Clamping device, slave hand and surgical robot

Abstract

The utility model discloses a clamping device, a slave manipulator and a surgical robotic.The clamping device comprises a fixing base, an adapter and a clamping assembly fixedly arranged on the fixing base. According to the clamping device, the slave manipulator and the surgical robotic.According to the clamping device, the slave manipulator and the surgical robot, the opening and closing state of a locking arm assembly is controlled through a driving piece, and therefore the clamping device can be used for clamping the slave manipulator; the installation convenience of the adapter is improved, self-locking can be achieved through angle setting of a swing rod in the locking arm assembly, so that the adapter cannot be forcibly separated from the clamping assembly through external force, the clamping firmness of the device to the adapter is improved, the instrument stability and the overall safety in the operation process are guaranteed, and meanwhile when the locking arm assembly is in an open state, the safety of the device is improved. The isolation piece is detachably connected to the fixing base through abutting fit of the limiting clamping plate and the positioning lock clamp, so that clamping of the isolation piece and the positioning lock clamp and locking of the lock arm assembly and the isolation piece can be executed synchronously, and the connection efficiency is guaranteed while the overall connection strength is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and in particular to a clamping device, a slave and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the incision size, the difficulty of minimally invasive instruments in minimally invasive surgery has greatly increased, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotic technology, a new technology in the field of minimally invasive medicine that can overcome shortcomings and inherit advantages has emerged - minimally invasive surgical robot technology.

[0003] A common minimally invasive surgical robot consists of a doctor's console, a patient-side trolley, and a display device. The surgeon operates the input device on the doctor's console and transmits the input to the patient's surgical platform connected to the remotely operated surgical instrument. The patient's surgical platform (slave hand) includes surgical instruments, which are inserted into the human body through cannulas for surgical operations. The cannulas are detachably connected to the patient's surgical platform (slave hand) through a snap-fit ​​device.

[0004] The Chinese patent application number 202111625607.5 discloses a clamp and clamping system for a surgical robot. When the operator presses the handle, the movable block is driven to move by the crank slider mechanism, and the clamping and locking action of the clamp arm is achieved by the resistance guidance of the movable block surface to the clamp arm. In the above scheme, the opening and closing drive assembly of the clamp arm is relatively complex in structure, and when the clamping body is subjected to a large escape force relative to the clamp arm, the opening and closing drive assembly cannot lock the detachment of the clamping body, thereby posing a hidden danger of the detachment of the clamping body, affecting the stability and safety of the surgical process. Summary of the invention

[0005] In view of the deficiencies in the prior art, the utility model provides a clamping device, a slave hand and a surgical robot which are easy to clamp and have a self-locking function.

[0006] In order to achieve the above objectives, the utility model is implemented through the following technical solutions.

[0007] The present application provides a clamping device, comprising a fixed seat, a clamping assembly fixedly arranged on the fixed seat, and an adapter detachably arranged on the fixed seat through the clamping assembly, wherein the clamping assembly comprises a driven seat elastically slidably arranged on the fixed seat, a driving member for driving the driven seat to move, and a locking arm assembly opened and closed by the movement of the driven seat;

[0008] The locking arm assembly comprises two swing rods hingedly arranged on the driven seat and two limit clamps hingedly connected to the two swing rods respectively, the two sets of the swing rods and limit clamps are symmetrically arranged, the first end of the swing rod is hingedly connected to the driven seat, the first end of the limit clamp is hingedly connected to the second end of the swing rod and the middle part is hingedly connected to the fixed seat;

[0009] Among them, the driven seat is provided with a limit at the first end of the sliding stroke. When the two limit clamps are in a tightened state, the driven seat is located at the first end of the sliding stroke, and the angle between the two rocker arms and the side away from the limit clamp is not greater than 180°; when the two limit clamps are in an open state, the driven seat is close to the second end of the sliding stroke and has elastic potential energy to move toward the first end of the sliding stroke.

[0010] It is further defined that in the above-mentioned clamping device, a cavity for accommodating the clamping assembly is provided in the fixing seat, and a clamping opening communicating with the cavity is provided on the fixing seat;

[0011] Wherein, the snap-fitting portion of the adapter can extend into the snap-fitting opening and snap-fit ​​with the snap-fitting assembly.

[0012] It is further defined that, in the above-mentioned engaging device, the engaging assembly further comprises a sliding block fixedly arranged on the driven seat, and a sliding rail slidably connected to the sliding block is fixedly arranged on the bottom wall of the cavity of the fixed seat;

[0013] Wherein, when the slide rail and the slider are in a sliding connection state, the slide rail can limit the relative displacement of the slider in its own non-length direction.

[0014] It is further defined that in the above-mentioned engaging device, a protrusion is fixedly provided on the bottom wall of the cavity of the fixing seat, and an elastic member is fixedly connected between the protrusion and the driven seat.

[0015] It is further defined that, in the above-mentioned engaging device, the driving member includes a driving rod hingedly arranged on a fixed seat, and a connecting rod hingedly arranged on the driving rod and hingedly connected to a driven seat.

[0016] It is further defined that, in the above-mentioned clamping device, a travel groove which penetrates the cavity is provided on the fixing seat, and the driving rod of the driving member passes through the travel groove at one end away from the driven seat and is slidably connected with the travel groove.

[0017] It is further defined that the above-mentioned clamping device further includes an isolating member sleeved on the clamping portion of the adapter, and the isolating member can be embedded in the clamping opening of the fixing seat and clamped with the clamping assembly.

[0018] It is further defined that in the above-mentioned clamping device, two positioning lock clips are symmetrically and elastically hingedly provided on the fixing seat at positions corresponding to the clamping opening, and a clamping groove capable of clamping with the positioning lock clips at corresponding positions is provided on the isolation member;

[0019] Among them, when the locking arm assembly is in a tightened state, the end of the positioning locking clamp close to the adapter can be clamped with the isolation piece under the action of its own hinged elastic force; when the locking arm assembly is in an open state, the limiting clamp can abut the positioning locking clamp and drive the positioning locking clamp to rotate to release the clamping connection with the isolation piece.

[0020] The present application also provides a slave, characterized in that it includes a base, a lifting column, a hanging arm, a mechanical arm and an operating device, and also includes the clamping device described in any of the above items.

[0021] The present application also provides a surgical robot, characterized in that it includes a master hand and the above-mentioned slave hand.

[0022] The utility model has at least the following beneficial effects:

[0023] 1. The position of the driven seat is adjusted by the driving member, thereby controlling the opening and closing state of the locking arm assembly, realizing the rapid connection between the clamping assembly and the adapter, improving the efficiency and convenience of instrument installation, and realizing self-locking through the angle setting of the swing rod in the locking arm assembly, restricting the separation of the adapter in the locked state, so that the adapter cannot be forcibly separated from the clamping assembly by external force, greatly improving the clamping firmness of the device to the adapter, ensuring the stability of the instrument during the operation and the overall safety and reliability;

[0024] 2. The isolation piece can reinforce the connection between the adapter and the clamping assembly, making the connection between the two more stable, further improving the safety and overall reliability of the instrument during surgery;

[0025] 3. When the locking arm assembly is in the open state, the detachable connection between the isolating member and the fixing seat is realized by the abutment cooperation between the limiting clamp plate and the positioning locking clamp, so that the clamping of the isolating member and the positioning locking clamp and the locking of the locking arm assembly and the isolating member can be performed synchronously, which improves the overall connection strength and ensures the connection efficiency;

[0026] 4. The adapter can be connected to the isolating piece and then snap-fitted to the snap-fit ​​assembly, or the isolating piece can be snap-fitted to the snap-fit ​​assembly and then the adapter can be installed on the isolating piece. The loading and unloading method is more flexible, meeting the installation requirements in various situations and further improving the loading and unloading efficiency of the snap-fit ​​device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the structure of the locking device according to an embodiment of the present application;

[0028] Figure 2 This is a schematic diagram of the structure explosion of the locking device of the embodiment of the present application;

[0029] Figure 3 This is a structural cross-sectional view of the locking device of the embodiment of the present application when the "fixing seat 100" is partially hidden and the "top cover 120" is removed;

[0030] Figure 4 This is a structural schematic diagram of the "base 110" part of the locking device in the embodiment of the present application;

[0031] Figure 5 It is a structural schematic diagram of the "clamping assembly 400" part of the clamping device of the embodiment of the present application;

[0032] Figure 6 It is a schematic diagram of the structure explosion of the "locking assembly 400" part in the locking device of the embodiment of the present application;

[0033] Figure 7 This is a schematic diagram of the structure of the "adapter 200" in the locking device of the embodiment of the present application;

[0034] Figure 8 This is a schematic structural diagram of the "isolator 300" in the locking device of the embodiment of the present application;

[0035] Fig. 9 It is an angle diagram of the “rocker rod 470” of the locking device of the embodiment of the present application in the locked state.

[0036] Reference numerals

[0037] Fixed seat 100, base 110, protrusion 111, hinged ear 112, slide groove 113, slide rail 114, swing groove 115, top cover 120, travel groove 121, positioning lock clip 130, fixing rod 131, torsion spring 132, adapter 200, sleeve body 210, limit insert 220, first lock groove 221, isolation piece 300, Isolation sleeve 310, card slot 320, embedding cavity 330, convex embedding portion 341, second locking slot 342, engaging assembly 400, driving rod 410, rod body 411, connecting frame 412, elastic member 420, connecting rod 430, limiting clamp plate 440, positioning shaft 441, driven seat 450, hinged seat 451, slider 460, rocker arm 470. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0039] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0040] The engaging device, the slave hand and the surgical robot provided in the embodiments of the present application are described in detail below through specific embodiments and their application scenarios in combination with the accompanying drawings.

[0041] like Figures 1 to 9 As shown, an embodiment of the present application provides a snap-fit ​​device, including a fixing base 100 , an adapter 200 , and a snap-fit ​​assembly 400 fixedly disposed on the fixing base 100 , wherein the snap-fit ​​assembly 400 can perform or release the snap-fit ​​with the adapter 200 .

[0042] The engaging assembly 400 includes a driven seat 450 elastically slidably disposed on the fixing seat 100 , a driving member connected to the driven seat 450 and used to drive the driven seat 450 to move linearly, and a locking arm assembly disposed on the driven seat 450 and used to clamp the adapter 200 .

[0043] The locking arm assembly includes two rocker arms 470 hingedly arranged on a driven seat 450 and two limit clamps 440 respectively hingedly connected to the two rocker arms 470. The two groups of rocker arms 470 and limit clamps 440 are symmetrically arranged. The first end of the rocker arm 470 is hingedly connected to the driven seat 450, the first end of the limit clamp 440 is hingedly connected to the second end of the rocker arm 470 and the middle part is hingedly connected to the fixed seat 100.

[0044] The driven seat 450 is provided with a limit at the first end (or both ends) of the sliding stroke. When the driven seat 450 is located at the first end of the sliding stroke, no elastic potential energy is accumulated (or it has elastic potential energy to move away from the second end of the sliding stroke), and the two limit clamps 440 are in a tightened state at one end away from the rocker rod 470; when the driven seat 450 is located at the second end of the sliding stroke, it has elastic potential energy to move toward the first end of the sliding stroke, and the two limit clamps 440 are in an open state at one end away from the rocker rod 470.

[0045] Among them, Fig. 9 As shown, when the two limiting clamps 440 are in a tightened state, the angle α of the two swing rods 470 away from the side of the limiting clamps 440 is not greater than 180°.

[0046] Initially, the driven seat 450 is located at the first end of the sliding stroke, and the locking arm assembly is in a tightened and locked state; when the operator drives the driven seat 450 to move from the first end of the sliding stroke to the second end limit through the driving member, the driven seat 450 accumulates elastic potential energy of the reset trend, and the driven seat 450 drives the swing rod 470 to swing, thereby driving the limiting clamping plate 440 close to one end of the swing rod 470 to retract inward toward the symmetry axis, thereby causing the two limiting clamping plates 440 to open outward away from one end of the swing rod 470. At this time, the locking arm assembly When the locking arm assembly is in the open state, the operator can place the engaging portion of the adapter 200 between the two limiting clamps 440. When the operator releases the force of the driving member on the driven seat 450, the driven seat 450 can be reset under the action of its own elastic potential energy, and the locking arm assembly returns to the tightened and locked state. At this time, the two limiting clamps 440 away from the end of the rocker rod 470 can relatively clamp the engaging portion of the adapter 200, thereby realizing the clamping of the adapter 200.

[0047] It can be understood that the release of the locking arm assembly on the adapter 200 is similar to the opening of the two limit clamps 440 mentioned above. When the adapter 200 is engaged with the locking assembly 400 and the adapter 200 has a tendency to disengage from the locking assembly 400 (for example, the adapter 200 is forcibly pulled or shaken by an operator, or the adapter 200 shakes due to the movement of the surgical instrument during surgery), the limit clamps 440 tend to open under the disengagement force of the adapter 200. At this time, the two limit clamps 440 close to one end of the swing rod 470 respectively generate forces close to one side of the symmetry axis, and the two swing rods 470 are respectively affected by the limit clamps at the corresponding positions. The force of plate 440, since the angle between the two rocker arms 470 and the side away from the limiting clamp plate 440 is not greater than 180°, the direction of the resultant force acting on the two rocker arms 470 is towards the side close to the adapter 200, so that the driven seat 450 has a movement tendency to move towards the side close to the adapter 200. Since the driven seat 450 is already at the end point of the sliding stroke when the locking arm assembly is tightened and locked, the driven seat 450 cannot move further towards the side close to the adapter 200 under the action of the sliding stroke limit, that is, the limiting clamp plate 440 cannot open under the disengagement force of the adapter 200, thereby realizing the self-locking of the locking arm assembly to the adapter 200.

[0048] In an embodiment of the present application, the above-mentioned locking device is adopted, and the position state of the driven seat 450 is adjusted by the driving member, thereby controlling the opening and closing state of the locking arm assembly, thereby realizing the rapid locking connection between the locking assembly 400 and the adapter 200, improving the efficiency and convenience of instrument installation, and at the same time, self-locking is achieved by the angle setting of the rocker arm 470 in the locking arm assembly, and the separation of the adapter 200 is restricted in the locked state, so that the adapter 200 cannot be forcibly separated from the locking assembly 400 by external force, thereby greatly improving the clamping firmness of the device to the adapter 200, and ensuring the stability of the instrument during the operation as well as the overall safety and reliability.

[0049] In a preferred embodiment, Figures 1 to 4 As shown, a cavity for accommodating the snap-fit ​​assembly 400 is provided in the fixing base 100 , and a snap-fit ​​opening communicating with the cavity is provided on the fixing base 100 , and the snap-fit ​​portion of the adapter 200 can extend into the snap-fit ​​opening and snap-fit ​​with the snap-fit ​​assembly 400 .

[0050] In a preferred embodiment, Figures 1 to 4 As shown, the fixing base 100 includes a base 110 and a top cover 120 which are interlocked and fixedly connected.

[0051] In a preferred embodiment, Figures 3 to 6 As shown, the engaging assembly 400 further includes a slider 460 fixedly disposed on the driven seat 450 , and a slide rail 114 slidably connected to the slider 460 is fixedly disposed on the bottom wall of the cavity of the fixed seat 100 .

[0052] When the slide rail 114 and the slider 460 are in sliding connection, the slide rail 114 can limit the relative displacement of the slider 460 in a direction other than its own length direction.

[0053] It is understandable that the slide rail 114 can be set to an "I" shape, and a matching groove that matches the shape of the slide rail 114 is set on the limiting clamp 440, in which case the relative movement of the slider 460 in other directions can be restricted.

[0054] Of course, the sliding fit and limiting structure between the slide rail 114 and the slider 460 are not limited to the above-mentioned one, as long as the limiting and travel guiding of the slider 460 can be guaranteed, which will not be elaborated here.

[0055] In a preferred embodiment, Figure 3 , Figure 4 As shown, a slide groove 113 slidably connected to the slider 460 is provided on the bottom wall of the cavity of the fixing seat 100 , and a slide rail 114 is fixedly arranged on the bottom wall of the slide groove 113 .

[0056] It can be understood that, on the one hand, the slide groove 113 can further guide the travel of the slider 460, and on the other hand, the slide groove 113 can reduce the height of the slide rail 114, so that the overall matching structure with the locking assembly 400 is more compact.

[0057] In a preferred embodiment, Figures 3 to 6 , Fig. 9 As shown, a protrusion 111 is fixedly disposed on the bottom wall of the cavity of the fixing seat 100 and is located at one end of the slide slot 113 away from the adapter 200 , and an elastic member 420 is fixedly connected between the protrusion 111 and the driven seat 450 .

[0058] When the driven seat 450 is located at the distal end of the protrusion 111, the elastic member 420 does not accumulate elastic potential energy and the locking arm assembly is in a closed state. When the driven seat 450 is located at the proximal end of the protrusion 111, the driven seat 450 accumulates elastic potential energy and the locking arm assembly is in an open state.

[0059] The elastic member 420 can be set as an elastic structure such as a spring, elastic rubber, etc. It can be understood that the elastic sliding structure of the driven seat 450 is not limited to the above-mentioned one. For example, the elastic member 420 can be directly set between the inner wall of the slide groove 113 and the driven seat 450. As long as the driven seat 450 can be automatically reset when the locking arm assembly is in the open state, it will not be elaborated here.

[0060] In a preferred embodiment, Figures 1 to 6 As shown, the driving member includes a driving rod 410 hingedly arranged on the fixing seat 100 , and a connecting rod 430 hingedly arranged on the driving rod 410 and hingedly connected to the driven seat 450 .

[0061] When the operator pulls the driving rod 410 , the angle of the driving rod 410 changes and can pull the driven seat 450 through the connecting rod 430 , thereby adjusting the position of the driven seat 450 , thereby achieving the opening and closing control of the locking arm assembly.

[0062] In a preferred embodiment, Figures 1 to 6 As shown, the driving rod 410 includes a rod body 411 and a connecting frame 412 fixedly connected to the rod body 411 .

[0063] The connecting frame 412 is hinged to the connecting rod 430 and the fixing seat 100, and the rod body 411 is used for hand-held operation by an operator.

[0064] In a preferred embodiment, Figure 3 , Figure 4 As shown, a hinged ear 112 is fixedly provided on the bottom wall of the cavity of the fixing seat 100 , and the connecting frame 412 is hingedly provided on the hinged ear 112 .

[0065] In a preferred embodiment, Figures 3 to 6 As shown, a hinge seat 451 is fixedly provided on the driven seat 450 , and one end of the connecting rod 430 is hinged to the connecting frame 412 , and the other end is hinged to the hinge seat 451 .

[0066] In a preferred embodiment, Figure 1 , Figure 2 As shown, the top cover 120 is provided with a travel groove 121 which penetrates the cavity, and one end of the rod body 411 away from the connecting frame 412 passes through the travel groove 121 and is slidably connected with the travel groove 121 .

[0067] It can be understood that the travel groove 121 is mainly used for swinging and guiding the rod body 411. The rod body 411 extends to the outside of the fixing seat 100 through the connecting frame 412, so as to facilitate manual operation by the operator.

[0068] In a preferred embodiment, Figures 3 to 6 As shown, two positioning shafts 441 are fixedly provided on the inner wall of the cavity of the fixing seat 100 at positions corresponding to the two limiting clamping plates 440 , and the limiting clamping plates 440 are rotatably provided on the positioning shafts 441 .

[0069] It can be understood that the positioning shaft 441 can be used to realize the swing and limiting of the limiting clamp 440 relative to the fixed seat 100, and the positioning shaft 441 can be used as a fulcrum to realize the synchronous swing of the two ends of the limiting clamp 440, thereby realizing the control of the opening and closing state of the limiting clamp 440 by the rocker arm 470.

[0070] It can be understood that the articulated cooperation form between the limit clamp 440 and the fixed seat 100 is not limited to the above-mentioned one. For example, the positioning shaft 441 can be configured to be fixedly connected to the limit clamp 440 and rotatably connected to the inner wall of the cavity of the fixed seat 100. As long as the relative swing and limitation between the limit clamp 440 and the fixed seat 100 can be achieved, it will not be elaborated here.

[0071] In a preferred embodiment, Figure 1 , Figure 2 As shown, it also includes an isolating member 300 sleeved on the clamping portion of the adapter 200 . The isolating member 300 can be embedded in the clamping opening of the fixing seat 100 and can be clamped with the clamping assembly 400 .

[0072] In an embodiment of the present application, the above-mentioned snap-fit ​​device is used, and the connection between the adapter 200 and the snap-fit ​​assembly 400 can be reinforced through the isolation piece 300, making the connection between the two more stable, further improving the safety and overall reliability of the instrument during surgery.

[0073] In a preferred embodiment, Figures 1 to 6 As shown, two positioning lock clips 130 are symmetrically disposed on the fixing base 100 at positions corresponding to the engaging openings.

[0074] like Figure 8 As shown, the isolating member 300 is provided with a slot 320 capable of engaging with the corresponding position positioning lock clip 130 .

[0075] In the embodiment of the present application, the above-mentioned locking device is adopted. When the isolation member 300 is embedded in the locking opening of the fixing seat 100, the two positioning locking clips 130 are engaged with the corresponding slots 320 on the isolation member 300, thereby limiting the isolation member 300.

[0076] It is understandable that the number and arrangement of the positioning locking clips 130 are not limited to the above-mentioned ones, as long as the force acting on the isolation member 300 can be evenly distributed, which will not be elaborated here.

[0077] In a preferred embodiment, Figures 1 to 5 As shown, the base 110 is symmetrically provided with two swing grooves 115 communicating with the cavity at positions corresponding to the engaging openings, and two positioning lock clips 130 are elastically hingedly disposed in the two swing grooves 115 .

[0078] Among them, when the locking arm assembly is in a closed state, the end of the positioning locking clip 130 close to the adapter 200 can be engaged with the slot 320 at the corresponding position of the isolation piece 300 under the action of its own hinged elastic force; when the locking arm assembly is in an open state, the limiting clamp 440 can abut against the end of the positioning locking clip 130 away from the adapter 200 and drive the positioning locking clip 130 to rotate to release the engagement with the slot 320 at the corresponding position.

[0079] It can be understood that during the installation of the isolation member 300, the locking arm assembly is first controlled to be in an open state through the driving member, and the positioning locking clip 130 is opened under the resistance of the limiting clamp 440. At this time, the isolation member 300 will not be interfered by the position of the positioning locking clip 130 when it is embedded in the snap-fitting mouth. When the locking arm assembly is closed, the positioning locking clip 130 can be reset under the action of its own hinged elastic force, thereby realizing the snap connection of the slot 320 on the isolation member 300.

[0080] In an embodiment of the present application, the above-mentioned locking device is adopted. When the locking arm assembly is in the open state, the detachable connection of the isolation member 300 on the fixed seat 100 is realized through the abutment cooperation between the limiting clamp 440 and the positioning locking clamp 130, so that the locking connection between the isolation member 300 and the positioning locking clamp 130 and the locking of the locking arm assembly and the isolation member 300 can be executed simultaneously, thereby ensuring the connection efficiency while improving the overall connection strength.

[0081] In a preferred embodiment, Figure 5 As shown, a fixing rod 131 is fixedly provided on the inner wall of the swing slot 115 , and the positioning lock clip 130 is rotatably provided on the fixing rod 131 and a torsion spring 132 is fixedly provided between the positioning lock clip 130 and the fixing rod 131 .

[0082] It is understandable that the elastic hinge structure of the positioning lock clamp 130 is not limited to the above-mentioned one, as long as it can realize the automatic reset of the positioning lock clamp 130 under the resistance and swing of the limiting clamp 440, which will not be elaborated here.

[0083] In a preferred embodiment, Figure 7 As shown, the adapter 200 includes a sleeve body 210 for inserting surgical instruments and a limiting insert 220 fixedly disposed on the sleeve body 210 , and the limiting insert 220 is symmetrically provided with two first locking grooves 221 that cooperate with the limiting clamp 440 and are clamped.

[0084] In a preferred embodiment, Figure 8As shown, the isolation member 300 includes an isolation sleeve 310, on which is provided an embedding cavity 330 for accommodating the limiting insert 220, on the inner wall of the embedding cavity 330 a convex embedding portion 341 capable of cooperating and engaging with the first locking groove 221 is provided at a position corresponding to the first locking groove 221, and on the outer surface of the isolation sleeve 310 a second locking groove 342 capable of cooperating and engaging with the limiting clamp 440 is provided at a position corresponding to the convex embedding portion 341.

[0085] In an embodiment of the present application, the above-mentioned snap-fit ​​device is adopted, and the adapter 200 can be snap-fitted with the snap-fit ​​assembly 400 after being connected with the isolation member 300, or the isolation member 300 can be snap-fitted with the snap-fit ​​assembly 400 and then the adapter 200 can be installed on the isolation member 300. The loading and unloading method is more flexible, meeting the installation requirements in various situations, and further improving the loading and unloading efficiency of the snap-fit ​​device.

[0086] In a preferred embodiment, the isolation member 300 is configured as an integrally formed shell structure, and the convex embedded portion 341 and the second locking groove 342 are corresponding concave-convex structures on two sides of the shell.

[0087] An embodiment of the present application provides a slave, including a base, a lifting column, a boom, a mechanical arm and an operating device, and also includes the above-mentioned clamping device.

[0088] The adapter 200 of the card and device is specifically a sleeve member, through which the operating instrument is inserted into the human body to perform surgical operations, and the sleeve member is detachably connected to the slave hand through the clamping assembly 400.

[0089] An embodiment of the present application provides a surgical robot, comprising a master hand and the above-mentioned slave hand.

[0090] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0091] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A locking device, It is characterized in that It comprises a fixed seat, a clamping assembly fixedly arranged on the fixed seat, and an adapter detachably arranged on the fixed seat through the clamping assembly, wherein the clamping assembly comprises a driven seat elastically slidably arranged on the fixed seat, a driving member for driving the driven seat to move, and a locking arm assembly opened and closed by the movement of the driven seat; The locking arm assembly comprises two swing rods hingedly arranged on the driven seat and two limit clamps hingedly connected to the two swing rods respectively, the two sets of the swing rods and limit clamps are symmetrically arranged, the first end of the swing rod is hingedly connected to the driven seat, the first end of the limit clamp is hingedly connected to the second end of the swing rod and the middle part is hingedly connected to the fixed seat; Among them, the driven seat is provided with a limit at the first end of the sliding stroke. When the two limit clamps are in a tightened state, the driven seat is located at the first end of the sliding stroke, and the angle between the two rocker arms and the side away from the limit clamp is not greater than 180°; when the two limit clamps are in an open state, the driven seat is close to the second end of the sliding stroke and has elastic potential energy to move toward the first end of the sliding stroke.

2. A snap-fit ​​device according to claim 1, It is characterized in that The fixing seat is provided with a cavity for accommodating the clamping assembly, and the fixing seat is provided with a clamping opening that penetrates the cavity; Wherein, the snap-fitting portion of the adapter can extend into the snap-fitting opening and snap-fit ​​with the snap-fitting assembly.

3. A snap-fit ​​device according to claim 1 or 2, It is characterized in that The clamping assembly also includes a slider fixedly arranged on the driven seat, and a slide rail slidably connected to the slider is fixedly arranged on the bottom wall of the cavity of the fixed seat; Wherein, when the slide rail and the slider are in a sliding connection state, the slide rail can limit the relative displacement of the slider in its own non-length direction.

4. A snap-fit ​​device according to claim 1 or 2, It is characterized in that A protrusion is fixedly provided on the bottom wall of the cavity of the fixing seat, and an elastic member is fixedly connected between the protrusion and the driven seat.

5. A snap-fit ​​device according to claim 1, It is characterized in that The driving member comprises a driving rod hingedly arranged on a fixing seat, and a connecting rod hingedly arranged on the driving rod and hingedly connected to a driven seat.

6. A snap-fit ​​device according to claim 2 or 5, It is characterized in that The fixing seat is provided with a travel groove which penetrates the cavity, and the driving rod of the driving member, at one end away from the driven seat, passes through the travel groove and is slidably connected with the travel groove.

7. A snap-fit ​​device according to claim 1 or 2, It is characterized in that It also includes an isolating piece sleeved on the clamping part of the adapter, and the isolating piece can be embedded in the clamping opening of the fixing seat and clamped with the clamping assembly.

8. A snap-fit ​​device according to claim 7, It is characterized in that The fixing seat is symmetrically and elastically hingedly provided with two positioning lock clips at positions corresponding to the snap-fit ​​opening, and the isolating member is provided with a card slot capable of being snap-fitted with the positioning lock clips at corresponding positions; Among them, when the locking arm assembly is in a tightened state, the end of the positioning locking clamp close to the adapter can be clamped with the isolation piece under the action of its own hinged elastic force; when the locking arm assembly is in an open state, the limiting clamp can abut the positioning locking clamp and drive the positioning locking clamp to rotate to release the clamping connection with the isolation piece.

9. A kind of hand, It is characterized in that It comprises a base, a lifting column, a boom, a mechanical arm and an operating device, and also comprises the clamping device according to any one of claims 1 to 8.

10. A surgical robot, It is characterized in that It comprises a master hand and the slave hand as described in claim 9 above.

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