Auxiliary fixing mechanism for tail end of surgical robot

Abstract

The utility model discloses a surgical robot tail end auxiliary fixing mechanism which comprises a connecting cylinder, a sleeve is fixedly connected to one side of the connecting cylinder, a guide cylinder is fixedly connected to one side of the sleeve, an annular shell is arranged on the outer contour, away from the sleeve, of the guide cylinder, a clamping mechanism is arranged on the inner wall of the annular shell, and the clamping mechanism is arranged on the outer contour of the guide cylinder. The top of the outer contour of the annular shell is fixedly connected with a limiting mechanism. According to the tail end tool fixing device, through the arranged clamping mechanism, after tail end tools of different sizes and specifications are inserted into equipment, the tail end tools close to the interior of the guide cylinder can be further fixed, so that the fixing effect of the equipment on the tail end tools is improved, and the problem of shaking during use is avoided; and limiting treatment can be conducted on the adjusted adjusting ring, the adjusted connecting ring and the adjusted anti-skid teeth, so that after the clamping blocks clamp the tail end tool, the problem that the tail end tool is loosened due to reverse movement of the tail end tool is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, and in particular to a terminal auxiliary fixing mechanism of a surgical robot. Background Art

[0002] Medical devices refer to instruments, equipment, appliances, in vitro diagnostic reagents and calibrators, materials and other similar or related items used directly or indirectly on the human body, including the required computer software. Medical devices can be divided into three categories. The first category refers to those medical devices whose safety and effectiveness can be ensured through routine management. The second category refers to those medical devices that require special control of their safety and effectiveness. The third category refers to those medical devices implanted in the human body to support or maintain life, or are potentially dangerous to the human body, and therefore their safety and effectiveness must be strictly controlled.

[0003] For example, patent announcement number CN217366083U is a quick-change mechanism for the end tool of an orthopedic surgery-assisted robot. The technical solution is as follows: it includes a guide cylinder, the end of the guide cylinder is integrally formed with a mounting tube seat, the mounting tube seat is detachably connected to a sleeve by bolts, a locking assembly is installed inside the sleeve, and a connecting cylinder is fixedly installed at one end of the sleeve away from the guide cylinder; the locking assembly includes a plurality of hinge supports fixedly installed on the inner wall of the sleeve, the plurality of hinge supports are distributed in a circle, and a clamping rod is rotatably installed on each hinge support, a force block and a clamping block are fixedly installed at both ends of the clamping rod, a limiting member is fixedly installed on each force block, and a cone is movably installed in the area surrounded by the plurality of force blocks. The utility model can quickly realize the disassembly and assembly of surgical tools, shorten the replacement time of surgical tools, thereby reducing the surgical risk in disguise, enhancing practicality, and being easy to promote and apply on a large scale.

[0004] However, the above-mentioned device fixes the end tool through the sleeve, the connecting tube and the clamping rod components therein. When a smaller end tool needs to be fixed, there will be a gap between the inner wall of the guide tube and the smaller end tool. The guide tube cannot effectively fix the smaller end, which makes it very easy for the end tool to shake in the guide tube when working, reducing the practicability of the equipment. Utility Model Content

[0005] The utility model aims to solve the shortcomings in the prior art and proposes an auxiliary fixing mechanism for the end of a surgical robot.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: an auxiliary fixing mechanism for the end of a surgical robot, including a connecting tube, one side of the connecting tube is fixedly connected to a sleeve, one side of the sleeve is fixedly connected to a guide tube, an annular shell is provided on the outer contour of the guide tube away from the sleeve, a clamping mechanism is provided on the inner wall of the annular shell, and the top of the outer contour of the annular shell is fixedly connected to a limiting mechanism.

[0007] As a further description of the above technical solution:

[0008] The clamping mechanism includes an adjusting ring rotatably connected to one side of the inner wall of the annular shell, a connecting ring penetrating the annular shell is fixedly connected to the outer contour of the adjusting ring, anti-slip teeth are arranged on the outer contour of the connecting ring, and adjusting teeth are arranged on the side of the adjusting ring.

[0009] As a further description of the above technical solution:

[0010] The clamping mechanism also includes a rotating ring rotatably connected to the other side of the inner wall of the annular shell, the top of the rotating ring is fixedly connected to an adjusting gear, the teeth of the outer contour of the adjusting gear are meshed with the adjusting teeth arranged on the side of the adjusting ring, the inner wall of the adjusting gear is fixedly connected to a screw adjustment block, the inner wall of the screw adjustment block is slidably connected to an adjusting screw, and the bottom of the adjusting screw is fixedly connected to a clamping block.

[0011] As a further description of the above technical solution:

[0012] The limiting mechanism includes a fixing seat fixedly connected to the top of the outer contour of the annular shell close to the connecting ring, the top of the fixing seat is hingedly connected to a limiting plate, the bottom of the limiting plate is provided with limiting teeth, the limiting teeth are meshingly connected with anti-slip teeth, and the side of the limiting plate away from the fixing seat is limitedly slidably connected with a connecting rod penetrating the annular shell, and the top of the connecting rod is fixedly connected with a connecting block.

[0013] As a further description of the above technical solution:

[0014] The limiting mechanism also includes a limiting cavity opened on the side surface of the annular shell near the top, the inner wall of the limiting cavity is slidably connected to a limiting rod, one end of the limiting rod is fixedly connected to a movable block, a limiting ring is fixedly connected to the outer contour of the limiting rod near the other end, a reset spring is sleeved on the outer contour of the limiting rod, and a limiting groove for the limiting rod to be clamped is opened on the connecting rod.

[0015] As a further description of the above technical solution:

[0016] A retaining ring is fixedly connected to the outer contour of the connecting rod near the bottom, and a magnetic ring is bolted to the top of the retaining ring.

[0017] As a further description of the above technical solution:

[0018] Rubber pads are fixedly connected to the outer contours of the connecting block and the movable block, and anti-slip protrusions are provided on the surfaces of the rubber pads.

[0019] The utility model has the following beneficial effects:

[0020] 1. Compared with the prior art, the auxiliary fixing mechanism of the end of the surgical robot can further fix the end tool near the guide tube after the end tools of different sizes are inserted into the device through the clamping mechanism, thereby increasing the fixing effect of the device on the end tool and avoiding the problem of shaking during use.

[0021] 2. Compared with the prior art, the auxiliary fixing mechanism of the end of the surgical robot can limit the adjusted adjustment ring, connecting ring and anti-slip teeth through the setting of the limiting mechanism, so that after the clamping block clamps the end tool, it can prevent its reverse movement and cause the end tool to loosen, further increasing the practical performance of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall main structure of a surgical robot end auxiliary fixing mechanism proposed by the utility model;

[0023] Figure 2 This is a partial cross-sectional structural diagram of a guide cylinder of an auxiliary fixing mechanism at the end of a surgical robot proposed by the utility model;

[0024] Figure 3 A surgical robot end auxiliary fixing mechanism proposed by the utility model Figure 2 A schematic diagram of the enlarged structure at point A;

[0025] Figure 4 A surgical robot end auxiliary fixing mechanism proposed by the utility model Figure 2 Schematic diagram of the enlarged structure at B.

[0026] Legend:

[0027] 1. Connecting cylinder; 2. Sleeve; 3. Guide cylinder; 4. Annular shell; 5. Adjusting ring; 6. Connecting ring; 7. Anti-skid teeth; 8. Adjusting teeth; 9. Rotating ring; 10. Adjusting gear; 11. Screw adjusting block; 12. Adjusting screw; 13. Clamping block; 14. Fixed seat; 15. Limiting plate; 16. Connecting rod; 17. Connecting block; 18. Retaining ring; 19. Limiting cavity; 20. Limiting rod; 21. Movable block; 22. Limiting ring; 23. Reset spring; 151. Limiting teeth. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] Reference Figure 1-4 The utility model provides an auxiliary fixing mechanism for the end of a surgical robot, including a connecting tube 1, a sleeve 2 is fixedly connected to one side of the connecting tube 1, a guide tube 3 is fixedly connected to one side of the sleeve 2, an annular shell 4 is arranged on the outer contour of the guide tube 3 away from the sleeve 2, a clamping mechanism is arranged on the inner wall of the annular shell 4, and a limiting mechanism is fixedly connected to the top of the outer contour of the annular shell 4. When the end tool needs to be installed in the equipment, the end tool is first inserted into the guide tube 3, so that it enters the connecting tube 1 and the sleeve 2, and is preliminarily fixed, and then the end tool in the guide tube 3 is fixed by the clamping mechanism, and then the clamping mechanism is limited by the limiting mechanism to prevent it from loosening during use.

[0030] The clamping mechanism includes an adjusting ring 5 rotatably connected to one side of the inner wall of the annular shell 4, a connecting ring 6 that penetrates the annular shell 4 is fixedly connected to the outer contour of the adjusting ring 5, an anti-slip tooth 7 is provided on the outer contour of the connecting ring 6, and an adjusting tooth tooth 8 is provided on the side of the adjusting ring 5. The clamping mechanism also includes a rotating ring 9 rotatably connected to the other side of the inner wall of the annular shell 4, an adjusting gear 10 is fixedly connected to the top of the rotating ring 9, the teeth on the outer contour of the adjusting gear 10 are meshed with the adjusting tooth teeth 8 provided on the side of the adjusting ring 5, a screw adjustment block 11 is fixedly connected to the inner wall of the adjusting gear 10, an adjusting screw 12 is slidably connected to the inner wall of the screw adjustment block 11, and a clamping block 13 is fixedly connected to the bottom of the adjusting screw 12. First, the connecting ring 6 is rotated, and the anti-slip teeth 7 on the outer contour of the connecting ring 6 are used to make it more convenient for the operator to rotate the connecting ring 6, and the rotating connecting ring 6 drives the adjusting ring 5 to rotate, so that the adjusting tooth teeth 8 on the adjusting ring 5 drive the meshing with it. The four adjusting gears 10 rotate, and the rotating adjusting gears 10 drive the screw adjusting block 11 to rotate. At this time, the rotating screw adjusting block 11 makes the adjusting screw 12 move to the depth of the annular shell 4, so that the adjusting screw 12 drives the clamping block 13 to move to the depth of the annular shell 4. At this time, the operator inserts the end tool into the guide cylinder 3 and uses the parts of the connecting cylinder 1 and the sleeve 2 to preliminarily fix it. After the end tool is preliminarily fixed, the operator rotates the connecting ring 6 in the opposite direction, so that the connecting ring 6 drives the adjusting ring 5 and the adjusting teeth 8 on the adjusting ring 5 to rotate in the opposite direction, and drives the four adjusting gears 10 to rotate in the opposite direction through the adjusting teeth 8, and drives the screw adjusting block 11 to rotate in the opposite direction by the reverse rotating adjusting gears 10. At this time, the screw adjusting block 11 that rotates in the opposite direction drives the adjusting screw 12 and the clamping block 13 to move to the center of the guide cylinder 3, and the end tool in the guide cylinder 3 is clamped by the clamping block 13.

[0031] The limiting mechanism includes a fixing seat 14 fixedly connected to the top of the outer contour of the annular shell 4 near the connecting ring 6, a limiting plate 15 is hinged on the top of the fixing seat 14, a limiting tooth 151 is arranged at the bottom of the limiting plate 15, the limiting tooth 151 is meshed and connected with the anti-slip tooth 7, and a connecting rod 16 penetrating the annular shell 4 is limitedly slidably connected on one side of the limiting plate 15 away from the fixing seat 14, and a connecting block 17 is fixedly connected to the top of the connecting rod 16. The limiting mechanism also includes a limiting cavity 19 opened on the side of the annular shell 4 near the top, and the inner part of the limiting cavity 19 is The wall is slidably connected to a limit rod 20, one end of which is fixedly connected to a movable block 21, a limit ring 22 is fixedly connected to the outer contour of the limit rod 20 near the other end, a reset spring 23 is sleeved on the outer contour of the limit rod 20, a limit groove for the limit rod 20 to be engaged is provided on the connecting rod 16, a retaining ring 18 is fixedly connected to the outer contour of the connecting rod 16 near the bottom, a magnetic ring is connected to the top bolt of the retaining ring 18, rubber pads are fixedly connected to the outer contours of the connecting block 17 and the movable block 21, and anti-slip protrusions are provided on the surface of the rubber pads. After the end tool in the guide cylinder 3 is clamped and fixed, the operator then pulls the connecting block 17 upward to drive the connecting rod 16 to move upward, so that the retaining ring 18 on the connecting rod 16 is fixed by the magnetic ring and the limiting plate 15, and then presses the limiting plate 15 hinged to the fixing seat 14 toward the connecting ring 6, so that the limiting teeth 151 on the limiting plate 15 limit the anti-slip teeth 7 on the outer contour of the connecting ring 6. At this time, the operator pulls the movable block 21 outward to drive the limiting rod 20 to move toward the outside, and at the same time uses the limiting ring 22 on the limiting rod 20 to bring The reset spring 23 moves, and the operator presses the connecting block 17 to make the connecting rod 16 at the bottom thereof enter the annular housing 4. When the connecting block 17 cannot move, the operator pulls the movable block 21 to loosen it, and uses the elasticity of the reset spring 23 to drive the limiting rod 20 on the inner wall of the limiting ring 22 to move into the limiting groove provided on the connecting rod 16, thereby completing the limiting processing of the connecting rod 16 and the limiting plate 15. When the operator pulls the connecting block 17 and the movable block 21, the operator uses the rubber pads and anti-skid protrusions on their outer contours to perform effective anti-skid processing.

[0032] Working principle: First, rotate the connecting ring 6, and use the anti-slip teeth 7 on the outer contour of the connecting ring 6 to make it easier for the operator to rotate the connecting ring 6. The rotating connecting ring 6 drives the adjusting ring 5 to rotate, so that the adjusting teeth 8 on the adjusting ring 5 drive the four adjusting gears 10 meshing with it to rotate, and the rotating adjusting gears 10 drive the screw adjustment block 11 to rotate. At this time, the rotating screw adjustment block 11 makes the adjusting screw 12 move deeper into the annular housing 4, so that the adjusting screw 12 drives the clamping block 13 to move deeper into the annular housing 4. At this time, the operator inserts the end tool into the guide The connecting tube 1 and the sleeve 2 are used to preliminarily fix the end tool in the guide tube 3. After the end tool is preliminarily fixed, the operator rotates the connecting ring 6 in the reverse direction, so that the connecting ring 6 drives the adjusting ring 5 and the adjusting teeth 8 on the adjusting ring 5 to rotate in the reverse direction, and the adjusting teeth 8 drive the four adjusting gears 10 to rotate in the reverse direction, and the adjusting gears 10 that rotate in the reverse direction drive the screw adjusting block 11 to rotate in the reverse direction. At this time, the screw adjusting block 11 that rotates in the reverse direction drives the adjusting screw 12 and the clamping block 13 to move toward the center of the guide tube 3, and the end tool in the guide tube 3 is clamped by the clamping block 13;

[0033] After the end tool in the guide cylinder 3 is clamped and fixed, the operator then pulls the connecting block 17 upward to drive the connecting rod 16 to move upward, so that the retaining ring 18 on the connecting rod 16 is fixed by the magnetic ring and the limit plate 15, and then the limit plate 15 hinged with the fixed seat 14 is pressed toward the connecting ring 6, so that the limit teeth 151 on the limit plate 15 limit the anti-slip teeth 7 on the outer contour of the connecting ring 6. At this time, the operator pulls the movable block 21 outward to drive the limit rod 20 to move toward the outside, and at the same time uses the limit ring 22 on the limit rod 20 to drive the reset spring 23 to move. At this time, the operator presses the connecting block 17 so that the connecting rod 16 at its bottom enters the annular shell 4. When the connecting block 17 cannot move, the operator pulls the movable block 21 to release it, and uses the elasticity of the reset spring 23 to drive the limit rod 20 on the inner wall of the limit ring 22 to move into the limit groove opened on the connecting rod 16, completing the limiting processing of the connecting rod 16 and the limit plate 15.

[0034] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A surgical robot end auxiliary fixing mechanism, comprising a connecting tube (1), characterized in that: One side of the connecting tube (1) is fixedly connected to a sleeve (2), one side of the sleeve (2) is fixedly connected to a guide tube (3), an annular shell (4) is provided on the outer contour of the guide tube (3) away from the sleeve (2), a clamping mechanism is provided on the inner wall of the annular shell (4), and a limiting mechanism is fixedly connected to the top of the outer contour of the annular shell (4); The clamping mechanism comprises an adjusting ring (5) rotatably connected to one side of the inner wall of the annular housing (4); a connecting ring (6) penetrating the annular housing (4) is fixedly connected to the outer contour of the adjusting ring (5); anti-slip teeth (7) are arranged on the outer contour of the connecting ring (6); and adjusting teeth (8) are arranged on the side surface of the adjusting ring (5); The clamping mechanism also includes a rotating ring (9) rotatably connected to the other side of the inner wall of the annular housing (4); an adjusting gear (10) is fixedly connected to the top of the rotating ring (9); teeth on the outer contour of the adjusting gear (10) are meshed with adjusting teeth (8) provided on the side of the adjusting ring (5); a screw adjustment block (11) is fixedly connected to the inner wall of the adjusting gear (10); an adjusting screw (12) is slidably connected to the inner wall of the screw adjustment block (11); and a clamping block (13) is fixedly connected to the bottom of the adjusting screw (12); The limiting mechanism comprises a fixing seat (14) fixedly connected to the top of the outer contour of the annular shell (4) near the connecting ring (6); a limiting plate (15) is hingedly connected to the top of the fixing seat (14); a limiting tooth (151) is arranged at the bottom of the limiting plate (15); the limiting tooth (151) is meshingly connected with the anti-slip tooth (7); a connecting rod (16) penetrating the annular shell (4) is slidingly connected to the side of the limiting plate (15) away from the fixing seat (14); and a connecting block (17) is fixedly connected to the top of the connecting rod (16); The limiting mechanism also includes a limiting cavity (19) provided on the annular shell (4) near the top side, the inner wall of the limiting cavity (19) is slidably connected to a limiting rod (20), one end of the limiting rod (20) is fixedly connected to a movable block (21), the outer contour of the limiting rod (20) near the other end is fixedly connected to a limiting ring (22), the outer contour of the limiting rod (20) is sleeved with a reset spring (23), and the connecting rod (16) is provided with a limiting groove for the limiting rod (20) to be clamped.

2. The auxiliary fixing mechanism of the surgical robot end according to claim 1, characterized in that: A retaining ring (18) is fixedly connected to the outer contour of the connecting rod (16) near the bottom, and a magnetic ring is bolted to the top of the retaining ring (18).

3. The auxiliary fixing mechanism of the surgical robot end according to claim 1, characterized in that: Rubber pads are fixedly connected to the outer contours of the connecting block (17) and the movable block (21), and anti-slip protrusions are provided on the surfaces of the rubber pads.

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