A craniotomy robot end instrument quick-change integrated device

Abstract

This invention discloses an integrated device for quick-change of end-effector instruments in a craniotomy robot, comprising a support platform with a sliding mechanism and a force sensor on each side; the sliding mechanism includes a sliding frame comprising two sleeves connected by a connecting beam, with two linear slide rods passing through the two sleeves and slidably connected to the sleeves via linear bearings; the bottom ends of the linear slide rods are fixed to the support platform, and springs are fitted on their outer sides, respectively abutting between the sliding frame and the support platform; limiting strips are fitted on the top sides of the two linear slide rods and fastening nuts are threaded onto them to limit the distance between the sleeves and the support platform; a clamping mechanism consisting of two movable grippers is provided on the outer surface of the sliding mechanism, the clamping mechanism consisting of a detachable retaining ring, a locking mechanism, and a latch; this device achieves integrated drilling and milling functions, and can perform flexible bone milling based on real-time force sensing, and has the advantages of easy instrument replacement, disassembly, and high positioning in its structural design.

Description

Technical Field

[0001] This invention relates to the field of surgical robot operation technology, and in particular to a quick-change integrated device for end-effectors of a craniotomy robot. Background Technology

[0002] Neurosurgical craniotomy involves two steps: drilling and milling. In the field of robotic craniotomy, the drill and milling cutters are typically separate components of the surgical robot. During craniotomy, the drill and milling cutters are mounted using different clamps, which not only increases surgical time but also increases the margin of error for robotic craniotomy. Furthermore, the milling cutter clamps currently used in surgical robots are all rigidly fixed, requiring extremely high control precision during bone milling to ensure the rigid cutters do not damage the skull and dura mater, significantly increasing surgical costs and risks. Simultaneously, the current surgical drill and milling cutter clamps are bulky and difficult to disassemble, which is highly detrimental to the successful execution of craniotomy. To address these issues, it is necessary to design a quick-change integrated device for the end effector of a craniotomy surgical robot. Summary of the Invention

[0003] The purpose of this invention is to provide an integrated device for quick-change of end-effectors in craniotomy robots that solves the above-mentioned technical problems.

[0004] Therefore, the technical solution of the present invention is as follows:

[0005] An integrated device for quick-change of end-effector instruments in a craniotomy robot includes a horizontally positioned support platform, a sliding mechanism, and force sensors respectively positioned on both sides of the support platform. The sliding mechanism includes a sliding frame, which comprises two vertically spaced sleeves connected by a connecting beam. Two linear slide rods are respectively inserted into the two sleeves and are slidably connected to the sleeves via linear bearings. The bottom ends of the linear slide rods are fixed to the support platform, and springs are fitted on their outer sides, with the two ends of the springs abutting between the sliding frame and the support platform. Limiting strips are fitted on the top sides of the two linear slide rods and fastening nuts are threaded onto them to limit the distance between the sleeves and the support platform. A clamping mechanism for mounting surgical instruments is provided on the outer surface of the sliding mechanism.

[0006] Furthermore, the support platform includes a support plate, which has two limiting posts symmetrically formed on the side connected to the sliding mechanism. The limiting posts have axial through holes, and the support plate has screw holes that communicate with the limiting posts. The bottom outer walls of the two linear slide rods are provided with external threads, so that they pass through the two limiting posts and are threadedly connected to the support plate.

[0007] Furthermore, each linear slide bar is fitted with two linear bearings and a spacer tube, with the spacer tube located between the two linear bearings so that the two linear bearings are symmetrically arranged on both sides of the linear slide bar.

[0008] Furthermore, an outer annular step is formed on the outer wall of the top side of the limiting post, and an inner annular boss is provided on the inner wall of the lower side of the sleeve, so that the top side of the spring passes through the sleeve and abuts against the inner annular boss, and its bottom side is sleeved on the top side of the limiting post and abuts against the outer annular step.

[0009] Furthermore, an annular groove is provided on the inner wall of the top side of the sleeve, and a retaining spring is provided in the groove, so that the linear bearing located on the upper side of the sleeve abuts against the retaining spring, and the linear bearing located on the upper side abuts against the inner annular boss.

[0010] Furthermore, the clamping mechanism consists of two movable grippers arranged at an upward and downward interval; each movable gripper consists of a retaining ring, a locking mechanism, and two latches; wherein,

[0011] The retaining ring consists of a positioning block and a C-shaped ring. The positioning block is horizontally positioned with one side attached to the sliding frame and fitted into the protrusions on the sliding frame through positioning holes at both ends. The sidewalls of the positioning block on both sides of each positioning hole are machined into a slope. The C-shaped ring is centered and horizontally fixed to the other side of the positioning block, with its open end facing outward and extending to form a pair of connecting lugs.

[0012] The locking mechanism includes a connecting pin that passes through a pair of connecting ear plates, one end of which is provided with a connecting block and the other end is threaded with a limit nut; a rotating pin that is parallel to the axis of the C-shaped ring passes through the connecting block, and a lever is rotatably connected to both ends of the lever; one side of the lever is an arc-shaped surface and can rotate until the arc-shaped surface is in contact with the outer wall of the C-shaped ring.

[0013] Two latches are rotatably mounted on sliding frames located on both sides of the positioning block; the latches include an insert block and a rotating handle; the insert block is a conical truncated body, and its conical surface can form a conical press fit with the sloping sidewall of the positioning block; the front end of the rotating handle is fixed on the insert block, and the rear end extends outward. Correspondingly, the front conical surface of the insert block is cut into a vertical surface so that when the latch is rotated until the vertical surface of the insert block is opposite to the sloping sidewall of the positioning block, the conical surface press fits.

[0014] Furthermore, the split pin consists of a first pin, a second pin, and a connecting bolt. The first pin is a cylindrical pin with an end cap at one end and a U-shaped notch at the other end. A blind hole is formed from one end of the U-shaped notch, and the outer inner diameter of the blind hole is larger than its inner inner diameter. An internal thread is provided on the inner wall of the blind hole. The second pin is a cylindrical pin with an end cap at one end and a double-stepped outer wall at the other end. The double-stepped second pin allows it to be inserted into the outer hole of the blind hole and the U-shaped notch of the first pin in sequence. An axial through hole is formed in the center of the second pin, and the connecting bolt passes through the axial through holes of the second pin and the first pin and is threadedly connected and fixed to the first pin.

[0015] Furthermore, the protrusions on the sliding frame are wedge-shaped blocks, and the positioning holes on the positioning block are wedge-shaped holes that cooperate with the protrusions; the inner diameter of the C-shaped ring is larger than the outer diameter of the surgical instrument at the clamping position.

[0016] Furthermore, the support plate of the support platform is a C-shaped arc plate, and the connecting beam is an X-shaped beam.

[0017] Compared with existing technologies, the advantages of this quick-change integrated device for end-effectors in craniotomy robots are as follows:

[0018] (1) The quick-change integrated device for end-effectors of the craniotomy robot innovatively realizes the integrated drilling and milling functions; when drilling bone, the limiting strip locks the movement stroke of the sliding frame to achieve rigid fixation of the drill bit, so that the surgical robot can drive the drill bit to drill bone without vibration and with high precision; when milling bone, the limiting strip is adjusted to release the movement stroke of the sliding frame, and in conjunction with the retractable spring, a continuous and stable pre-tightening force is provided for the milling cutter installed on the sliding frame, so that the end hook of the milling cutter can actively and adaptively adhere to the inner wall of the skull, and the hook is located between the skull and the dura mater of the brain, and ensures the integrity of the skull and brain tissue until the surgery is completed.

[0019] (2) The quick-change integrated device for end-effectors of the craniotomy robot enables flexible milling based on real-time force sensing. During milling, a custom-designed retractable spring provides a suitable and flexible support force for the sliding frame. This force is converted into a flexible pre-tightening force on the inner wall of the skull by the milling cutter hook, thus achieving flexible milling. This solves the dangerous problems caused by the rigid clamping of the milling cutter hook not continuously adhering and the damage to the integrity of the dura mater and the crushing of the skull caused by over-adhering to the irregular inner wall of the skull. At the same time, the force sensor can always monitor the change in the pre-tightening force provided by the custom spring to the hook, stabilize the force range of the milling cutter hook acting on the skull, and prevent the dangerous situation of the sliding frame being fixed relative to the support plate due to the spring being stretched to its longest or shortest state, thus ensuring the safety of the operation.

[0020] (3) The clamping mechanism of the quick-change integrated device for end-effectors of the craniotomy robot is based on the design concept of easy replacement, easy disassembly and high positioning of surgical instruments. The retaining ring adopts an adjustable diameter design and is locked by a locking mechanism, so that it can reliably clamp drills or milling cutters of different diameters, meeting the needs of surgical instruments for versatility and quick replacement. At the same time, the retaining ring and the sliding frame adopt a unique locking connection, which makes the surgical instrument fastening block easy to disassemble while ensuring the positioning accuracy of repeated installation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the quick-change integrated device for the end effector of the craniotomy robot in an embodiment of the present invention;

[0022] Figure 2This is an exploded view of the quick-change integrated device for the end effector of the craniotomy robot in an embodiment of the present invention;

[0023] Figure 3 This is a front view of the quick-change integrated device for the end effector of the craniotomy robot in an embodiment of the present invention;

[0024] Figure 4 for Figure 3 BB section view;

[0025] Figure 5 for Figure 3 AA section view;

[0026] Figure 6 for Figure 5 A magnified view of part C in the middle;

[0027] Figure 7 for Figure 5 Enlarged view of part D in the middle

[0028] Figure 8 This is a schematic diagram of the split pin structure of the quick-change integrated device for the end effector of the craniotomy robot in an embodiment of the present invention;

[0029] Figure 9 This is a schematic diagram showing the rotating handle of the quick-change integrated device for the end effector of the craniotomy robot in the "open" and "locked" states, respectively, in an embodiment of the present invention.

[0030] Figure 10 This is a schematic diagram of the retaining ring and locking mechanism of the quick-change integrated device for the end effector of the craniotomy robot in an embodiment of the present invention;

[0031] Figure 11 This is a schematic diagram of the support platform, sliding mechanism, and force sensor of the quick-change integrated device for the end effector of the craniotomy robot in an embodiment of the present invention;

[0032] Figure 12 This is a schematic diagram of the locking mechanism of the quick-change integrated device for the end effector of the craniotomy robot in an embodiment of the present invention. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the following embodiments are by no means intended to limit the present invention.

[0034] like Figure 1 and Figure 2As shown, the quick-change integrated device for end-effectors of the craniotomy robot includes a clamping mechanism, a sliding mechanism, and a force sensor 3 mounted on a support plate 1. The clamping mechanism is used to fix the surgical instrument 10 (drill or milling cutter) and is fixed to one side of the sliding mechanism so that it moves up and down relative to the support plate 1 as the sliding mechanism moves. The force sensor 3 is fixed on the support plate 1.

[0035] See Figure 2 and Figure 5 The support platform 1 includes a horizontally arranged support plate 101, which is specifically designed as a C-shaped arc plate to provide a fixed position for the sliding mechanism and the force sensor 3 while achieving a lightweight design of the support plate 101; wherein, the two ends of the arc plate are used to install the sliding mechanism, and the middle part of the arc plate is used to install the force sensor 3.

[0036] Two limiting posts 102 are symmetrically formed on the two end side plates of the support plate 101. Each limiting post 102 has an axial through hole, and a first screw hole communicating with each limiting post 102 is formed on the plate surface of the support plate 101. The outer diameter of the top side of the limiting post 102 is smaller than its lower outer diameter, so that an outer annular step is formed on its top outer wall. Three second screw holes are evenly distributed on the middle plate surface of the support plate 101. The positions of the three second screw holes are adapted to the positions of the screw holes on the end face of the force sensor 3 housing, so as to fix and connect the force sensor 3.

[0037] In this embodiment, the support platform 1 is made of aluminum alloy 6061 plate to achieve both mechanical strength and reduced load weight on the surgical robot.

[0038] See Figure 2 The sliding mechanism includes a sliding frame 2, which includes two vertically spaced sleeves that are connected and fixed as a whole by a connecting beam. In this embodiment, for the purpose of lightweight design, the connecting beam is an X-shaped beam and is made of aluminum alloy 6061, just like the support platform 1.

[0039] See Figure 5 Two high-precision linear slide rods 5 are respectively inserted into two sleeves and are connected to the sleeves by linear bearings 14 to slide up and down. Specifically, in order to maintain the stability of the sliding structure, two linear bearings 14 are sleeved on each linear slide rod 5, and a spacer tube 12 is sleeved between them, so that the two linear bearings 14 are symmetrically located on both sides of the linear slide rod 5, so that the sliding frame 2 can reciprocate in the vertical direction relative to the two linear slide rods 5.

[0040] In this embodiment, each of the two sleeves of the sliding frame 2 has an inner annular boss 201 on its bottom inner wall. The inner diameter of the inner annular boss 201 is smaller than the outer diameter of the linear bearing 14, so that the linear bearing 14 on the lower side of the linear slide rod 5 is pressed onto the upper end face of the inner annular boss 201 to achieve the lower limit. Correspondingly, each of the two sleeves on the top inner wall of the sliding frame 2 has an annular groove 202, and a retaining spring 11 is provided in the annular groove 202. The position of the retaining spring 11 is specifically adapted to the position of the linear bearing 14 on the upper side of the linear slide rod 5, so that its top side abuts against the retaining spring 11 to achieve the upper limit.

[0041] See Figure 7 The bottom outer walls of the two linear slide rods 5 are provided with external threads, so that the bottom ends of the two slide rods pass through the axial through holes of the two positioning pins 102 and are threaded into the two first screw holes opened on the support plate 101; preferably, from below the support platform 1, a fastening nut 6 is sleeved and threadedly connected to the bottom end of each linear slide rod to reinforce and fix the linear slide rod 5.

[0042] Considering that when the surgical instrument 10 is a milling cutter, it needs to move closely to the inner surface of the skull during the operation. The inner surface of the skull is usually irregular and uneven, so the milling cutter needs to be able to move up and down accordingly. Therefore, each linear slide bar 5 is also fitted with a spring 13 on its lower side, with its two ends abutting between the sliding frame 2 and the support plate 1, so that the initial position and floating distance between the sliding frame 2 and the support plate 1 can be adjusted by the preload of the spring 13.

[0043] Specifically, see Figure 5 In terms of structural design, the outer diameter of the top end of the limiting post 102 is adapted to the inner diameter of the sleeve, so that the top end of the spring is inserted into the sleeve and abuts against the lower end face of the inner annular boss 201, and its bottom end is sleeved on the outer side of the top end of the limiting post 102 and abuts against the upper end face of the outer annular step of the limiting post 102. This prevents the spring 13 from shifting during the extension and retraction movement. At the same time, this structural design also ensures that the performance of the spring 13 is not affected by external factors.

[0044] A limiting strip 4 is provided on the top side of the two linear slide rods 5. A through hole is symmetrically opened on both sides of the limiting strip 4 so that the limiting strip 4 is simultaneously sleeved on the top side of the two linear slide rods 5 and pressed against the top end face of the two sleeves of the sliding frame 2. Correspondingly, the top outer wall of the two linear slide rods 5 is provided with external threads. Two fastening nuts 6 are respectively sleeved and threadedly connected and fixed. The two fastening nuts 6 are pressed against the top end face of the limiting strip 4 to fix the limiting strip 4 on the top side of the sliding frame 2, forming an upward limit on the two sleeves. That is, the initial deformation state of the spring 13 is controlled by the limiting strip 4.

[0045] See Figure 1 and Figure 5Force sensor 3 is mounted on support plate 101 and is fixedly connected to support plate 101 by three bolts that pass through three second screw holes on support plate 101 and three screw holes on the bottom surface of force sensor 3. The top side of force sensor 3 is fixed to the end of the robotic arm of surgical robot by bolts to collect the force change of support plate 101 relative to the end of robotic arm of surgical robot in real time. In practical application, by monitoring the force change, the movement state of robotic arm of surgical robot is adjusted in real time to improve the positioning accuracy of surgical instrument 10.

[0046] See Figure 1 In the quick-change integrated device for end-effectors of the craniotomy robot, the working principle is described below based on the structural design features of the sliding mechanism.

[0047] When performing bone drilling surgery, the limiting strip 4 is used to press down and fix the sliding frame 2. At this time, the spring 13 is compressed to its shortest state and has not reached the maximum compression amount and the maximum allowable pressure, but the linear movement range of the sliding frame 2 is 0, that is, the sliding frame 2 is fixed relative to the support plate 1. In this state, the drill bit can perform bone drilling surgery with high precision and without vibration.

[0048] After the bone drilling operation is completed and the bone milling operation is about to begin, the limit bar 4 is lifted until the spring 13 returns to its initial state. At this time, the sliding frame 2 is placed vertically. The weight of the milling cutter fixed to the sliding frame 2 by the clamping mechanism and the sliding frame 2 itself will exert a certain pressure on the spring 13, causing the spring 13 to compress. However, the sliding frame 2 still maintains a distance (generally set to 8mm) from the support table 1. During the bone milling operation, the milling cutter hook tightly hooks the inner wall of the skull, and the spring 13 is further compressed. However, the sliding frame 2 still maintains a distance (generally set to 4mm) from the support table 1. In this state, the spring 13 compressed by the sliding frame 2 provides a force to the sliding frame 2 along the linear slide bar 5. The milling cutter hook, located between the skull and the dura mater, is not affected by the precision of the surgical robot's robotic arm and always tightly hooks the inner wall of the skull, ensuring the integrity of the brain tissue during the surgical operation.

[0049] In the above-mentioned milling surgery, the optimal force applied by the milling cutter hook to the inner wall of the skull is 5N. At this time, the distance between the sliding frame 2 and the support table 1 is reduced (reduced to 4mm). The elastic strength of the spring 13 can maintain the optimal force for the milling cutter hook, while reserving 4mm of linear movement space at the top and bottom for the milling cutter hook to cope with the undulating movement of the irregular inner wall of the skull.

[0050] Meanwhile, the force sensor 3, fixed to the support platform 1 and the end of the robotic arm of the surgical robot, can continuously monitor the change in the preload force provided by the spring 13 to the hook, stabilizing the force range of the milling cutter hook acting on the skull and ensuring the safety of the surgery. Specifically, the preload force of the device on the milling cutter originates from the spring 13. When the spring 13 is compressed, it provides an upward preload force, which is transmitted to the milling cutter hook via the sliding frame 2. In actual design, the spring 13 follows the principle of "dynamic adaptation and overload protection." By setting the preload force and deformation threshold of the spring 13, the milling cutter can both preload and avoid overloading the inner wall of the skull. Taking this embodiment as an example, during bone milling, in addition to the force exerted by the device and the milling cutter itself on the spring 13, the spring 13 needs to meet the flexible preload requirement k, which is set as follows:

[0051] ,

[0052] In the formula, To allow the maximum preload, it is specifically set to 9N; To allow for the minimum preload, it is specifically set to 1N; The maximum preload deformation range is specifically set to 8mm.

[0053] Furthermore, within the allowable deformation range of spring 13, when the milling cutter applies an optimal preload of 5N to the inner wall of the bone, the flexible preload requirement k of spring 13 can both ensure that the milling cutter adapts to the preload fluctuations (±4N) due to the concavity and convexity of the skull, and avoid exceeding the deformation limit (when...). When the force exceeds 8mm, it causes overload, ensuring the integrity of the skull and dura mater, as well as the safety of the surgery. At the same time, the force sensor 3 monitors the above preload force in real time to ensure that the preload force range is stably maintained within the range of 1.5 N-7.5 N. If the preload force exceeds the range, the robot's movement range is adjusted to avoid rigidity hazards caused by spring limit states.

[0054] See Figure 1 The clamping mechanism consists of two movable jaws arranged at an upper and lower interval to clamp the surgical instrument 10 on the outside, thereby fixing the surgical instrument 10 on the sliding frame 2; specifically, each movable jaw consists of two latches 7, a retaining ring 8 and a locking mechanism 9.

[0055] See Figure 10 The retaining ring 8 is composed of a positioning block 801 and a C-shaped ring 802; wherein,

[0056] Positioning block 801 is a strip-shaped plate with symmetrical positioning holes 8011 at both ends. See also... Figure 4 and Figure 11Two protrusions 203 are symmetrically provided on the upper and lower side walls of the sliding frame 2 where the positioning block 801 is installed, so that the positioning blocks 801 of the two retaining rings 8 are respectively fitted into the two protrusions 203 at the corresponding positions through their two positioning holes 8011, and the positioning blocks 801 are detachably assembled on the sliding frame 2 in a horizontal manner; preferably, the protrusions 203 are wedge-shaped blocks, and the positioning holes 8011 are correspondingly opened as wedge-shaped holes that cooperate with the protrusions 203.

[0057] The C-shaped ring 802 is centered on the other side of the positioning block 801 with its opening facing outward, and is also horizontally positioned with the positioning block 801. The two open ends of the C-shaped ring 802 extend outward to form a pair of connecting ear plates 8021, and both plates have through holes. The inner diameter of the C-shaped ring 802 is adapted to the outer diameter of the surgical instrument 10, specifically slightly larger than the outer diameter of the surgical instrument 10 at the clamping position.

[0058] See Figure 10 The locking mechanism 9 includes a connecting pin 901 inserted into the through holes of two connecting ear plates 8021. One end of the pin has a connecting block 902, and the other end has an external thread and is threaded with a limit nut 903 to adjust the effective length of the connecting pin 901. A rotating pin 904 passes through the connecting block 902, which is parallel to the axis of the C-shaped ring and preferably coplanar with the connecting pin 901. Both ends of the rotating pin 904 are rotatably connected to actuating plates 905, one side of which is arc-shaped and can be rotated until its arc-shaped surface is in contact with the outer wall of the C-shaped ring 802. In practical applications, when the actuating plate 905 of the locking mechanism 9 rotates to contact the C-shaped ring 802... When the outer walls of the surgical instrument are fitted together, the connecting pin 901 is pulled outward, and the limiting nut 903 pushes the gap between the two connecting lugs to decrease. The inner diameter of the C-shaped ring 802 also decreases and can be tightly held on the outside of the surgical instrument. At this time, the surgical instrument 10 is fixed on the clamping mechanism. Conversely, when the actuating piece 905 is rotated and moved away from the C-shaped ring 802, the connecting pin 901 moves towards the limiting nut 903. The pushing force of the limiting nut 903 on the two connecting lugs disappears, the gap between them increases, the inner diameter of the C-shaped ring 802 increases, and there is a gap between the surgical instrument 10 and the inner wall of the C-shaped ring 802, which can be quickly disassembled.

[0059] See Figure 1 and Figure 3 Two latches 7 are respectively rotatably mounted on the sliding brackets 2 located on both sides of the positioning block 801; correspondingly, see Figure 10 The sidewalls of the strip plate located on both sides of each positioning hole 8011 are machined into slopes 8012 to match the structure of the latch 7.

[0060] See Figure 12The latch 7 includes an insert block 701 and a rotating handle 702; wherein,

[0061] The insert block 701 is a conical platform, and the taper of its conical surface is the same as the taper of the slope surface 8012, so that the insert block 701, which is rotatably mounted on the sliding frame 2, forms a conical press fit with the slope surface 8012 of the adjacent positioning block 801; the front end of the rotating handle 702 is fixed on the insert block 701 (specifically on the large-size end face of the insert block 701), and its rear end extends to the outside of the insert block 701; the front conical surface of the conical platform is cut into a vertical surface 7011 along the axial direction, so that when the latch 7 rotates to the point where the vertical surface 7011 is opposite to the slope surface 8012 of the adjacent positioning block 801, a conical fit is no longer formed;

[0062] See Figure 9 In practical applications, when the latch 7 rotates to the point where its vertical surface 7011 aligns with the slope surface 8012 of the adjacent positioning block 801, there is no conical engagement between the latch 7 and the positioning block 801. At this time, the latch 7 is in the open state, and the retaining ring 8 is in the detachable state. However, when the latch 7 rotates to the point where its conical surface aligns with the slope surface 8012 of the adjacent positioning block 801, the positioning block 801 is pressed against the sliding frame 2 by the latch 7. At this time, the latch 7 is in the locked state, and the retaining ring 8 is in the non-detachable state. Figure 3 The image shows the upper and lower retaining rings 8 locked and fixed to the sliding frame 2 by four latches 7; this structural design facilitates disassembly and replacement.

[0063] A through hole 703 is centrally located on the rotating handle 702 and the mounting block 701, allowing the latch 7 to be rotatably mounted on the sliding frame 2 via a split pin 704 passing through the through hole 703. (See also...) Figure 11 To avoid interference between the sleeve on the sliding frame 2 and the rotation of the latch 7, a groove 204 is provided on the outer wall of the sleeve to cooperate with the insert block 701, so as to ensure that the latch 7 can rotate freely.

[0064] See Figure 8In the structural design of the split pin 704, it is specifically composed of a first pin 7041, a second pin 7042, and a connecting bolt. The first pin 7041 is a cylindrical pin with an end cap at one end and a U-shaped notch at the other end. A blind hole is formed from one end of the U-shaped notch, with the outer inner diameter of the blind hole being larger than its inner inner diameter. An internal thread is provided on the inner wall of the blind hole. The second pin 7042 is a cylindrical pin with an end cap at one end and a double-stepped outer wall at the other end. The double-stepped design of the second pin allows it to be inserted sequentially. The first pin 7041 and the second pin 7042 are fitted together in the outer hole of the blind hole and the U-shaped notch of the first pin 704, so that they cannot rotate relative to each other. The second pin 7042 has an axial through hole in its center, and its end cap has a groove for mounting bolt nuts on its end face. The connecting bolts are sequentially inserted into the axial through holes of the second pin 7042 and the first pin 7041, and are threadedly connected and fixed to the first pin 7041 through the internal thread of the blind hole, thereby realizing the fixed connection between the first pin 7041 and the second pin 7042.

[0065] The first pin 7041 and the second pin 7042 have the same outer diameter and are adapted to the inner diameter of the through hole 703, so that the latch 7 needs to overcome a large frictional force when it rotates, so as to ensure that the latch 7 can be stably kept in the locked or open state.

[0066] It should be noted that the structural design of the split pin 704 can ensure that the locking buckle 7 is rotatably connected to the sliding frame 2, while also preventing: 1) the vibration caused by the operation of the surgical instrument 10, which may cause the connecting bolt to loosen and lead to the clamping mechanism and the movable frame to detach; 2) the connecting bolt is threaded inside the two pins, so rotating the locking buckle 7 will not cause the connecting bolt to rotate synchronously, which also has the effect of preventing loosening; 3) the split pin is easy to disassemble, which facilitates the replacement of parts of the entire clamping mechanism and reduces maintenance costs.

[0067] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of the invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of the invention should be included within the protection scope of the invention. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A quick-change integrated device for end-effector instruments in a craniotomy robot, characterized in that, The system includes a horizontally positioned support platform, a sliding mechanism, and force sensors positioned on both sides of the support platform. The sliding mechanism includes a sliding frame with two vertically spaced sleeves connected by a connecting beam. Two linear slide rods are inserted into the two sleeves and slidably connected to them via linear bearings. The bottom ends of the linear slide rods are fixed to the support platform, and springs are fitted around their outer sides, with the two ends of the springs resting between the sliding frame and the support platform. Limiting strips are fitted on the top sides of the two linear slide rods and threaded with fastening nuts to limit the distance between the sleeves and the support platform. A clamping mechanism for mounting surgical instruments is provided on the outer surface of the sliding mechanism.

2. The quick-change integrated device for end-effector instruments of the craniotomy robot according to claim 1, characterized in that, The support platform includes a support plate, which has two limiting posts symmetrically formed on the side connected to the sliding mechanism. The limiting posts have axial through holes, and the support plate has screw holes that communicate with the limiting posts. The bottom outer walls of the two linear slide rods are provided with external threads, so that they pass through the two limiting posts and are threadedly connected to the support plate.

3. The quick-change integrated device for end-effector instruments of the craniotomy robot according to claim 1, characterized in that, Each linear slide rod is fitted with two linear bearings and a spacer tube, with the spacer tube located between the two linear bearings so that the two linear bearings are symmetrically arranged on both sides of the linear slide rod.

4. The quick-change integrated device for end-effector instruments of the craniotomy robot according to claim 1, characterized in that, An outer annular step is formed on the outer wall of the top side of the limiting post, and an inner annular boss is provided on the inner wall of the lower side of the sleeve, so that the top side of the spring passes through the sleeve and abuts against the inner annular boss, and its bottom side is sleeved on the top side of the limiting post and abuts against the outer annular step.

5. The quick-change integrated device for end-effector instruments of the craniotomy robot according to claim 4, characterized in that, An annular groove is provided on the inner wall of the top side of the sleeve, and a retaining spring is provided in the groove, so that the linear bearing located on the upper side of the sleeve abuts against the retaining spring, and the linear bearing located on the upper side abuts against the inner annular boss.

6. The quick-change integrated device for end-effector instruments of the craniotomy robot according to claim 1, characterized in that, The clamping mechanism consists of two vertically arranged movable jaws; each movable jaw comprises a retaining ring, a locking mechanism, and two latches; the retaining ring consists of a positioning block and a C-shaped ring; the positioning block is horizontally attached to the sliding frame and engages with protrusions on the sliding frame through positioning holes at both ends; the sidewalls of the positioning block on both sides of the positioning holes are sloped; the C-shaped ring is horizontally fixed on the positioning block, with its open end facing outward and equipped with a connecting ear plate; the locking mechanism includes a connecting pin passing through the connecting ear plate, with a connecting block at one end and a limiting nut at the other end; a rotating pin passes through the connecting block, with a lever plate rotatably connected to both ends of the rotating pin; one side of the lever plate is an arc-shaped surface and can rotate until the arc-shaped surface is in contact with the outer wall of the C-shaped ring; the two latches are rotatably mounted on the sliding frame located on both sides of the positioning block; each latch includes an insert block with an inverted conical truncated pyramid structure, the conical surface of which can form a conical press fit with the sloped sidewall of the positioning block, and one side of the conical surface is cut to a vertical surface; the insert block is equipped with a rotating handle.

7. The quick-change integrated device for end-effector instruments of a craniotomy robot according to claim 6, characterized in that, The split pin consists of a first pin, a second pin, and a connecting bolt. The first pin is a cylindrical pin with an end cap at one end and a U-shaped notch at the other end. A blind hole is formed from one end of the U-shaped notch, with the outer inner diameter of the blind hole being larger than its inner inner diameter. An internal thread is provided on the inner wall of the blind hole. The second pin is a cylindrical pin with an end cap at one end and a double-stepped outer wall at the other end. The double-stepped second pin allows it to be inserted sequentially into the outer hole of the blind hole and the U-shaped notch of the first pin. An axial through hole is formed in the center of the second pin, and the connecting bolt passes through the axial through holes of the two pins and is threadedly connected and fixed to the first pin.

8. The quick-change integrated device for end-effector instruments of a craniotomy robot according to claim 6, characterized in that, The protrusions on the sliding frame are wedge-shaped blocks, and the positioning holes on the positioning block are wedge-shaped holes that mate with the protrusions; the inner diameter of the C-shaped ring is larger than the outer diameter of the surgical instrument at the clamping position.

9. The quick-change integrated device for end-effector instruments of the craniotomy robot according to claim 1, characterized in that, The support plate of the support platform is a C-shaped arc plate, and the connecting beam is an X-shaped beam.

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