Locking device, end effector and ophthalmic surgical robot

Abstract

The utility model provides a locking device, an end effector and an ophthalmologic operation robot, and the locking device comprises a bottom plate which is provided with a buckle part; the base is rotatably arranged on the bottom plate; and when the base rotates to a first preset position, the buckling part is buckled and fixed with the base. The base can be buckled and fixed through the buckling part, and accidents or personal injuries caused by falling of the base are prevented. The buckling part is easy and convenient to operate, simple in structure, small in size and smaller in occupied space.

Description

Technical Field

[0001] The present application relates to the technical field of ophthalmic surgical instruments, and in particular to a locking device, an end effector and an ophthalmic surgical robot. Background Art

[0002] In traditional ophthalmic microsurgery, the surgeon mainly relies on handheld ophthalmic instruments to perform the corresponding delicate operations under a microscope. Due to the small size of the eyeball and the delicate and fragile structure of the eye tissue, the surgeon's hand-eye coordination and delicate operation perception ability are extremely high. With the rapid development of medical surgical robots, ophthalmic surgical robots are developing towards high precision, high flexibility, and high stability. They have been widely used in the clinical diagnosis and treatment of eye diseases, providing patients with safer and more efficient surgical solutions.

[0003] During the operation, the end effector of the surgical robot must be fixed. If the necessary fixing and locking operations are not taken, the end effector of the surgical robot will fall, causing serious damage to the patient's eyes.

[0004] In the middle of the operation or after the operation, it is necessary to manually lift the end effector of the surgical robot to remove the needle from the patient's eyeball. The lifted end effector of the surgical robot needs to be fixed in time to prevent the end effector of the surgical robot from falling and causing secondary injury to the patient. Usually, the way to lock the end effector of the surgical robot is to install a locking bolt on the bottom plate of the end effector, and the top of the locking bolt is fixedly connected to the rotating wrench. During installation, the rotating wrench is rotated to tighten the locking bolt, thereby achieving the locking effect of the end effector of the surgical robot. However, when the locking bolt is locked, the rotating wrench is also fixed and cannot be adjusted at will, occupying a certain space. If the wrench is loosened under the action of external force, the locking bolt rotates and loosens accordingly, it is easy for the end effector of the surgical robot to fall and fall after being detached from the fixation, so that the needle causes harm to the patient. Therefore, the locking and fixing method using the locking bolt is cumbersome to operate, and requires the help of tools to operate, the locking effect is poor, the safety is relatively low, and it is easy to cause accidents. Utility Model Content

[0005] The purpose of the embodiment of the present application is to provide a locking device. The buckle part provided in the present application can buckle and fix the base to prevent the base from falling and causing accidents or personal injuries. The buckle part is easy to operate, simple in structure, small in size, and occupies less space.

[0006] In a first aspect, the present application provides a locking device, comprising: a bottom plate, on which a buckle portion is provided; a base, rotatably provided on the bottom plate; when the base is rotated to a first preset position, the buckle portion is buckled and fixed with the base.

[0007] In one embodiment, the buckle portion includes: a fixed portion and a locking baffle, and the locking baffle can rotate around the fixed portion as the center; when the base is rotated to the first preset position, the locking baffle is rotated to the preset position so that the base is locked at the bottom of the locking baffle.

[0008] In one embodiment, the locking device further includes: a first locking structure; when the base is rotated to a second preset position, the first locking structure is used to fix the bottom plate to the base.

[0009] In one embodiment, the first locking structure includes: a first locking portion and a first positioning portion, and when the base is rotated to the second preset position, the first locking portion is fixedly connected to the first positioning portion; wherein, the first locking portion is arranged on the bottom plate, and the first positioning portion is correspondingly arranged on the base; or, the first locking portion is arranged on the base, and the first positioning portion is correspondingly arranged on the bottom plate.

[0010] In one embodiment, a first pressing member is disposed on the first locking portion to release the connection between the first locking portion and the first positioning portion.

[0011] In one embodiment, the locking device further includes: a second locking structure; when the base is rotated to the first preset position and the buckle portion is buckled and fixed with the base, the second locking structure is used to fix the bottom plate to the base.

[0012] In one embodiment, the second locking structure includes: a second locking portion and a second positioning portion, and when the base is rotated to the first preset position, the second locking portion is fixedly connected to the second positioning portion; wherein, the second locking portion is arranged on the bottom plate, and the second positioning portion is correspondingly arranged on the base; or, the second locking portion is arranged on the base, and the second positioning portion is correspondingly arranged on the bottom plate.

[0013] In one embodiment, a second pressing member is disposed on the second locking portion to release the connection between the second locking portion and the second positioning portion.

[0014] In one embodiment, the base plate includes: a first base plate and a second base plate, the first base plate is connected to the second base plate, and the snap-fit ​​portion is arranged on the second base plate; the first locking portion is arranged on the first base plate, and the first positioning portion is correspondingly arranged on the base; or, the first locking portion is arranged on the base, and the first positioning portion is correspondingly arranged on the first base plate.

[0015] In one embodiment, a support plate is provided on the base, and a support boss is provided on the bottom plate; when the buckle portion is buckled and fixed with the base, the support plate abuts against the support boss; wherein, the second locking portion is provided on the support plate, and the second positioning portion is correspondingly provided on the support boss; or, the second positioning portion is provided on the support plate, and the second locking portion is correspondingly provided on the support boss.

[0016] In a second aspect, the present application provides an end effector, comprising a locking device, an execution end and a surgical operating instrument as described in any embodiment of the first aspect of the present application; the execution end is mounted on the base, and the surgical operating instrument is arranged on the execution end.

[0017] In a third aspect, the present application provides an ophthalmic surgical robot, comprising an end effector as described in the embodiment of the second aspect of the present application.

[0018] The technical solution of the present application provides a buckle part that can buckle and fix the base to prevent the base from falling and causing accidents or personal injury. By providing a structure of a buckle baffle, there is no need to use external tools to operate the buckle part, which makes the operation easier. The buckle part has a simple structure, a small size, and occupies relatively less space.

[0019] The first locking structure and the second locking structure provided in the present application enable the entire locking device to quickly lock the base and the bottom plate, and to loosen the base and the bottom plate. The first locking structure can lock and fix the base and the bottom plate, so that the entire locking device is stable and does not shake during the operation of the end effector on the base.

[0020] The second locking structure and the buckle part provided in the present application can simultaneously realize the fixed connection between the base and the bottom plate, prevent the end effector of the surgical robot on the base from falling and causing accidents or personal injuries, and improve the safety of the locking device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of a first state of an end effector provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of a second state of an end effector provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram of the structure of a locking device provided in one embodiment of the present application;

[0025] Figure 4 A front view of a first preset position of a locking device provided in an embodiment of the present application;

[0026] Figure 5 A schematic diagram of the structure of a buckle portion in a locked state provided in an embodiment of the present application;

[0027] Figure 6 A top view of a buckle portion in a locked state provided by an embodiment of the present application;

[0028] Figure 7 A top view of a buckle portion in an unfastened state provided by an embodiment of the present application;

[0029] Figure 8 A front view of a second preset position of a locking device provided in one embodiment of the present application.

[0030] Reference numerals:

[0031] 1-end effector; 11-locking device; 100-bottom plate; 110-first bottom plate; 120-second bottom plate; 121-support boss; 200-base; 210-support plate; 300-buckle portion; 310-fixing portion; 320-engaging baffle; 400-first locking structure; 410-first locking portion; 411-first pressing piece; 420-first positioning portion; 500-second locking structure; 510-second locking portion; 511-second pressing piece; 520-second positioning portion; 12-executing end; 13-surgical operating instrument. DETAILED DESCRIPTION

[0032] The terms “first”, “second”, “third”, etc. are only used for distinguishing descriptions and do not indicate the order of arrangement, nor can they be understood as indicating or implying relative importance.

[0033] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0034] In the description of the present application, it should be noted that the terms "inside", "outside", "left", "right", "up", "down", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the products of the present application are usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0035] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0036] The technical solution of the present application will be described below in conjunction with the accompanying drawings.

[0037] In ophthalmic surgery, due to the small size of the eyeball organ, complex and fragile tissue, the doctor's surgical operation requires very high precision. In addition, the safety requirements for surgical instruments are also very high. The present application provides an ophthalmic surgical robot, which includes: an end effector 1. In addition, it can also include: a hand lever operating unit and an image display system. The image display system may include: an image acquisition module and a display module, the image acquisition module is used to acquire images, and the display module is used to display the acquired images through a display device.

[0038] The lever operating part is connected to the end effector 1 by wire and / or wireless means, and the image display system is connected to the lever operating part and the end effector 1 by wire and / or wireless means. During the operation, the doctor holds the lever operating part in his hand, performs operations in multiple degrees of freedom according to the operation needs, and converts the mapping relationship between the lever operating part and the end effector 1 through a certain calculation algorithm, converting the motion path (or action path) on the lever operating part into the motion path (or action path) of the end effector 1. The doctor holding the lever operating part is equivalent to holding the end effector 1, making the operation of the operation convenient.

[0039] Due to the small size of the eyeball, doctors cannot rely on naked eyes to observe the surgical process. They must use an external image acquisition module to obtain the surgical process inside the eyeball in real time, and then the display module displays the acquired images. Figure 1 , Figure 2 The present application further provides an end effector 1, comprising a locking device 11, an execution end 12 and a surgical operating instrument 13, wherein the surgical operating instrument 13 is arranged on the execution end 12. The execution end 12 is provided with the surgical operating instrument 13.

[0040] The surgical instrument 13 is used as the execution part for entering the eyeball for surgery. The surgical instrument 13 can be a trocar, a tissue forceps and other instruments. Taking the trocar as an example, the image acquisition module can be a miniature camera, etc. When installed, the miniature camera can be installed and fixed in the needle. When the doctor operates the hand lever operation part, and then operates the end effector 1 to move toward the patient's eyeball, so that the surgical instrument 13 pierces the patient's eyeball, the micro camera on the needle head collects images and videos of the needle entering the eyeball tissue for the surgical process in real time, and feeds back to the image display system. The image display system displays the process of the needle entering the eyeball tissue for the surgical operation on the display module based on the collected images or videos. The display module here can be a screen display device such as an LCD TV, an LCD computer screen, etc. The doctor can clearly and intuitively observe the entire operation process of the eyeball surgery through the image display module, and the image display system can accurately guide the doctor to perform the surgical operation and improve the accuracy of the surgical operation.

[0041] like Figure 1 In the middle of the operation or at the end of the operation, the doctor operates the hand lever operation part to slowly remove the surgical instrument 13 from the patient's eyeball. After confirming that the surgical instrument 13 is completely out of the patient's eyeball, the doctor can hold the execution end 12, lift the entire end effector 1 and rotate it to Figure 1 The position shown in is the first state of the end effector 1. At this time, the execution end 12 needs to be locked and fixed to prevent the surgical robot end effector 1 from falling and causing secondary injury to the patient.

[0042] like Figure 2 As shown, if a new operation is to be started or the previous operation is to be continued, the end effector 1 needs to be released from the fixation and then rotated to Figure 2 The end effector 1 is in the second state. At this time, the end effector 1 is in a ready state, which means waiting for the next surgical operation to start.

[0043] In summary, in order to reduce the risk of the end effector 1 of the ophthalmic surgical robot falling when being lifted, thereby causing personal injury to the patient, the present application provides a locking device 11.

[0044] Please refer to Figure 3 The locking device 11 includes: a bottom plate 100, a base 200 and a buckle portion 300. The bottom plate 100 is provided with a buckle portion 300; the base 200 is rotatably provided on the bottom plate 100. The base 200 can be used to install the execution end 12 of the end effector 1.

[0045] Optionally, the base 200 and the bottom plate 100 may be hingedly connected. Exemplarily, the base 200 and the bottom plate 100 are hingedly connected by a pin, a bolt, a pin shaft, etc., so that the base 200 can rotate around the bottom plate 100.

[0046] like Figure 1 , Figure 4 , Figure 5 As shown, when the base 200 rotates to the first preset position, the buckle portion 300 is buckled and fixed with the base 200. In this embodiment, the first preset position is defined as: the base 200 rotates clockwise around the bottom plate 100 until the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 forms a first preset angle, and optionally, the first preset angle ranges from 30 to 90°. In this embodiment, the first preset angle is 45°.

[0047] The base 200 rotates around the bottom plate 100 to a position where the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 is 45°, and then the base 200 is fastened and locked to one end of the bottom plate 100 by the buckle portion 300 .

[0048] For further information, please refer to Figure 5 and Figure 6 The buckle part 300 includes: a fixing part 310 and a locking baffle 320, and the locking baffle 320 can rotate around the fixing part 310. Figure 7 In the initial state, the engaging baffle 320 is perpendicular to the fixing portion 310 , so that the engaging baffle 320 and the base 200 do not interfere with each other.

[0049] When the base 200 rotates around the bottom plate 100 to the first preset position, the base 200 is engaged with the bottom of the engaging baffle 320 by rotating the engaging baffle 320 to the preset position. The preset position refers to the position where the engaging baffle 320 and the fixing portion 310 are parallel or in the same straight line direction when the engaging baffle 320 rotates to engage the base 200 with the bottom of the engaging baffle 320. Please refer to Figure 5 , Figure 6 Therefore, the locking baffle 320 can be manually rotated counterclockwise by 90°, so that the locking baffle 320 and the fixing portion 310 are parallel or in the same straight line direction, and the base 200 is locked at the bottom of the locking baffle 320 to achieve the locking and fixing of the base 200 by the locking portion 300.

[0050] If it is necessary to release the fastening of the snap part 300 to the base 200, the operator manually rotates the snap-fitting piece 320 90° clockwise to return the snap-fitting piece 320 to its initial position perpendicular to the fixing part 310, and the snap-fitting piece 320 is disengaged from the base 200, thus releasing the fastening of the base 200.

[0051] During an operation, when the operator lifts the base 200 and rotates it clockwise to the position where the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 is 45°, the operator manually rotates the locking baffle 320 90° counterclockwise, and the base 200 is locked to the bottom of the locking baffle 320 through the locking baffle 320, so that the locking part 300 locks the base 200 to prevent the base 200 from falling and causing accidents or personal injuries.

[0052] By providing the structure of the locking baffle 320, there is no need to use external tools to operate the buckle part 300, which makes the operation easier. In addition, the buckle part 300 has a simple structure and a small size, and occupies a relatively smaller space.

[0053] In other embodiments, the buckle part 300 may be a buckle structure that can be extended and retracted in the vertical longitudinal direction. For example, first, the operator manually pulls up the buckle part 300, the doctor or operator lifts the base 200, and rotates it clockwise to a position where the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 is 45°, and when it is confirmed that the base 200 is directly below the buckle part 300, the buckle part 300 is pressed again, so that the buckle part 300 presses the base 200 and is buckled and fixed with the base 200, which can also achieve the buckle part 300 to buckle and fix the base 200.

[0054] For further information, please refer to Figure 3 The locking device 11 further includes: a first locking structure 400; when the base 200 rotates to the second preset position, the first locking structure 400 is used to fix the bottom plate 100 and the base 200.

[0055] In this embodiment, the second preset position is defined as: the base 200 rotates counterclockwise around the bottom plate 100 until the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 is a second preset angle, and the second preset angle range may be 0 to 30 degrees. In this embodiment, the second preset angle is 20 degrees.

[0056] When the operator lifts the base 200 and rotates it counterclockwise to the position where the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 is 20°, the bottom plate 100 and the base 200 can be fixed by the first locking structure 400, which can further prevent the base 200 from shaking or falling and causing accidents or personal injuries.

[0057] In other embodiments, when the second preset angle is 0°, the base 200 and the bottom plate 100 are parallel, that is, the base 200 directly covers the bottom plate 100, and the first locking structure 400 locks and fixes the bottom plate 100 and the base 200, which can further prevent the base 200 from shaking and causing accidents or personal injuries.

[0058] For further information, please refer to Figure 3 , Figure 4 , Figure 8 The first locking structure 400 includes: a first locking portion 410 and a first positioning portion 420. When the base 200 rotates to the second preset position, the first locking portion 410 is fixedly connected to the first positioning portion 420.

[0059] Optionally, the first locking structure 400 and the buckle portion 300 may be respectively disposed at two ends of the bottom plate 100 (or the base 200 ).

[0060] In one embodiment, the first locking portion 410 is provided on the bottom plate 100, and the first positioning portion 420 is correspondingly provided on the base 200. For example, when the base 200 is rotated to the second preset position, the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 is 20°, when the operator lifts the base 200 and rotates it counterclockwise to the position where the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 is 20°, the first positioning portion 420 at the bottom of the base 200 can just be correspondingly inserted into the first locking portion 410 on the surface of the bottom plate 100, and at this time, the first locking portion 410 and the first positioning portion 420 can achieve a fixed connection such as a snap connection, a pin hole connection, a lock connection, etc., so that the bottom plate 100 and the base 200 are fixedly connected and locked.

[0061] In another embodiment, the first locking portion 410 is provided on the base 200, and the first positioning portion 420 is correspondingly provided on the bottom plate 100. As mentioned above, when the operator lifts the base 200 and rotates it counterclockwise to a position where the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 is 20°, the first positioning portion 420 on the surface of the bottom plate 100 can just be inserted into the first locking portion 410 at the bottom of the base 200. At this time, the first locking portion 410 and the first positioning portion 420 can achieve a fixed connection such as a snap connection, a pin hole connection, a lock connection, etc., so that the bottom plate 100 and the base 200 are fixedly connected and locked.

[0062] like Figure 4 As shown, the first locking portion 410 is disposed on the upper surface of the bottom plate 100 , and the first positioning portion 420 is disposed on the bottom of the base 200 .

[0063] Exemplarily, the first locking portion 410 may be a locking sleeve or a locking device, and an insertion hole is provided on the locking sleeve or the locking device, and the first positioning portion 420 may be a positioning pin, and the positioning pin is inserted into the insertion hole of the locking sleeve or the locking device to achieve a fixed connection. The first locking portion 410 and the first positioning portion 420 may also be a snap-fit ​​connection structure. In this embodiment, the fixed connection method between the first locking portion 410 and the first positioning portion 420 includes but is not limited to the above-mentioned snap, pin hole, and lock connection methods, and other methods that can achieve fixed connection should be included in the protection scope of this application.

[0064] When the operator needs to release the first locking structure 400, a first pressing member 411 is provided on the first locking portion 410 to release the connection between the first locking portion 410 and the first positioning portion 420. Exemplarily, the first pressing member 411 is a pressing block installed on the first locking portion 410, and a spring or a retaining spring can be sleeved on the pressing block. When the operator presses the first pressing member 411, the first pressing member 411 contacts the first positioning portion 420 located in the first locking portion 410. Under the action of pressure, the first pressing member 411 pushes the first positioning portion 420 out of the first locking portion 410, thereby separating the first positioning portion 420 from the first locking portion 410. The first pressing member 411 returns to its original position under the elastic recovery action of the spring.

[0065] When the first locking structure 400 is released from locking, the base 200 can be released from being fixed to the bottom plate 100 , so that the operator can operate the base 200 to rotate on the bottom plate 100 .

[0066] In the above embodiment, the first locking structure 400 can realize the locking and fixing of the base 200 and the bottom plate 100, so that the entire locking device 11 is stable and does not shake during the operation of the end effector 1 on the base 200. The buckle portion 300 can realize the locking and fixing of the base 200 and the bottom plate 100, so that after the base 200 is lifted, the end effector 1 can be fixed with the locking device 11 without shaking or falling, thereby reducing damage to the patient and avoiding accidents.

[0067] In order to make the buckle part 300 lock and fix the base 200 and the bottom plate 100, and further enhance the stability of the base 200 to prevent the base 200 from shaking or falling, the locking device 11 of the present application also includes: a second locking structure 500. When the base 200 rotates to the first preset position and the buckle part 300 is buckled and fixed with the base 200, the second locking structure 500 is used to fix the bottom plate 100 with the base 200.

[0068] For further information, please refer to Figure 3 , Figure 8The second locking structure 500 includes: a second locking portion 510 and a second positioning portion 520. When the base 200 rotates to the first preset position, the second locking portion 510 is fixedly connected to the second positioning portion 520.

[0069] In one embodiment, the second locking portion 510 is provided on the bottom plate 100, and the second positioning portion 520 is correspondingly provided on the base 200. Taking the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 as 20° when the base 200 is rotated to the second preset position as an example, when the operator lifts the base 200 and rotates it counterclockwise to the position where the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 is 20°, the second positioning portion 520 at the bottom of the base 200 can just be correspondingly inserted into the second locking portion 510 on the surface of the bottom plate 100. At this time, the second locking portion 510 and the second positioning portion 520 can realize a fixed connection such as a snap connection, a pin hole connection, a lock connection, etc., so that the bottom plate 100 and the base 200 are fixedly connected and locked.

[0070] In another embodiment, the second locking portion 510 is provided on the base 200, and the second positioning portion 520 is correspondingly provided on the bottom plate 100. As mentioned above, when the operator lifts the base 200 and rotates it counterclockwise to the position where the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 is 20°, the second positioning portion 520 on the surface of the bottom plate 100 can just be inserted into the second locking portion 510 at the bottom of the base 200. At this time, the second locking portion 510 and the second positioning portion 520 can achieve a fixed connection such as a snap connection, a pin hole connection, a lock connection, etc., so that the bottom plate 100 and the base 200 are fixedly connected and locked.

[0071] like Figure 8 As shown, the second locking portion 510 is disposed on the base 200 , and the second positioning portion 520 is disposed on the bottom plate 100 .

[0072] Exemplarily, the second locking portion 510 may be a locking sleeve or a locking device, and an insertion hole is provided on the locking sleeve or the locking device, and the second positioning portion 520 may be a positioning pin, and the positioning pin is inserted into the insertion hole of the locking sleeve or the locking device to achieve a fixed connection. The second locking portion 510 and the second positioning portion 520 may also be a snap-fit ​​connection structure. In this embodiment, the fixed connection method between the second locking portion 510 and the second positioning portion 520 includes but is not limited to the above-mentioned snap, pin hole, and lock connection methods, and other methods that can achieve fixed connection should be included in the protection scope of this application.

[0073] When the operator needs to release the second locking structure 500, a second pressing member 511 is provided on the second locking portion 510 to release the connection between the second locking portion 510 and the second positioning portion 520. Exemplarily, the second pressing member 511 is a pressing block installed on the second locking portion 510, and a spring or a retaining spring can be sleeved on the pressing block. When the operator presses the second pressing member 511, the second pressing member 511 contacts the second positioning portion 520 located in the second locking portion 510. Under the action of pressure, the second pressing member 511 pushes the second positioning portion 520 out of the second locking portion 510, so that the second positioning portion 520 is separated from the second locking portion 510, and the second pressing member 511 returns to its original position under the elastic recovery action of the spring.

[0074] It should be noted that only one buckle portion 300 can be provided on the locking device 11 in the present application. In the middle of the operation or after the operation is completed, after the operator confirms that the surgical operating instrument 13 is completely out of the patient's eyeball, the operator lifts the base 200 and rotates the entire end effector 1. When the base 200 rotates clockwise around the base plate 100 to the position where the angle between the plane of the base 200 and the horizontal plane of the base plate 100 is 45°, the first preset position is reached. After manually rotating the engaging baffle 320 90° counterclockwise, the engaging baffle 320 is made parallel to or in the same straight line direction as the fixing portion 310, the base 200 is engaged with the bottom of the engaging baffle 320, so that the buckle portion 300 is engaged and fixed to the base 200, thereby preventing the surgical robot end effector 1 on the base 200 from falling and causing accidents or personal injuries.

[0075] Alternatively, a buckle portion 300 and a first locking structure 400 are provided at the same time. When restarting a new operation or continuing the previous operation, the operator first needs to release the buckle portion 300 from the base 200. The buckle portion 300 is manually rotated 90° clockwise to return the buckle portion 320 to the initial position perpendicular to the fixing portion 310, and the buckle portion 320 is released from the base 200. The operator lifts the base 200 and rotates the base 200 counterclockwise until the angle between the plane of the base 200 and the horizontal plane of the bottom plate 100 is 20°, that is, the second preset position is reached, and the first positioning portion 420 at the bottom of the base 200 can just be inserted into the first locking portion 410 on the surface of the bottom plate 100, at this time, the first locking portion 410 and the first positioning portion 420 can be fixedly connected; or, the first positioning portion 420 on the surface of the bottom plate 100 can just be inserted into the first locking portion 410 at the bottom of the base 200, at this time, the first locking portion 410 and the first positioning portion 420 can be fixedly connected, thereby achieving fixed locking of the bottom plate 100 and the base 200 during the surgical operation.

[0076] Alternatively, the buckle portion 300, the first locking structure 400 and the second locking structure 500 are provided at the same time, so that in the middle of the operation or at the end of the operation, the operator lifts the base 200 and rotates the entire end effector 1 to the first preset position, and the second locking structure 500 and the buckle portion 300 simultaneously realize the fixed connection between the base 200 and the bottom plate 100, preventing the surgical robot end effector 1 on the base 200 from falling and causing accidents or personal injuries, thereby improving the safety of the locking device 11.

[0077] Please refer to Figure 3 , Figure 4 , Figure 8 Optionally, the bottom plate 100 includes: a first bottom plate 110 and a second bottom plate 120, and the first bottom plate 110 is connected to the second bottom plate 120. The first bottom plate 110 and the second bottom plate 120 can be fixedly connected by bolt connection, welding, pin connection, etc. The buckle portion 300 is provided on the second bottom plate 120.

[0078] In one embodiment, the first locking portion 410 is disposed on the first bottom plate 110 , and the first positioning portion 420 is correspondingly disposed on the bottom of the base 200 .

[0079] In another embodiment, the first locking portion 410 is disposed on the bottom of the base 200 , and the first positioning portion 420 is correspondingly disposed on the first bottom plate 110 .

[0080] Further, a support plate 210 is provided on the base 200, and a support boss 121 is provided on the bottom plate 100. The support plate 210 can be welded or bolted to the base 200, and the snap-fitting baffle 320 on the snap-fitting portion 300 is used to snap-fit ​​and fix with the support plate 210. The support boss 121 can be welded or bolted to the bottom plate 100. Optionally, the support boss 121 can be welded or bolted to the second bottom plate 120.

[0081] In one embodiment, the second locking portion 510 is disposed on the support plate 210 , and the second positioning portion 520 is correspondingly disposed on the support boss 121 .

[0082] In another embodiment, the second positioning portion 520 is disposed on the support plate 210 , and the second locking portion 510 is correspondingly disposed on the support boss 121 .

[0083] In the above two embodiments, when the buckle portion 300 is buckled and fixed with the support plate 210 on the base 200, the support plate 210 abuts against the support boss 121. After the support plate 210 abuts against the support boss 121, to a certain extent, the locking and fixing effect of the second locking portion 510 and the second positioning portion 520 can be strengthened, making the locking effect of the second locking structure 500 more prominent, and in cooperation with the buckling effect of the buckle portion 300, the locking and fixing effect of the locking device 11 is further enhanced, thereby improving the safety of the locking device 11.

[0084] In summary, the buckle part 300 provided in the present application can buckle and fix the base 200 to prevent the base 200 from falling and causing accidents or personal injuries. By providing the structure of the buckle baffle 320, there is no need to use external tools to operate the buckle part 300, which makes the operation easier. The buckle part 300 has a simple structure, a small size, and occupies a relatively smaller space.

[0085] The first locking structure 400 and the second locking structure 500 provided in the present application enable the entire locking device 11 to quickly lock the base 200 and the bottom plate 100, and to loosen the base 200 and the bottom plate 100. The first locking structure 400 can lock and fix the base 200 and the bottom plate 100, so that the entire locking device 11 is stable and does not shake during the surgical operation of the end effector 1 located on the base 200.

[0086] The second locking structure 500 and the buckle portion 300 provided in the present application can simultaneously realize the fixed connection between the base 200 and the bottom plate 100, prevent the surgical robot end effector 1 on the base 200 from falling and causing accidents or personal injuries, and improve the safety of the locking device 11.

[0087] It should be noted that, in the absence of conflict, the features in the embodiments of this application may be combined with each other.

[0088] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A locking device, characterized in that: include: A bottom plate, wherein a buckle portion is provided on the bottom plate; A base, rotatably disposed on the bottom plate; When the base is rotated to a first preset position, the buckle portion is buckled and fixed to the base; Wherein, the buckle portion includes: a fixing portion and a locking baffle, and the locking baffle can rotate around the fixing portion as a center; When the base is rotated to the first preset position, the locking baffle is rotated to a preset position so that the base is locked at the bottom of the locking baffle.

2. The locking device according to claim 1, characterized in that: The locking device further comprises: a first locking structure; when the base is rotated to a second preset position, the first locking structure is used to fix the bottom plate to the base.

3. The locking device according to claim 2, characterized in that: The first locking structure comprises: a first locking portion and a first positioning portion, and when the base rotates to the second preset position, the first locking portion is fixedly connected to the first positioning portion; Wherein, the first locking portion is arranged on the bottom plate, and the first positioning portion is correspondingly arranged on the base; or, the first locking portion is arranged on the base, and the first positioning portion is correspondingly arranged on the bottom plate.

4. The locking device according to claim 3, characterized in that: The first locking portion is provided with a first pressing member for releasing the connection between the first locking portion and the first positioning portion.

5. The locking device according to claim 1 or 2, characterized in that: The locking device further includes: a second locking structure; when the base is rotated to the first preset position and the buckle portion is buckled and fixed with the base, the second locking structure is used to fix the bottom plate to the base.

6. The locking device according to claim 5, characterized in that: The second locking structure comprises: a second locking portion and a second positioning portion, and when the base rotates to the first preset position, the second locking portion is fixedly connected to the second positioning portion; Wherein, the second locking portion is arranged on the bottom plate, and the second positioning portion is correspondingly arranged on the base; or, the second locking portion is arranged on the base, and the second positioning portion is correspondingly arranged on the bottom plate.

7. The locking device according to claim 6, characterized in that: The second locking portion is provided with a second pressing member for releasing the connection between the second locking portion and the second positioning portion.

8. The locking device according to claim 3, characterized in that: The bottom plate comprises: a first bottom plate and a second bottom plate, the first bottom plate is connected to the second bottom plate, and the buckle portion is arranged on the second bottom plate; The first locking portion is arranged on the first bottom plate, and the first positioning portion is correspondingly arranged on the base; or the first locking portion is arranged on the base, and the first positioning portion is correspondingly arranged on the first bottom plate.

9. The locking device according to claim 6, characterized in that: The base is provided with a support plate, and the bottom plate is provided with a support boss; when the buckle portion is buckled and fixed with the base, the support plate abuts against the support boss; Wherein, the second locking portion is arranged on the support plate, and the second positioning portion is correspondingly arranged on the support boss; or, the second positioning portion is arranged on the support plate, and the second locking portion is correspondingly arranged on the support boss.

10. An end effector, characterized in that: It comprises the locking device, the execution end and the surgical instrument according to any one of claims 1 to 9; The execution end is installed on the base, and the surgical operating instrument is arranged on the execution end.

11. An ophthalmic surgical robot, characterized in that: Comprising the end effector as claimed in claim 10.

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