Surgical instrument and surgical robot

Abstract

The invention relates to a surgical instrument and a surgical robot. The surgical instrument comprises a guide seat, a sliding assembly and a constant force spring. The guide seat is provided with a slide rail and is configured to be connected with a mechanical arm; the sliding assembly is in sliding connection with the sliding rail and is configured to be connected with the power mobile phone, and the sliding assembly can move along the sliding rail along with the power mobile phone; one end of the constant-force spring is connected to the guide base, the other end of the constant-force spring is connected to the sliding assembly, and the tension of the constant-force spring acting on the sliding assembly is used for balancing the weight of the mobile phone connected to the sliding assembly and at least comprising the power. When an operator holds the power handpiece to perform an operation on a patient, the constant-force spring can counteract the weight of the power handpiece and parts such as a cable connected with the power handpiece, the load continuously borne by the operator in the operation process can be greatly relieved, and therefore the operation quality can be guaranteed; in addition, the constant-force spring can also realize that the power mobile phone stops at any time, so that the operation convenience is provided for an operator.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robots, in particular to a surgical instrument and a surgical robot. BACKGROUND

[0002] In a spine surgery, a Kirschner wire is needed to guide and position a nail (for example, a pedicle screw), and the process of inserting the Kirschner wire has the defect of complicated steps, whether it is a traditional manual operation or a robot operation.

[0003] In a traditional manual operation, first, the angle and depth of each Kirschner wire are ensured by frequent X-ray of a C-arm during the needle insertion process, which is time-consuming and laborious for the doctor and has a large dose of frequent X-ray radiation, affecting the health of the patient. Secondly, the depth of the needle is determined by the small scale on the Kirschner wire itself during the needle insertion process, and the direction of the handheld power cell is difficult to control, which easily leads to deviation in the depth and angle of the needle.

[0004] In a robot operation, there are two kinds of Kirschner wire insertion schemes. Among them, the first is pure visual navigation assistance, which means installing a tracer on the power cell to track the depth and angle of the needle through preoperative and intraoperative registration, but it has the same problem as the traditional method. During the needle insertion process, there is no other holding constraint, and it all depends on the doctor's hands. Visual navigation can only be used as a guide reference, but it cannot fundamentally guarantee the angle and depth of the needle.

[0005] The second is a needle insertion scheme assisted by visual navigation and mechanical arm. The effect of this scheme is better than the first pure visual navigation assistance in the accuracy of needle insertion. However, the above schemes all have the problem that the doctor needs to bear the weight of the power cell and part of the cable during the operation, increasing the burden of the doctor during the long operation. SUMMARY

[0006] Therefore, the embodiments of the present application provide a surgical instrument and a surgical robot to solve at least one problem in the background art.

[0007] In a first aspect, the embodiments of the present application provide a surgical instrument applied to a surgical robot, wherein the surgical robot comprises a power cell and a mechanical arm, and the surgical instrument comprises: a guide seat connected with a sliding rail and configured to be connected with the mechanical arm; a sliding assembly connected with the sliding rail in a sliding manner and configured to be connected with the power cell, wherein the sliding assembly can move along the sliding rail following the power cell; A constant force spring is connected to the guide base at one end and to the sliding assembly at the other end. The pulling force of the constant force spring acting on the sliding assembly is used to balance the weight of at least the power handpiece connected to the sliding assembly.

[0008] In combination with the first aspect of the present application, in an optional embodiment, the sliding assembly comprises: A sliding block, the end of the constant force spring is connected to the side of the sliding block; A plurality of rolling balls are rollably embedded in the sliding block, and the rolling balls are matched with the sliding rail. The sliding block follows the rolling balls to move along the sliding rail under the action of external force.

[0009] In combination with the first aspect of the present application, in an optional embodiment, the sliding assembly further comprises: An adjusting member is embedded in the sliding block and connected with the rolling balls. The adjusting member is used to adjust the friction between the rolling balls and the sliding rail.

[0010] In combination with the first aspect of the present application, in an optional embodiment, the number of constant force springs is two, and the ends of the two constant force springs are respectively connected to the two sides of the sliding block.

[0011] In combination with the first aspect of the present application, in an optional embodiment, the surgical instrument further comprises a spring force adjusting assembly, and the spring force adjusting assembly comprises: A mounting shaft is connected to the guide base. The constant force spring in a roll shape is sleeved on the mounting shaft, and the mounting shaft corresponds to a part of the constant force spring in a roll shape; A plurality of supporting members are distributed circumferentially around the axis of the mounting shaft and can reciprocate along the axis of the mounting shaft relative to the mounting shaft; Wherein, the plurality of supporting members are inserted into the inner ring of the constant force spring in a roll shape under the action of external force, and the outer diameter of the cylindrical structure formed by the plurality of supporting members is greater than or equal to the inner diameter of the constant force spring in a roll shape.

[0012] In combination with the first aspect of the present application, in an optional embodiment, the plurality of supporting members gradually converge towards the central axis of the mounting shaft.

[0013] In combination with the first aspect of the present application, in an optional embodiment, the spring force adjusting assembly further comprises: A supporting member is connected to one end of the plurality of supporting members; A cam member is abutted to one side of the supporting member; Wherein, the cam member is adjusted so that different parts of the cam member abut against the supporting member, so that the supporting member and the supporting member move different distances towards the mounting shaft.

[0014] In combination with the first aspect of the present application, in an optional implementation, the elastic force adjusting assembly further comprises: a first elastic member, one end of which is connected to the abutting member, and the other end of which abuts against the outer wall of the guide seat, when the abutting member and the abutting support are not under stress, the abutting member and the abutting support are reset under the elastic force of the first elastic member.

[0015] In combination with the first aspect of the present application, in an optional implementation, the sliding assembly further comprises: a mounting member, connected to the sliding block, the mounting member being provided with a mounting hole, the mounting hole being adapted to the first mounting shaft of the power handset; an elastic pin, embedded in the mounting member, and adapted to the pin hole provided on the second mounting shaft of the power handset.

[0016] In a second aspect, the embodiments of the present application provide a surgical robot, comprising the surgical instrument according to any one of the first aspect.

[0017] The surgical instrument and the surgical robot provided by the embodiments of the present application, wherein the surgical instrument is connected to the sliding assembly through the constant force spring, when the operator holds the power handset to perform surgery on the patient, the constant force spring can offset the weight of the power handset and the components such as the cable connected to the power handset, and can greatly relieve the weight that the operator continuously bears in the operation process, save the physical strength of the operator in the long-time work process, so as to ensure the quality of the surgery; in addition, the constant force spring can also realize the stop-on-demand of the power handset, and provide the operator with the operation convenience.

[0018] Additional aspects and advantages of the present application will be made apparent by the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of the present application, the illustrative embodiments of the present application and their description serve to explain the present application, and do not constitute improper limitations on the present application. In the drawings: Figure 1 The overall structure schematic diagram of the surgical robot provided by the embodiments of the present application; Figure 2 The exploded view of the surgical robot provided by the embodiments of the present application; Figure 3 The partial structure schematic diagram of the surgical instrument provided by the embodiments of the present application; Figure 4a The exploded view of the surgical instrument provided by the embodiments of the present application; Figure 4b The exploded view of the surgical instrument provided by the embodiments of the present application; Figure 4aEnlarged view of the portion A; Figure 5 Partial cross-sectional view of a surgical instrument provided for an embodiment of the present application; Figure 6 Structural schematic view of the abutting member, the supporting member and the guiding member in a surgical instrument provided for an embodiment of the present application; Figure 7 Schematic view of the state of the cam member in a surgical instrument provided for an embodiment of the present application when in 0N gear; Figure 8 Schematic view of the state of the cam member in a surgical instrument provided for an embodiment of the present application when in 10N gear; Figure 7 Partial cross-sectional view of a surgical instrument shown in the figure; Figure 9 Schematic view of the state of the cam member in a surgical instrument provided for an embodiment of the present application when in 20N gear; Figure 10 Partial cross-sectional view of a surgical instrument shown in the figure; Figure 9 Partial cross-sectional view of a surgical instrument shown in the figure; Figure 11 Schematic view of the state of the cam member in a surgical instrument provided for an embodiment of the present application when in 20N gear; Figure 12 Partial cross-sectional view of a surgical instrument shown in the figure; Figure 11 Partial cross-sectional view of a surgical instrument shown in the figure; Figure 13 Schematic view of the dismounting structure in a surgical robot provided for an embodiment of the present application; Figure 14 Exploded view of the mounting seat and the adjusting assembly in a surgical robot provided for an embodiment of the present application; Figure 15 Structural schematic view of the flange assembly in a surgical robot provided for an embodiment of the present application; Figure 16 Side view of the dismounting structure in a surgical robot provided for an embodiment of the present application; Figure 17 Another angle side view of the dismounting structure in a surgical robot provided for an embodiment of the present application.

[0020] Reference signs: 100, surgical robot; 10, mechanical arm; 20, guiding structure; 21, guiding seat; 211, slide rail; 2111, linear guide rail; 2112, wear-resistant steel rail; 212, avoiding through hole; 22, sliding assembly; 221, sliding block; 222, ball; 223, adjusting member; 23, constant force spring; 24, elastic force adjusting assembly; 241, first mounting shaft; 2411, movable shaft; 2412, fixed shaft; 2413, guide groove; 242, supporting piece; 243, bearing piece; 244, cam piece; 245, first elastic piece; 246, cover body; 247, rotating shaft; 248, guide piece; 25, mounting piece; 251, mounting hole; 26, elastic pin; 27, cover; 271, scale; 272, pointer; 30, dismounting structure; 31, mounting seat; 311, first limiting structure; 3111, first limiting protrusion; 312, second limiting structure; 3121, second limiting protrusion; 313, guide hole; 32, adjusting assembly; 321, rotating shaft; 322, cam switch; 323, first clamping piece; 3231, first inclined surface; 324, second elastic piece; 33, flange assembly; 331, flange seat; 332, third limiting structure; 3321, first limiting groove; 333, fourth limiting structure; 3331, second limiting groove; 334, second clamping piece; 3341, second inclined surface; 40, power mobile phone; 41, second mounting shaft; 411, pin hole; 50, tracer; 61, guide sleeve; 62, needle placement; DETAILED DESCRIPTION

[0021] In order to make the technical solutions and beneficial effects of the present application more obvious and easy to understand, the following will be described in detail by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features can be enlarged or reduced to more clearly show the details of local features; unless otherwise defined, the technical and scientific terms used herein have the same meaning as the technical and scientific terms in the technical field to which the present application belongs.

[0022] In the description of the present application, the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of the simplified description of the present application, and do not indicate that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, that is, cannot be understood as limiting the present application.

[0023] In the present application, the terms "first", "second" are only used for the purpose of clear description, and cannot be understood as relative importance of the indicated features or the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc.; the meaning of "several" is at least one, such as one, two, three, etc.; except for the explicit specific limitation.

[0024] In the present application, unless otherwise explicitly limited, the terms "mount", "connect", "connect", "fix", "set" and the like should be broadly understood. For example, "connection" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0025] In the present application, unless otherwise explicitly limited, the first feature "on", "over", "above" and "on", "below", "under", "below" or "below" the second feature can be direct contact between the first feature and the second feature, or indirect contact between the first feature and the second feature through intermediate medium. Moreover, the first feature "over", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than the horizontal height of the second feature. The first feature "under", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than the horizontal height of the second feature.

[0026] Please refer to Figure 1 and Figure 2 , the present application provides a surgical robot 100, the surgical robot 100 includes a power hand 40, a mechanical arm 10 and a surgical instrument, the surgical instrument is connected to the mechanical arm 10, the surgical instrument is a guide structure 20 for guiding the power hand 40, the power hand 40 is connected to the guide structure 20 and can move under the action of the guide structure 20, so as to act on the patient's body by the needle 62 installed on the power hand 40.

[0027] The surgical robot 100 provided by the present application can be used in spinal surgery, of course, not limited to this.

[0028] The surgical robot 100 further comprises a tracer 50, which is used to determine the three-dimensional relationship between the spine and the mechanical arm 10 and to track in real time according to the preoperative and intraoperative planning, and only needs to be registered according to the preoperative CT and planning, so that the mechanical arm 10 can provide an accurate Kirschner wire needle placement 62 angle. The tracer 50 is also installed on the power cell 40, and the tracers 50 on the power cell 40 and the mechanical arm 10 establish a spatial relationship. When the Kirschner wire is placed intraoperatively, the changes in the axial positions of the two will be tracked in real time. Only when the bone surface is contacted, the change value is the depth value of the needle placement 62, and the real-time display on the display screen can remind.

[0029] The following embodiments are used to specifically illustrate the surgical instrument, please refer to Figures 2 to 12 .

[0030] The surgical instrument provided in the embodiments of the present application comprises a guide seat 21, a sliding assembly 22 and a constant force spring 23. The guide seat 21 is configured to be connected with the mechanical arm 10, and a slide rail 211 is connected to the side of the guide seat 21 away from the mechanical arm 10. The slide rail 211 is in sliding connection with the sliding assembly 22. The sliding assembly 22 is configured to be connected with the power cell 40, and the sliding assembly 22 can move along the slide rail 211 following the power cell 40. One end of the constant force spring 23 is connected to the guide seat 21, and the other end is connected to the sliding assembly 22. The pulling force of the constant force spring 23 acting on the sliding assembly 22 is used to balance the weight of at least the power cell 40 on the sliding assembly 22.

[0031] The constant force spring 23 is a special coil spring, which is a strip-shaped spring wound by a pre-bent steel strip. When one end of the constant force spring 23 is pulled out within its allowable working stroke, it provides a nearly constant retracting force.

[0032] When the operator holds the power cell 40 to perform surgery on the patient, the constant force spring 23 can offset the weight of the power cell 40 and the components such as cables connected with the power cell 40, greatly relieving the operator from continuously bearing the weight during the operation process, saving the physical strength of the operator during the long working process, thereby ensuring the quality of the operation. In addition, the constant force spring 23 can also realize the stop-on-demand of the power cell 40, providing the operator with the convenience of operation.

[0033] In an optional embodiment, please refer to Figure 3 、 Figure 4a and Figure 5The sliding assembly 22 comprises a sliding block 221 and a plurality of balls 222, the ends of the constant force spring 23 are connected to the side edges of the sliding block 221, the plurality of balls 222 are rollably embedded in the sliding block 221, and the balls 222 are matched with the sliding rail 211, and the sliding block 221 moves along the sliding rail 211 following the balls 222 under the action of external force.

[0034] The sliding rail 211 provided on the guide seat 21 comprises a high-temperature-resistant linear guide rail 2111 and a wear-resistant rail 2112, the balls 222 are matched with the wear-resistant rail 2112, and the sliding block 221 is provided with a sliding groove matched with the high-temperature-resistant linear guide rail 2111. The sliding assembly 22 in the embodiment can be sterilized at high temperature and is a passive sterilizable design, can be realized without a sterile cover, and can avoid pollution caused by laying of the sterile cover.

[0035] In an optional embodiment, the sliding assembly 22 further comprises an adjusting member 223, the adjusting member 223 is embedded in the sliding block 221 and connected with the balls 222, and the adjusting member 223 is used to adjust the friction between the balls 222 and the sliding rail 211.

[0036] The adjusting member 223 is an adjusting ball, and the adjusting member 223 is used to adjust the pre-pressure between the adjusting ball and the sliding rail 211. The adjusting member 223 can be understood as a supplementary adjusting mechanism of the constant force spring 23, a plurality of adjusting balls are distributed at different positions of the sliding block 221, and the friction between the adjusting balls and the sliding rail 211 can further enable the power mobile phone 40 to be stopped and locked at any angle and any position, and the operator only needs to slightly exert force when inserting the needle.

[0037] The number of adjusting balls is four, and the four adjusting balls are respectively located at the four corners of the sliding block 221, so as to ensure the stability of the sliding block 221 during sliding. Of course, the number of adjusting balls is not limited thereto.

[0038] The adjusting member 223 can further compensate the tension of the constant force spring 23, so as to improve the accuracy of offsetting the weight of the power mobile phone 40 and the connecting cable and other components, and further improve the smoothness of the operator during operation.

[0039] In an optional embodiment, please refer to Figure 4a The number of constant force springs 23 is two, and the ends of the two constant force springs 23 are respectively connected to the two side edges of the sliding block 221.

[0040] The two constant force springs 23 are symmetrically connected to the two side edges of the sliding block 221, so as to ensure the force balance of the sliding block 221 during movement, and further ensure the stability of the power mobile phone 40 during movement along the sliding rail 211.

[0041] In an optional embodiment, referring to Figures 2 to 5 The surgical instrument further comprises a spring force adjusting assembly 24, which comprises a first mounting shaft 241 connected to the guide seat 21 and a plurality of supporting members 242. The constant force spring 23 is sleeved on the first mounting shaft 241, and the first mounting shaft 241 corresponds to a partial region of the constant force spring 23. The plurality of supporting members 242 are distributed in the circumferential direction of the axis of the first mounting shaft 241 and can reciprocate along the axis of the first mounting shaft 241. The plurality of supporting members 242 are inserted into the inner ring of the constant force spring 23 under the action of an external force, and the cylindrical structure formed by the plurality of supporting members 242 has an outer diameter greater than or equal to the inner diameter of the constant force spring 23.

[0042] The first mounting shaft 241 corresponds to a partial region of the constant force spring 23, which means that the size of the first mounting shaft 241 in the axial direction of the first mounting shaft 241 is smaller than the size of the constant force spring 23, so that the supporting members 242 can be inserted into the inner ring of the constant force spring 23.

[0043] When the supporting members 242 are inserted into the inner ring of the constant force spring 23, the cylindrical structure formed by the supporting members 242 has an outer diameter greater than or equal to the inner diameter of the constant force spring 23, so that the constant force spring 23 can be expanded, thereby increasing the pulling force of the constant force spring 23 acting on the sliding block 221, that is, the weight of the power mobile phone 40, the cable and other components can be offset.

[0044] The embodiment of the present application can adjust the pulling force of the constant force spring 23 acting on the sliding block 221 through the spring force adjusting assembly 24, so that the surgical instrument can offset the weight of the power mobile phone 40 and the cable and other components in different use scenarios, thereby reducing the operation burden of the operator during the operation.

[0045] It can be understood that when the supporting members 242 are inserted into the inner ring of the constant force spring 23, the outer wall of the supporting members 242 provides a constant resistance, thereby changing the pulling force of the constant force spring 23 acting on the sliding block 221.

[0046] It can also be understood that, during the operation of holding the power cell 40 by the operator, the needle mounting 62 installed on the power cell 40 can be in a vertical state, a horizontal state or an angle state with the horizontal plane during use based on the patient's condition, and the gravity acting on the power cell 40 and the cable and other components held by the operator in different use states is different, and the force required to be offset by the constant force spring 23 is also different. The embodiment of the application uses the elastic force adjusting assembly 24 to adjust the tension of the constant force spring 23 acting on the sliding block 221, so as to offset the different gravity of the power cell 40 and the cable and other components acting on the sliding block 221 in different use scenarios, so as to further meet the operation requirement of the operator in different scenarios.

[0047] It can also be understood that, the depth of the plurality of supporting pieces 242 inserted into the inner ring of the constant force spring 23 corresponds to the plurality of tension values of the constant force spring 23 acting on the sliding block 221, so as to meet the operation requirement of the operator in different scenarios.

[0048] In an optional embodiment, please refer to Figure 5 and Figure 6 , the plurality of supporting pieces 242 gradually converge towards the central axis of the first mounting shaft 241.

[0049] Figure 5 The state diagram of the plurality of supporting pieces 242 completely inserted into the inner ring of the constant force spring 23 is shown in

[0050] Figure 6 The side view of the plurality of supporting pieces 242 is shown in

[0051] In an optional embodiment, please refer to Figure 4a , Figure 5 , Figure 7 and Figure 8 , the elastic force adjusting assembly 24 further comprises a supporting piece 243 and a cam piece 244, the supporting piece 243 is connected to one end of the plurality of supporting pieces 242, and the cam piece 244 abuts one side of the supporting piece 243. Adjusting the cam piece 244 to abut different parts of the supporting piece 243, so that the supporting piece 243 and the supporting piece 242 move different distances towards the first mounting shaft 241.

[0052] The cam member 244 is irregularly structured, and rotating the cam member 244 can make different positions of the cam member 244 abut against the abutting member 243. The abutting member 243 can be a movable plate, one side of the movable plate is connected with the plurality of abutting members 242, and the other side is in abutment with the cam member 244. Under the action of the rotation of the cam member 244, the movable plate is forced to move and synchronously drives the plurality of abutting members 242 to move.

[0053] In the embodiment of the present application, at least part of the cam member 244 is located outside to facilitate the operator to operate it. The operator can make different parts of the cam member 244 abut against the abutting member 243 by rotating the cam member 244, so as to realize the adjustment of the tension value of the constant force spring 23 acting on the sliding block 221 by driving the abutting members 242 to move different distances.

[0054] In an optional embodiment, please refer to Figure 5 and Figure 8 The first mounting shaft 241 includes a movable shaft 2411 and a fixed shaft 2412, the outer diameters of the movable shaft 2411 and the fixed shaft 2412 are the same, and the axes of the movable shaft 2411 and the fixed shaft 2412 are collinear. The fixed shaft 2412 is connected to the guide seat 21 near one side of the slide rail 211, and the movable shaft 2411 is detachably connected to the fixed shaft 2412, and the constant force spring 23 in the form of a roll is sleeved on the movable shaft 2411 and the fixed shaft 2412.

[0055] The embodiment of the present application can facilitate the replacement and maintenance of the constant force spring 23 by detachably connecting the movable shaft 2411 to the fixed shaft 2412, that is, the constant force spring 23 can be disassembled by disassembling the movable shaft 2411 from the fixed shaft 2412, which is convenient to operate.

[0056] Further, please refer to Figure 4a and Figure 4b The fixed shaft 2412 is provided with a plurality of guide grooves 2413 extending along the axis direction of the fixed shaft 2412, the guide grooves 2413 are matched with the abutting members 242, the plurality of guide grooves 2413 are distributed in the circumferential direction of the axis of the fixed shaft 2412, and correspond to the through holes provided on the guide seat 21, so that the abutting members 242 can reciprocate in the through holes and the guide grooves 2413, thereby changing the resistance received by the constant force spring 23, and further changing the tension value of the constant force spring 23 acting on the sliding block 221.

[0057] The embodiment of the present application can improve the consistency and stability of the moving direction of the abutting members 242 by moving the abutting members 242 along the guide grooves 2413, and further improve the accuracy of the adjustment of the tension value of the constant force spring 23 acting on the sliding block 221.

[0058] In an alternative embodiment, the first mounting shaft 241 and the constant force spring 23 are located on one side of the guide seat 21 close to the slide rail 211. The abutting member 243 and the cam member 244 are located on the other side of the guide seat 21 away from the slide rail 211, and the abutting member 242 can pass through the through hole provided on the guide seat 21 and move to the side of the guide seat 21 close to the slide rail 211.

[0059] In the embodiment, the cam member 244 is arranged on the side of the guide seat 21 away from the slide rail 211, which can avoid the power mobile phone 40 and provide convenience for the operator.

[0060] In an alternative embodiment, please refer to Figure 4a 、 Figure 5 and Figure 8 The elastic force adjusting assembly 24 further comprises a cover body 246 connected to the mounting seat 31 on the side away from the slide rail 211, and the cover body 246 and the mounting seat 31 form a space for the movement of the abutting member 243. The elastic force adjusting assembly 24 further comprises a rotating shaft 247 connected to the cover body 246, and the cam member 244 is rotatably sleeved on the rotating shaft 247, and at least part of the cam member 244 is located outside the cover body 246.

[0061] In an alternative embodiment, the elastic force adjusting assembly 24 further comprises a first elastic member 245 connected to the abutting member 243 and abutting to the outer wall of the guide seat 21 on the other end. When the abutting member 243 and the abutting member 242 are not under stress, the abutting member 243 and the abutting member 242 are reset under the elastic force of the first elastic member 245.

[0062] In an alternative embodiment, the elastic force adjusting assembly 24 further comprises a first elastic member 245 connected to the abutting member 243 and abutting to the outer wall of the guide seat 21 on the other end. When the abutting member 243 and the abutting member 242 are not under stress, the abutting member 243 and the abutting member 242 are reset under the elastic force of the first elastic member 245.

[0063] It can be understood that when the abutting member 243 and the abutting member 242 move towards the constant force spring 23 under the action of the cam member 244, and then need to move away from the constant force spring 23, the elastic force of the first elastic member 245 can be released to achieve this. For example, the cam member 244 has three adjustment positions, which are 0N, 10N and 20N, and the initial state of the cam member 244 is 0N. When the constant force spring 23 needs to correspond to the 20N position of the cam member 244, the operator rotates the cam member 244, and the cam member 244 acts on the abutting member 243 and makes the abutting member 242 move towards the constant force spring 23 by a distance, and the first elastic member 245 stores elastic force in this process. When the cam member 244 needs to be adjusted from the 20N position to the 10N or 0N position, the cam member 244 is rotated so that there is no abutting force between the cam member 244 and the abutting member 243, so that the abutting member 243 can move towards the cam member 244 under the action of the elastic force released by the first elastic member 245.

[0064] In an optional embodiment, please refer to Figure 4a , Figure 4b , Figure 6 and Figure 8 , the elastic force adjusting assembly 24 further comprises a guide member 248, the axis of the guide member 248 is parallel to the axis of the first mounting shaft 241, and the first elastic member 245 is sleeved on the guide member 248, which can guide and limit the first elastic member 245 during storage or release. In addition, the mounting seat 31 is provided with a avoiding through hole 212, and the guide member 248 passes through the avoiding through hole 212 during the movement of the abutting member 243 and the abutting member 242 towards the constant force spring 23. Of course, the inner diameter of the first elastic member 245 is larger than the inner diameter of the avoiding through hole 212, and the outer diameter of the guide member 248 is smaller than the inner diameter of the avoiding through hole 212, so that the first elastic member 245 is always located on the side of the guide seat 21 away from the slide rail 211.

[0065] Please refer to Figures 7 to 12 , Figure 7 and Figure 8 show the positional relationship between the abutting member 243, the abutting member 242, the first mounting shaft 241 and the constant force spring 23 when the cam member 244 is in the 0N position. Figure 9 and Figure 10 show the positional relationship between the abutting member 243, the abutting member 242, the first mounting shaft 241 and the constant force spring 23 when the cam member 244 is in the 10N position. Figure 11 and Figure 12 show the positional relationship between the abutting member 243, the abutting member 242, the first mounting shaft 241 and the constant force spring 23 when the cam member 244 is in the 20N position. Among them, Figure 12 the first elastic member 245 is not shown in

[0066] In an optional embodiment, referring to Figure 4a , the guide structure 20 further comprises a cover 27 connected with the guide base 21, the cover 27 can shield the sliding assembly 22, the slide rail 211, the constant force spring 23 and other components, so as to avoid foreign matters from falling into the slide rail 211 and affecting the operation of the power mobile phone 40. In addition, the cover 27 is provided with a scale 271 along the direction of the slide rail 211, and a pointer 272 is connected to the sliding block 221, the pointer 272 is used to indicate the depth of the needle 62, which can provide the most intuitive display for the operator, of course, the depth of the needle 62 can also be displayed through the display.

[0067] In an optional embodiment, referring to Figure 2 and Figure 4a , the sliding assembly 22 further comprises a mounting member 25 and an elastic pin 26, the mounting member 25 is connected to the sliding block 221, and the mounting member 25 is provided with a mounting hole 251 matched with the second mounting shaft 41 of the power mobile phone 40. The elastic pin 26 is embedded in the mounting member 25 and matched with the pin hole 411 provided on the second mounting shaft 41.

[0068] The power mobile phone 40 is inserted into the mounting hole 251 of the mounting member 25 through the second mounting shaft 41, and the elastic pin 26 is inserted into the pin hole 411 provided on the second mounting shaft 41, so as to quickly mount the power mobile phone 40 on the guide structure 20. Similarly, the power mobile phone 40 can be quickly disassembled by applying external force to the power mobile phone 40.

[0069] Specifically, the axis direction of the second mounting shaft 41 is perpendicular to the direction of the slide rail 211, and the axis of the elastic pin 26 is parallel to the direction of the slide rail 211. During the operation of the power mobile phone 40 by the operator, the force generated between the power mobile phone 40 and the guide structure 20 is along the direction of the slide rail 211, and the power mobile phone 40 needs to be forced from the axis direction of the second mounting shaft 41 to be separated from the guide structure 20, so as to ensure the connection safety and stability of the power mobile phone 40 and the guide structure 20 during use.

[0070] The power mobile phone 40 and the guide structure 20 can be quickly disassembled, and the mechanical arm 10 and the guide structure 20 can also be quickly disassembled by using the disassembly structure 30, so as to simplify the disassembly process of the surgical robot 100.

[0071] The following embodiments will describe the disassembly structure 30 of the surgical robot 100 in detail.

[0072] Specifically, referring to Figure 2 , Figure 4a , Figure 13 , Figure 14 , Figure 15 , Figure 16 and Figure 17The surgical robot 100 further comprises a detachable structure 30 configured for detachably connecting the mechanical arm 10 and the guide structure 20. The detachable structure 30 comprises a mounting base 31 connected to the guide base 21 of the guide structure 20, an adjusting assembly 32 connected to the mounting base 31, and a flange assembly 33 connected to the mechanical arm 10. The flange assembly 33 and the mounting base 31 are limited in the X-axis (i.e., the X-axis in the coordinate system shown in FIG. 1) and Z-axis (i.e., the Z-axis in the coordinate system shown in FIG. 1) directions by the respective limiting structures. Figure 13 The mechanical arm 10 and the guide structure 20 are limited in the Y-axis (i.e., the Y-axis in the coordinate system shown in FIG. 1) direction by the adjusting assembly 32. Figure 13 Figure 13 The mechanical arm 10 and the guide structure 20 are limited or released in the Y-axis (i.e., the Y-axis in the coordinate system shown in FIG. 1) direction by the adjusting assembly 32.

[0073] In the embodiments of the present application, the position of the mounting base 31 and the flange assembly 33 is limited in the X-axis and Z-axis directions by the respective limiting structures, and the limitation in the Y-axis direction is achieved by adjusting the adjusting assembly 32, so that the three-axis limitation between the mounting base 31 and the flange assembly 33 can be quickly achieved, the reliability of the limitation is ensured, and the quick detachable connection between the mechanical arm 10 and the guide structure 20 can be further improved.

[0074] In an optional embodiment, the mounting base 31 is provided with a first limiting structure 311 and a second limiting structure 312, the flange assembly 33 comprises a flange base 331 provided with a third limiting structure 332 and a fourth limiting structure 333, the first limiting structure 311 is matched with the third limiting structure 332, the second limiting structure 312 is matched with the fourth limiting structure 333, and the mechanical arm 10 and the guide structure 20 are limited in the Z-axis and X-axis directions, respectively.

[0075] The first limiting structure 311 and the third limiting structure 332 are matched and limit the mechanical arm 10 and the guide structure 20 in the Z-axis direction, which means that the mechanical arm 10 and the guide structure 20 cannot move relative to each other in the Z-axis direction. Similarly, the second limiting structure 312 and the fourth limiting structure 333 are matched to enable the mechanical arm 10 and the guide structure 20 to move relative to each other in the X-axis direction.

[0076] ​Further, the first limiting structure 311 is a first limiting protrusion 3111 protruding from the mounting seat 31, the third limiting structure 332 is a first limiting groove 3321 matched with the first limiting protrusion 3111, and the first limiting protrusion 3111 abuts against the inner wall of the first limiting groove 3321 in the Z-axis direction. The second limiting structure 312 is a second limiting protrusion 3121 protruding from the mounting seat 31, the fourth limiting structure 333 is a second limiting groove 3331 matched with the second limiting protrusion 3121, and the second limiting protrusion 3121 abuts against the inner wall of the second limiting groove 3331 in the X-axis direction. Figure 14 The first limiting protrusion 3111 shown in the drawings is a strip-shaped structure, and of course the first limiting protrusion 3111 is not limited to this. It is only required that the first limiting protrusion 3111 is matched with the first limiting groove 3321 and can abut against each other in the Z-axis direction. The second limiting protrusion 3121 is the same as the first limiting protrusion 3111, and its specific structure can be set according to requirements and is not limited to the shape shown in the drawings.

[0077] In an optional embodiment, please refer to Figure 13 , Figure 14 and Figure 15 The first limiting groove 3321 and the second limiting groove 3331 are communicated, and the second limiting groove 3331 corresponds to part of the area of the first limiting groove 3321. The second limiting protrusion 3121 is connected to part of the area of the first limiting protrusion 3111. The first limiting protrusion 3111 is rotated to match the second limiting protrusion 3121 with the second limiting groove 3331.

[0078] In the assembling process, when the first limiting protrusion 3111 is matched with the first limiting groove 3321, the second limiting protrusion 3121 can be matched with the second limiting groove 3331 by rotating the first limiting protrusion 3111, which is simple and fast.

[0079] The tracer 50 mentioned above is locked on the mounting seat 31 by an anti-falling screw, and the mounting seat 31 is provided with the tracer 50 on both sides. Connecting the tracer 50 to the mounting seat 31 on both sides of the flange assembly 33 can improve the operation flexibility of the mechanical arm 10, can avoid affecting the swing space of the mechanical arm 10 due to the setting of the tracer 50, so as to ensure that the mechanical arm 10 has a wider operation space, and further can improve the accuracy of the surgical robot 100.

[0080] In an optional embodiment, please refer to Figure 14 and Figure 17The adjusting assembly 32 comprises a rotating shaft 321, a cam switch 322 and a first clamping piece 323. The rotating shaft 321 is connected to the mounting seat 31. The cam switch 322 is sleeved on the rotating shaft 321 and can rotate around the axis of the rotating shaft 321. The first clamping piece 323 is movably embedded in the mounting seat 31 and can be extended or retracted under the rotation of the cam switch 322.

[0081] The cam switch 322 is an irregular rotating member. The rotation of the cam switch 322 can enable different parts of the cam switch 322 to act on the first clamping piece 323, so that the first clamping piece 323 can move in the direction of the flange assembly 33 at different distances, thereby enabling the first clamping piece 323 and the flange seat 331 to abut or separate in the Y-axis direction.

[0082] In the embodiment, the mounting seat 31 is provided with a guide hole 313. The first clamping piece 323 moves along the axis of the guide hole 313. The guide hole 313 can guide the movement of the first clamping piece 323 and avoid the deflection of the first clamping piece 323 during the movement.

[0083] In an optional embodiment, the flange seat 331 is provided with a second clamping piece 334 matched with the first clamping piece 323. When the first clamping piece 323 is extended and contacts the second clamping piece 334, the first clamping piece 323 and the second clamping piece 334 can be clamped with each other in the Y-axis direction.

[0084] Further, as shown in Figure 16 The end of the first clamping piece 323 close to the second clamping piece 334 is provided with a first inclined surface 3231. The end of the second clamping piece 334 close to the first clamping piece 323 is provided with a second inclined surface 3341 matched with the first inclined surface 3231. The planes on which the first inclined surface 3231 and the second inclined surface 3341 are located are perpendicular to the Y-axis direction. The first inclined surface 3231 and the second inclined surface 3341 are in close contact to limit the relative position of the mechanical arm 10 and the guide structure 20 in the Y-axis direction.

[0085] The first inclined surface 3231 and the second inclined surface 3341 are in close contact with each other, which can ensure the abutting effect of the first clamping piece 323 and the second clamping piece 334 in the Y-axis direction and further ensure the stability and firmness of the three-axis limiting of the mechanical arm 10 and the guide structure 20.

[0086] Further, the first inclined surface 3231 and the second inclined surface 3341 are parallel to each other and form an acute angle with the Y-axis direction. It can be understood that the part where the first clamping piece 323 and the second clamping piece 334 contact is a wedge-shaped structure. This structure can further ensure the abutting firmness and stability of the first clamping piece 323 and the second clamping piece 334 in the Y-axis direction.

[0087] In an optional embodiment, the adjusting assembly 32 further comprises a second elastic member 324 sleeved on the first clamping member 323, when the cam switch 322 is rotated to the first position, the first clamping member 323 is extended under the pressing of the cam switch 322, and the second elastic member 324 is compressed and deformed to store elastic force. When the cam switch 322 is rotated to the second position, the first clamping member 323 is separated from the cam switch 322 and retracted under the elastic force of the second elastic member 324. The cam switch 322 is rotated by 90° to switch from the first position to the second position.

[0088] The second elastic member 324 is the same as the first elastic member 245, both of which refer to mechanical elements capable of elastic deformation, and can be implemented by a compression spring or a tension spring. The function of the second elastic member 324 is to drive the first clamping member 323 to reset by storing and releasing elastic force.

[0089] The embodiment of the present application only needs to rotate the cam switch 322 to realize the clamping or separation of the first clamping member 323 and the second clamping member 334, and further realize the clamping or separation of the mechanical arm 10 and the guide structure 20, so that the disassembly and assembly of the mechanical arm 10 and the guide structure 20 can be quickly realized.

[0090] In an optional embodiment, the flange assembly 33 further comprises at least two fine adjustment members, which are respectively embedded in the flange seat 331 and the mounting seat 31 to respectively adjust the relative positions between the flange seat 331 and the mounting seat 31 and the relative positions between the mounting seat 31 and the first clamping member 323.

[0091] The fine adjustment member is an adjusting bead, which can realize the fine adjustment of the relative positions between two components to improve the connection reliability and stability between the mechanical arm 10 and the guide structure 20.

[0092] One of the two adjusting beads is embedded in the mounting seat 31 to eliminate the error gap between the first clamping member 323 and the mounting seat 31, and further ensure the clamping effect of the first clamping member 323 and the second clamping member 334. The other one of the two adjusting beads is embedded in the flange seat 331 and used to eliminate the error gap between the second limiting protrusion 3121 and the flange seat 331, so as to further ensure the connection reliability between the mechanical arm 10 and the guide structure 20, and improve the stability and accuracy during the sliding process of the power mobile phone 40.

[0093] In an optional embodiment, the surgical robot 100 further comprises a guide sleeve 61, one end of which is connected to the flange seat 331, and the other end is sleeved on a sleeve for installing a needle 62, which can limit the insertion angle of the needle 62 and improve the accuracy of the insertion angle.

[0094] It should be understood that the above examples are exemplary only, and are not intended to limit the scope of the claims encompassing all possible embodiments. Various modifications and changes can also be made on the basis of the above examples without departing from the scope of the present disclosure. Similarly, various technical features of the above examples can also be combined arbitrarily to form additional embodiments of the present application that can not have been explicitly described. Therefore, the above examples merely express several embodiments of the present application, and do not limit the scope of protection of the patent of the present application.

Claims

1. A surgical instrument applied to a surgical robot (100), said surgical robot (100) comprising a powered handpiece (40) and a robotic arm (10), characterized in that, The surgical instruments include: A guide seat (21), connected to a slide rail (211), is configured to connect with the robotic arm (10); A sliding component (22), slidably connected to the slide rail (211), is configured to connect to the powered mobile phone (40), and the sliding component (22) can move along the slide rail (211) following the powered mobile phone (40); A constant force spring (23) is connected at one end to the guide seat (21) and at the other end to the sliding assembly (22). The tension of the constant force spring (23) acting on the sliding assembly (22) is used to balance the weight of at least the power mobile phone (40) connected to the sliding assembly (22).

2. The surgical instrument according to claim 1, characterized in that, The sliding component (22) includes: The slider (221) has its end connected to the side of the constant force spring (23); A plurality of balls (222) are rotatably mounted on the slider (221), and the balls (222) are adapted to the slide rail (211). Under the action of external force, the slider (221) moves along the slide rail (211) following the balls (222).

3. The surgical instrument according to claim 2, characterized in that, The sliding component (22) further includes: An adjusting element (223) is fitted into the slider (221) and connected to the ball (222). The adjusting element (223) is used to adjust the friction between the ball (222) and the slide rail (211).

4. The surgical instrument according to claim 2, characterized in that, There are two constant force springs (23), and the ends of the two constant force springs (23) are respectively connected to the two sides of the slider (221).

5. The surgical instrument according to any one of claims 1 to 4, characterized in that, The surgical instrument also includes an elastic adjustment component (24), which comprises: Mounting shaft (241) is connected to the guide seat (21), and the coiled constant force spring (23) is sleeved on the mounting shaft (241), and the mounting shaft (241) corresponds to a portion of the coiled constant force spring (23). Support members (242), a plurality of the support members (242) are circumferentially distributed around the axis of the mounting shaft (241) and can reciprocate relative to the mounting shaft (241) along its axial direction; Among them, a plurality of the abutment members (242) are inserted into the inner ring of the coiled constant force spring (23) under the action of external force, and the outer diameter of the cylindrical structure formed by the plurality of abutment members (242) is greater than or equal to the inner diameter of the coiled constant force spring (23).

6. The surgical instrument according to claim 5, characterized in that, The plurality of the support members (242) gradually move toward the central axis of the mounting shaft (241).

7. The surgical instrument according to claim 6, characterized in that, The elasticity adjustment component (24) further includes: A retaining member (243) is connected to one end of one of the plurality of supporting members (242); The cam (244) abuts against one side of the abutment (243); The cam (244) is adjusted so that different parts of it press against the abutment (243), so that the abutment (243) and the support (242) move different distances toward the mounting shaft (241).

8. The surgical instrument according to claim 7, characterized in that, The elasticity adjustment component (24) further includes: The first elastic element (245) has one end connected to the abutment (243) and the other end abutting against the outer wall of the guide seat (21). When the abutment (243) and the support (242) are not under force, the abutment (243) and the support (242) are reset under the elastic force of the first elastic element (245).

9. The surgical instrument according to claim 2, characterized in that, The sliding component (22) further includes: Mounting component (25) is connected to the slider (221). The mounting component (25) is provided with mounting hole (251), which is adapted to the first mounting shaft (241) of the power handpiece (40). A flexible pin (26) is fitted into the mounting member (25) and is used to be adapted to a pin hole (411) provided on the second mounting shaft (41) of the power handpiece (40).

10. A surgical robot, characterized in that, Includes the surgical instruments according to any one of claims 1 to 9.

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