided by an embodiment of the present application;

[0037] Figure 5 A schematic structural diagram of the locking assembly provided in an embodiment of the present application in another state;

[0038] Figure 6 A schematic diagram of the connection between the locking inner sleeve and the second rotating support member provided in an embodiment of the present application;

[0039] Figure 7 A schematic diagram of a second rotating support member provided in an embodiment of the present application;

[0040] Figure 8 This is a schematic diagram of the connection between the fixed body and the first rotating support member provided in an embodiment of the present application.

[0041] Among them, the reference numerals in the figures are:

[0042] 100, fixing device; 200, actuator;

[0043] 1. Fixed body; 11. Through hole; 12. Second limiting surface;

[0044] 2. Locking assembly; 21. Locking inner sleeve; 211. Insertion hole; 212. Locking hole; 213. Limit block; 214. Limit stop; 215. First limiting surface; 22. Locking outer sleeve; 221. Release portion; 222. Locking portion; 223. First limiting groove; 23. Locking ball; 24. Elastic member; 25. Adjuster; 26. Locking end cap; 261. Disassembly through hole;

[0045] 3. First rotating support member; 31. First end; 32. Second end; 33. Glue holding groove;

[0046] 4. Second rotating support member; 41. Support bearing; 42. Clamping member; 421. Limiting rod; 422. Limiting boss; 43. Force buckle;

[0047] 5. Connecting seat; 51. Connecting rod; 52. Adapter sleeve; 53. Connecting flange;

[0048] 6. Lock nut;

[0049] 7. Fixing pin. DETAILED DESCRIPTION

[0050] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0051] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0052] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0054] The embodiment of the present application provides a fixing device 100, such as Figures 1 to 3 As shown, the fixing device 100 includes a fixing body 1, a locking assembly 2, a first rotating support member 3 and a second rotating support member 4. The fixing body 1 is used to connect with the robotic arm. The fixing body 1 is provided with a through hole 11, and the through hole 11 is used to install the actuator 200; the locking assembly 2 is inserted into the through hole 11, and the locking assembly 2 is used to lock the actuator 200 to the fixing body 1; the first rotating support member 3 is arranged at one end of the fixing body 1 away from the locking assembly 2, and the first rotating support member 3 is detachably connected to the fixing body 1, and the first rotating support member 3 is used to support the actuator 200; the second rotating support member 4 is arranged in the locking assembly 2, and the second rotating support member 4 is detachably connected to the locking assembly 2, and the second rotating support member 4 is used to support the actuator 200.

[0055] The first rotating support member 3 and the second rotating support member 4 are used to realize the rotational connection between the actuator 200 and the fixed body 1, so that the first rotating support member 3 and the second rotating support member 4 bear the main movement wear, thereby greatly reducing the wear rate of other parts and effectively extending the service life of other parts; under this premise, the first rotating support member 3 is detachably connected to the fixed body 1, and the second rotating support member 4 is detachably connected to the locking assembly 2, and the first rotating support member 3 and the second rotating support member 4 are both exposed. On the one hand, the convenience of replacing the first rotating support member 3 and the second rotating support member 4 is greatly improved, thereby improving the maintenance efficiency of the fixing device 100; on the other hand, since the movement wear is mainly concentrated in the first rotating support member 3 and the second rotating support member 4, the fixing device 100 generally only needs to replace the first rotating support member 3 and the second rotating support member 4, without replacing other parts or the entire part, thereby greatly reducing the use cost of the fixing device 100.

[0056] During the specific implementation process, the first rotating support member 3 is exposed, and although the second rotating support member 4 is located in the locking assembly 2, one end of the second rotating support member 4 is also exposed, so that the first rotating support member 3 and the second rotating support member 4 can be disassembled and assembled without other parts being disassembled, thereby improving the disassembly and maintenance efficiency of the first rotating support member 3 and the second rotating support member 4.

[0057] In one embodiment, if Figure 1 and Figure 2 As shown, the fixing device 100 also includes a connecting base 5 and a locking nut 6. The connecting base 5 is mounted on the periphery of the fixing body 1. The locking nut 6 can lock the connecting base 5 to the fixing body 1. The connecting base 5 is used to connect the fixing body 1 to the robot arm. Furthermore, the connecting base 5 includes a connecting rod 51, and an adapter sleeve 52 and a connecting flange 53 provided at both ends of the connecting rod 51. The adapter sleeve 52 is mounted on the periphery of the fixing body 1, and the connecting flange 53 is used to connect to the robot arm.

[0058] In one embodiment, if Figure 2 and Figure 3As shown, the locking assembly 2 includes a locking inner sleeve 21, a locking outer sleeve 22 and a locking ball 23. The locking inner sleeve 21 is fixedly arranged in the through hole 11. The locking inner sleeve 21 has an insertion hole 211 extending in the axial direction and a locking hole 212 extending in the radial direction. The actuator 200 can be inserted into the insertion hole 211. The second rotation support member 4 is arranged at one end of the insertion hole 211 away from the first rotation support member 3; the locking outer sleeve 22 is sleeved on the periphery of the locking inner sleeve 21, and the inner side of the locking outer sleeve 22 is provided with a release portion 221 and a locking portion 222, and the locking outer sleeve 22 It can slide relative to the locking inner sleeve 21 so that the release portion 221 is facing the locking hole 212 or the locking portion 222 is facing the locking hole 212; the locking ball 23 is provided in the locking hole 212, and the diameter of the locking ball 23 is greater than the wall thickness of the locking inner sleeve 21 at the locking hole 212. When the locking portion 222 is facing the locking hole 212, the locking ball 23 partially protrudes from the locking hole 212 and extends into the insertion hole 211; when the release portion 221 is facing the locking hole 212, the locking ball 23 can move radially in the locking inner sleeve 21 and is allowed to move outside the insertion hole 211.

[0059] By providing a locking outer sleeve 22 and a locking inner sleeve 21 that can slide relative to each other, and providing a release portion 221 and a locking portion 222 on the inner side of the locking outer sleeve 22, the locking ball 23 has two states: disengaged from the insertion hole 211 and inserted into the insertion hole 211, and the locking ball 23 can switch between the two different states, thereby enabling the locking assembly 2 to switch between locking the actuator 200 and releasing the actuator 200, thereby realizing rapid disassembly and locking of the actuator 200 and the fixed body 1, and the repeated disassembly and assembly reliability of this assembly structure is high.

[0060] In one embodiment, the locking inner sleeve 21 is provided with two or more locking holes 212 spaced apart along the circumferential direction, the number of locking balls 23 is equal to the number of locking holes 212 , and each locking hole 212 is provided with a locking ball 23 .

[0061] In one embodiment, if Figure 3 As shown, the release portion 221 is connected to the locking portion 222, and a guide slope is provided between the release portion 221 and the locking portion 222 so that the locking ball 23 can smoothly switch positions between the release portion 221 and the locking portion 222 during the sliding process of the locking sleeve 22.

[0062] In one embodiment, if Figure 3As shown, the release portion 221 and the locking portion 222 are both annular groove structures, and the inner diameter of the release portion 221 is larger than the inner diameter of the locking portion 222. The difference between the inner radius of the release portion 221 and the radius of the insertion hole 211 is larger than the diameter of the locking ball 23, that is, the inner side surface of the release portion 221 and the insertion hole 211 can completely accommodate the locking ball 23, and the difference between the inner radius of the locking portion 222 and the radius of the insertion hole 211 is smaller than the diameter of the locking ball 23, that is, the inner side surface of the locking portion 222 and the insertion hole 211 cannot completely accommodate the locking ball 23. At this time, the locking ball 23 is partially inserted into the insertion hole 211.

[0063] During the specific implementation process, a locking groove is provided on the actuator 200. When the locking ball 23 is inserted into the insertion hole 211, the locking ball 23 can be inserted into the locking groove, and the actuator 200 is fixedly connected to the fixed body 1. Specifically, when the user drives the locking outer sleeve 22 to slide axially away from the first rotating support 3, so that the release portion 221 is facing the locking hole 212, in this state, the locking ball 23 can move radially in the locking inner sleeve 21 and be allowed to move outside the insertion hole 211. First, at this time, if the user inserts the actuator 200 into the insertion hole 211 along the through hole 11, the end of the actuator 200 can squeeze and push the locking ball 23 outside the insertion hole 211 until the locking groove on the actuator 200 is facing the locking hole 212. In this state, the locking ball 23 is allowed to move radially in the locking inner sleeve 21. The locking sleeve 22 is then driven to slide axially toward the first rotating support member 3. During this sliding process, the guide bevel first squeezes and pushes the locking ball 23 into the insertion hole 211 until the locking portion 222 is directly opposite the locking hole 212. At this point, the locking ball 23 is restricted to a state where it partially protrudes from the locking hole 212 and extends into the insertion hole 211, causing the locking ball 23 to partially embed in the locking groove. In this state, the actuator 200 cannot move axially, thereby achieving a fixed connection between the actuator 200 and the fixed body 1. Secondly, if the actuator 200 is already inserted into the insertion hole 211, the user can drive the actuator 200 to move axially, thereby directly removing the actuator 200.

[0064] In one embodiment, if Figure 2 and Figure 3 As shown, the locking assembly 2 also includes an elastic member 24 and an adjuster 25. The adjuster 25 is arranged on the fixed body 1, and the position of the adjuster 25 relative to the fixed body 1 is adjustable. One end of the elastic member 24 abuts against the adjuster 25, and the other end of the elastic member 24 abuts against the locking sleeve 22. The elastic member 24 is used to provide elastic force so that the locking sleeve 22 has a tendency to slide axially.

[0065] On the one hand, by providing the elastic member 24, the locking sleeve 22 can be kept in a state where the locking portion 222 is facing the locking hole 212 in the absence of external force, and thus the fixing device 100 can be kept in a locked state in the absence of external force, so that the actuator 200 can be reliably fixed on the fixed body 1 during use, effectively ensuring the working reliability of the actuator 200; on the other hand, by providing the adjuster 25 connected to the elastic member 24, the original elastic force of the elastic member 24 can be adjusted, and then the locking force of the locking sleeve 22 can be adjusted so that the locking force is at an appropriate value. This design can not only ensure the position reliability of the locking sleeve 22 and the locking reliability of the actuator 200, but also allow the operator to drive the locking sleeve 22 to slide and unlock with a general force, thereby taking into account the operator's usage experience.

[0066] During the specific implementation process, the elastic member 24 causes the axial movement of the locking sleeve 22 to eventually enable the locking portion 222 to face the locking hole 212. When the user needs to load or remove the actuator 200, the user needs to manually overcome the elastic force of the elastic member 24 to drive the locking sleeve 22 to move axially so that the release portion 221 faces the locking hole 212. At this time, the actuator 200 is allowed to be loaded or removed; after the actuator 200 is completed, the user releases the locking sleeve 22, and the locking sleeve 22 will automatically generate axial movement under the action of the elastic member 24, thereby making the locking portion 222 face the locking hole 212.

[0067] In one embodiment, the adjuster 25 is disposed in the through hole 11 and is located at the periphery of the locking sleeve 22 . The position of the adjuster 25 relative to the fixed body 1 along the axial direction of the through hole 11 is adjustable.

[0068] In one embodiment, the outer side of the adjuster 25 is threadedly connected to the fixed body 1 , and the axial relative position of the adjuster 25 and the fixed body 1 can be adjusted by rotating the adjuster 25 .

[0069] In one embodiment, the elastic member 24 is a compression spring. Of course, in other embodiments, the elastic member 24 may also be a tension spring or other elastic structures.

[0070] In one embodiment, a mounting groove is provided on the periphery of the locking sleeve 22 near one end of the first rotation support member 3, and the opening of the mounting groove faces the side away from the first rotation support member 3. The adjuster 25 is located on the periphery of the end of the locking sleeve 22 away from the first rotation support member 3, and one end of the elastic member 24 is embedded in the mounting groove, and the other end of the elastic member 24 abuts against the end of the adjuster 25 near the first rotation support member 3.

[0071] In one embodiment, if Figure 4 and Figure 5As shown, a first limiting groove 223 is provided at one end of the locking sleeve 22 close to the first rotating support member 3, a limiting block 213 is provided on the outer side of the locking inner sleeve 21, and a limiting stop 214 is provided at one end of the limiting block 213 away from the first rotating support member 3. When the limiting block 213 is located in the first limiting groove 223, the locking portion 222 is opposite to the locking hole 212. When the end face of the locking sleeve 22 close to the first rotating support member 3 abuts against the limiting stop 214, the release portion 221 is opposite to the locking hole 212.

[0072] By providing the first limiting groove 223 and the limiting block 213 that cooperate with each other, and providing the limiting stop 214 on the limiting block 213, on the one hand, the locking sleeve 22 can be abutted against the limiting stop 214, so that the locking sleeve 22 is maintained in the position where the release portion 221 is directly opposite the locking hole 212, thereby improving the convenience of assembling and disassembling the actuator 200. On the other hand, the rotation angle of the locking sleeve 22 can be limited, providing position feedback to the operator and preventing the locking sleeve 22 from rotating too much, so that the operator can more intuitively determine whether the locking sleeve 22 is in the position where the release portion 221 is directly opposite the locking hole 212. Furthermore, when the locking sleeve 22 is disengaged from the limiting stop 214, the elastic member 24 can drive the locking sleeve 22 to slide in the direction close to the first rotation support member 3, so that the limiting block 213 is located in the first limiting groove 223, thereby maintaining the locking sleeve 22 in the position where the locking portion 222 is directly opposite the locking hole 212.

[0073] In one embodiment, if Figure 2 and Figure 3 As shown, the locking assembly 2 also includes a locking end cover 26, which is fixedly arranged at one end of the locking outer sleeve 22 away from the first rotating support member 3. The locking end cover 26 is used for the operator to hold and drive the locking outer sleeve 22 to slide relative to the locking inner sleeve 21. The locking end cover 26 is provided with a disassembly through hole 261, and the disassembly through hole 261 is connected to the insertion hole 211.

[0074] By providing a locking end cover 26 with a disassembly through hole 261, and the disassembly through hole 261 is connected to the insertion hole 211, the operational convenience of driving the locking sleeve 22 to slide can be improved, and the second rotating support member 4 can be kept exposed, thereby ensuring the convenience of replacing the second rotating support member 4.

[0075] During the specific implementation process, the locking end cover 26 is sleeved on the periphery of the locking sleeve 22, and the diameter of the disassembly through hole 261 is larger than the diameter of the through hole 11 and the diameter of the insertion hole 211. This design ensures that the operator can disassemble and assemble the second rotating support 4 through the disassembly hole, and ensures that the second rotating support 4 can be put in and taken out from the disassembly hole.

[0076] In one embodiment, if Figures 3 to 6As shown, a first limiting surface 215 centered on the axis of the locking inner sleeve 21 is provided on the outside of the locking inner sleeve 21, and a second limiting surface 12 centered on the axis of the through hole 11 is provided in the fixed body 1, and the first limiting surface 215 is in contact with the second limiting surface 12.

[0077] By setting a first limiting surface 215 and a second limiting surface 12 that are in contact with each other, and the first limiting surface 215 is centered on the axis of the locking inner sleeve 21, and the second limiting surface 12 is centered on the axis of the through hole 11, the coaxiality between the locking inner sleeve 21 and the fixed body 1 can be improved, thereby improving the coaxiality between the first rotating support member 3 and the second rotating support member 4, thereby effectively improving the rotational stability of the actuator 200.

[0078] In one embodiment, the first limiting surface 215 is provided on the periphery of the locking inner sleeve 21 near one end of the first rotation support member 3. In a specific implementation, the first limiting surface 215 and the second limiting surface 12 are transitionally fitted or interference fit.

[0079] In one embodiment, if Figure 6 and Figure 7 As shown, the second rotating support member 4 includes a support bearing 41 and two clamping members 42 arranged on both sides of the outer periphery of the support bearing 41, the clamping member 42 includes a limiting rod 421 and a limiting boss 422, the limiting rod 421 extends along the axial direction of the support bearing 41, one end of the limiting rod 421 is set on the support bearing 41, the other end of the limiting rod 421 is suspended, and the limiting boss 422 is set at the suspended end of the limiting rod 421; second limiting grooves and limiting holes are provided on both sides of the locking inner sleeve 21, the second limiting groove extends along the axial direction of the locking inner sleeve 21, the limiting rod 421 is inserted into the second limiting groove, and the limiting boss 422 is inserted into the limiting hole.

[0080] On the one hand, by providing the limiting rod 421 and the second limiting groove, the relative rotation of the second rotation support 4 and the locking inner sleeve 21 can be limited. By providing the limiting boss 422 and the limiting hole, the relative axial sliding of the second rotation support 4 and the locking inner sleeve 21 can be limited, thereby realizing the relative rotation limit and relative axial sliding limit between the second rotation support 4 and the locking inner sleeve 21 as a whole, and realizing a reliable connection between the second rotation support 4 and the locking inner sleeve 21; on the other hand, by providing the limiting boss 422 at the suspended end of the limiting rod 421, when the two limiting rods 421 are squeezed toward the side close to the axis, When compressed and deformed, the limiting boss 422 can be separated from the limiting hole. At this time, the second rotating support member 4 can slide axially relative to the locking inner sleeve 21, thereby realizing the rapid separation of the second rotating support member 4 and the locking inner sleeve 21. On the contrary, when the two limiting rods 421 are squeezed and deformed toward the side close to the axis, the second rotating support member 4 can be axially inserted into the insertion hole 211 of the locking inner sleeve 21 under the premise that the limiting rods 421 are aligned with the second limiting groove. At this time, the squeezing of the two limiting rods 421 is released, and the limiting boss 422 can be inserted into the limiting hole, thereby realizing the rapid connection of the second rotating support member 4 and the locking inner sleeve 21.

[0081] In one embodiment, if Figure 6 and Figure 7 As shown, the second rotating support member 4 also includes a force buckle 43, which is arranged at the end of the limiting rod 421 away from the support bearing 41, and the force buckle 43 is located outside the insertion hole 211. The operator can apply a force to the force buckle 43 to deform the two limiting rods 421 toward the side close to the axis. At the same time, the operator can drive the second rotating support member 4 to slide axially through the force buckle 43, and then pull the second rotating support member 4 out of the locking inner sleeve 21.

[0082] In the specific implementation process, the limiting rod 421 is an elastic rod, the supporting bearing 41 is a sliding bearing, and the supporting bearing 41 is made of plastic. Of course, in other embodiments, the supporting bearing 41 can also be other types of bearings.

[0083] In one embodiment, if Figure 2 and Figure 8 As shown, the first rotating support member 3 has a first end 31 and a second end 32 fixedly connected in the axial direction, the second end 32 is inserted into the through hole 11 of the fixed body 1, and the second end 32 is provided with at least one first fixing hole; the fixed body 1 is provided with at least one second fixing hole, and the axis of the second fixing hole is the same as the axis of the first fixing hole; the first fixing hole and / or the second fixing hole is provided with a glue groove 33, and glue is provided in the glue groove 33; the fixing device 100 also includes a fixing pin 7, which is inserted into the first fixing hole and the second fixing hole at the same time, and the fixing pin 7 is in contact with the glue.

[0084] By providing the first and second fixing holes, as well as the fixing pin 7, the first rotating support member 3 and the fixed body 1 can be rotationally limited and axially limited, thereby achieving a reliable connection between the first rotating support member 3 and the fixed body 1; by providing the glue groove 33 and glue, the fixing pin 7 can be fixed in the first and second fixing holes, preventing the fixing pin 7 from falling off during the use of the fixing device 100, thereby improving the reliability of the fixing device 100. Furthermore, when it is necessary to remove the first rotating support member 3, it is only necessary to use a rod-shaped tool to knock the fixing pin 7 out of the first and second fixing holes, and then the first rotating support member 3 can be directly removed along the axial direction of the through hole 11.

[0085] In one embodiment, the number of the first fixing holes is equal to the number of the second fixing holes. In a specific implementation, the number of the first fixing holes is two, and the two first fixing holes are respectively set on both sides of the second end 32. The number of the second fixing holes is also two, and the two second fixing holes are set on both sides of the fixed body 1.

[0086] In one embodiment, the first rotation support member 3 is a shaft sleeve structure and is made of plastic.

[0087] The present application also provides a surgical instrument, such as Figure 1 As shown, the surgical instrument includes an actuator 200 and any of the above-mentioned fixing devices 100, and the actuator 200 is inserted and installed in the through hole 11. In one embodiment, the actuator 200 is a grinding and rasp tool used in hip replacement surgery, mainly for accurately grinding and rasp the acetabulum.

[0088] An embodiment of the present application also provides a surgical robot, which includes a robotic arm and the above-mentioned surgical instrument, and the surgical instrument is installed at the end of the robotic arm.

[0089] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A fixing device, characterized in that: include: A fixed body (1), the fixed body (1) being used for connecting to a robotic arm, the fixed body (1) being provided with a through hole (11), the through hole (11) being used for installing an actuator (200); a locking assembly (2), the locking assembly (2) being inserted into the through hole (11), the locking assembly (2) being used to lock the actuator (200) to the fixed body (1); a first rotation support member (3), the first rotation support member (3) being arranged at one end of the fixed body (1) away from the locking assembly (2), the first rotation support member (3) being detachably connected to the fixed body (1), and the first rotation support member (3) being used to support the actuator (200); A second rotating support member (4), the second rotating support member (4) is arranged in the locking assembly (2), the second rotating support member (4) is detachably connected to the locking assembly (2), and the second rotating support member (4) is used to support the actuator (200).

2. The fixing device according to claim 1, wherein: The locking assembly (2) comprises: A locking inner sleeve (21), the locking inner sleeve (21) is fixedly arranged in the through hole (11), the locking inner sleeve (21) has an insertion hole (211) extending in the axial direction, and a locking hole (212) penetrating in the radial direction, the actuator (200) can be inserted into the insertion hole (211), and the second rotation support member (4) is arranged at an end of the insertion hole (211) away from the first rotation support member (3); A locking outer sleeve (22), the locking outer sleeve (22) being sleeved on the periphery of the locking inner sleeve (21), a releasing portion (221) and a locking portion (222) being provided on the inner side of the locking outer sleeve (22), and the locking outer sleeve (22) being capable of sliding relative to the locking inner sleeve (21) so that the releasing portion (221) faces the locking hole (212) or the locking portion (222) faces the locking hole (212); A locking ball (23) is provided in the locking hole (212), and the diameter of the locking ball (23) is greater than the wall thickness of the locking inner sleeve (21) at the locking hole (212); when the locking portion (222) faces the locking hole (212), the locking ball (23) partially protrudes from the locking hole (212) and extends into the insertion hole (211); when the releasing portion (221) faces the locking hole (212), the locking ball (23) can move radially in the locking inner sleeve (21) and is allowed to move outside the insertion hole (211).

3. The fixing device according to claim 2, wherein: The locking assembly (2) further comprises an elastic member (24) and an adjuster (25), wherein the adjuster (25) is arranged on the fixed body (1), and the position of the adjuster (25) relative to the fixed body (1) is adjustable, one end of the elastic member (24) abuts against the adjuster (25), and the other end of the elastic member (24) abuts against the locking sleeve (22), and the elastic member (24) is used to provide elastic force so that the locking sleeve (22) has a tendency to slide along the axial direction.

4. The fixing device according to claim 3, wherein: A first limiting groove (223) is provided at one end of the locking outer sleeve (22) close to the first rotating support member (3), a limiting block (213) is provided on the outer side of the locking inner sleeve (21), and a limiting stop (214) is provided at one end of the limiting block (213) away from the first rotating support member (3); when the limiting block (213) is located in the first limiting groove (223), the locking portion (222) faces the locking hole (212); when the end face of the locking outer sleeve (22) close to the first rotating support member (3) abuts against the limiting stop (214), the releasing portion (221) faces the locking hole (212).

5. The fixing device according to claim 2, wherein: The locking assembly (2) further comprises a locking end cover (26), wherein the locking end cover (26) is fixedly arranged at one end of the locking outer sleeve (22) away from the first rotating support member (3), and the locking end cover (26) is used for an operator to hold and drive the locking outer sleeve (22) to slide relative to the locking inner sleeve (21), and the locking end cover (26) is provided with a disassembly through hole (261), and the disassembly through hole (261) is communicated with the insertion hole (211).

6. The fixing device according to claim 2, wherein: A first limiting surface (215) centered on the axis of the locking inner sleeve (21) is provided on the outer side of the locking inner sleeve (21), and a second limiting surface (12) centered on the axis of the through hole (11) is provided in the fixed body (1), and the first limiting surface (215) is in contact with the second limiting surface (12).

7. The fixing device according to any one of claims 2 to 6, characterized in that: The second rotation support member (4) includes a support bearing (41) and two clamping members (42) arranged on both sides of the outer periphery of the support bearing (41), the clamping member (42) includes a limiting rod (421) and a limiting boss (422), the limiting rod (421) extends along the axial direction of the support bearing (41), one end of the limiting rod (421) is arranged on the support bearing (41), the other end of the limiting rod (421) is suspended, and the limiting boss (422) is arranged on the suspended end of the limiting rod (421); A second limiting groove and a limiting hole are provided on both sides of the locking inner sleeve (21), the second limiting groove extends along the axial direction of the locking inner sleeve (21), the limiting rod (421) is inserted into the second limiting groove, and the limiting boss (422) is inserted into the limiting hole.

8. The fixing device according to any one of claims 1 to 6, characterized in that: The first rotating support member (3) has a first end (31) and a second end (32) fixedly connected in the axial direction, the second end (32) is inserted into the through hole (11) of the fixed body (1), and the second end (32) is provided with at least one first fixing hole; the fixed body (1) is provided with at least one second fixing hole, and the axis of the second fixing hole is the same as the axis of the first fixing hole; the first fixing hole and / or the second fixing hole is provided with a glue groove (33), and glue is provided in the glue groove (33); The fixing device (100) further comprises a fixing pin (7), wherein the fixing pin (7) is inserted into the first fixing hole and the second fixing hole at the same time, and the fixing pin (7) is in contact with the glue.

9. A surgical instrument, characterized in that: The fixing device (100) comprises an actuator (200) and the fixing device (100) according to any one of claims 1 to 8, wherein the actuator (200) is inserted into and installed in the through hole (11).

10. A surgical robot, characterized in that: The invention comprises a robotic arm and the surgical instrument according to claim 9, wherein the surgical instrument is mounted at the end of the robotic arm.

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