Rapid locking and dismounting system for end tool of surgical robot

Abstract

The utility model discloses a quick locking and dismounting system for a surgical robot end tool, which comprises a base, a locking mechanism, a locking mechanism, a locking mechanism, a locking mechanism and a locking mechanism, wherein the top of the base is provided with an annular adapter assembly; a connecting assembly is arranged at the bottom of the guider, and the annular adapter assembly and the connecting assembly can be rotationally clamped around a rotating axis; the positioning mechanism is arranged between the annular adapter assembly and the connecting assembly, and the positioning mechanism is configured to preliminarily position the circumferential position of the connecting assembly relative to the annular adapter assembly in the rotating and clamping process of the annular adapter assembly and the connecting assembly around the rotating axis; and the elastic locking assembly is installed between the guider and the base in a pluggable mode, and when the connecting assembly is preliminarily positioned on the annular switching assembly, the elastic locking assembly prevents relative rotation of the annular switching assembly and the connecting assembly.

Description

Technical Field

[0001] The utility model relates to a connection structure of a medical device, in particular to a quick locking and disassembly system of a surgical robot end tool. Background Art

[0002] With the continuous development of medical technology, surgical robots are being used more and more widely. The end of the surgical robot is generally equipped with surgical tools, such as thoracolumbar open circuit openers. The thoracolumbar open circuit opener is an important surgical tool in spinal surgery, which is used to pierce cortical bone and cancellous bone to open the channel for nail placement. The end of the robot has particularly high requirements for the fixation and loading and unloading of surgical tools. It needs to be able to be quickly installed and disassembled during surgery, and it needs to be firm and high-precision during assembly. Some existing connection mechanisms cannot well combine the two points of rapid installation and positioning accuracy, and often lose one while focusing on the other, which makes the doctor's experience during surgery poor and affects the quality of surgery.

[0003] The information disclosed in this background technology section is only intended to increase the understanding of the overall background of the utility model, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to ordinary technicians in this field. Utility Model Content

[0004] Purpose of the utility model: The technical problem to be solved by the utility model is to provide a rapid locking and disassembly system for the end tool of a surgical robot in view of the deficiencies in the prior art, which can effectively improve the speed and accuracy of the operation and enable the doctor to obtain a better operating experience.

[0005] In order to solve the above technical problems, the utility model discloses a rapid locking and disassembly system of a surgical robot end tool, the system comprising:

[0006] A base, wherein a ring-shaped adapter assembly is provided on the top of the base;

[0007] A guide, wherein a connecting assembly is disposed at the bottom of the guide, and the annular adapter assembly and the connecting assembly can be rotatably connected around a rotation axis;

[0008] a positioning mechanism disposed between the annular adapter assembly and the connecting assembly, the positioning mechanism being configured to preliminarily position the circumferential position of the connecting assembly relative to the annular adapter assembly during the process of the annular adapter assembly and the connecting assembly being rotated and engaged around a rotation axis;

[0009] And an elastic locking component is pluggably installed between the guide and the base. When the connecting component is initially positioned on the annular adapter component, the elastic locking component prevents the annular adapter component and the connecting component from rotating relative to each other.

[0010] Specifically, the positioning mechanism includes an elastic mechanism arranged on the annular adapter assembly and an inner recessed portion arranged on the connecting assembly, and the extension and contraction direction of the elastic mechanism is along the rotation axis; during the process of the annular adapter assembly and the connecting assembly rotating and engaging around the rotation axis, the connecting assembly presses down the elastic mechanism until the elastic mechanism releases its own compression elastic force and engages into the inner recessed portion on the connecting assembly, so as to preliminarily position the circumferential position of the connecting assembly relative to the annular adapter assembly and enable the connecting assembly to be tightly docked with the annular adapter assembly.

[0011] Specifically, the elastic mechanism includes a ball plunger.

[0012] Specifically, the annular adapter assembly includes an inner ring arranged on the inner side of the top of the base and an adapter ring connected to the top surface of the inner ring, the inner side of the adapter ring is circumferentially provided with a first claw, and a clamping space is formed between the first claw and the bottom surface of the inner ring; the connecting assembly includes a connecting ring arranged on the bottom surface of the guide, and a second claw is provided on the edge of the connecting ring, and when the connecting assembly rotates relative to the annular adapter assembly, the second claw is clamped in or slides out of the clamping space.

[0013] Preferably, the position of the first jaw is complementary to the position of the second jaw.

[0014] Specifically, the inner recess on the connecting assembly is formed on the second claw; and the elastic mechanism is installed on the first claw of the adapter ring.

[0015] Specifically, a threaded hole is formed on the top surface of the first claw of the adapter ring, and the ball plunger is installed in the threaded hole.

[0016] Specifically, the system includes a pin hole. When the connecting assembly is initially positioned on the annular adapter assembly, the system forms a pin hole, and the pin hole extends from the top surface of the guide through the adapter ring to the inner ring; a slot is provided on the side wall of the pin hole in the inner ring; when the elastic locking assembly is inserted into the pin hole, the elastic locking assembly is engaged with the slot.

[0017] Specifically, the elastic locking assembly includes an outer rod, a pressing rod, a spring and a small ball; an axially through-going step installation cavity is provided inside the outer rod, and one or more small balls are embedded at the lower end of the inner side wall of the step installation cavity; the pressing rod includes a first end and a second end, the first end of the pressing rod is inserted into the step installation cavity, and the second end of the pressing rod extends out of the step installation cavity to move the pressing rod along the step installation cavity under external pressure; the outer wall of the pressing rod is sleeved with the spring, and one end of the spring is connected to the step installation cavity, The other end is in contact with the pressing rod; a notch is provided at a position corresponding to the small ball on the lower side wall of the pressing rod. When the pressing rod is pressed downward by an external force until the notch is opposite to the small ball, in the process of pulling out the elastic locking assembly, the small ball slides out of the notch and retracts into the outer rod under the action of the step mounting cavity force; when the external force applied to the pressing rod is removed, the second spring applies a spring force to the pressing rod to drive the pressing rod upward, and the small ball partially extends beyond the outer rod due to the force of the outer side wall of the pressing rod, and the part of the small ball that extends beyond the outer rod is located in the notch.

[0018] Specifically, the base is connected to the insulating flange of the robot arm.

[0019] Beneficial effects:

[0020] 1) The utility model sets a positioning mechanism between the annular adapter assembly and the connecting assembly. The positioning mechanism is configured to preliminarily position the circumferential position of the connecting assembly relative to the annular adapter assembly during the process of the annular adapter assembly and the connecting assembly rotating and engaging around the rotation axis. At the same time, an elastic locking assembly is pluggably installed between the guide and the base. When the connecting assembly is preliminarily positioned on the annular adapter assembly, the elastic locking assembly prevents the relative rotation of the annular adapter assembly and the connecting assembly. Compared with the prior art of connecting by multiple screws, it is more convenient and quick, realizes the rapid installation of the guide and the base, and has a high repeatable installation accuracy.

[0021] 2) In one embodiment, the positioning mechanism uses a ball plunger and an inner recess to enhance the clinical experience of rotating into position; at the same time, the elastic force generated by the pressure on the ball plunger between the first claw of the adapter ring and the second claw of the guide makes the top surface of the adapter ring fit tightly with the guide, eliminating the fitting gap between the two.

[0022] 3) In one embodiment, the annular adapter assembly and the connecting assembly are engaged with each other through two complementary sets of claws to ensure the uniqueness of the installation angle between the guide and the base, with high repeatability of the installation accuracy.

[0023] 4) In one embodiment, the elastic locking component pluggably installed between the guide and the base is a locking pin. When the guide is rotated into place, the locking pin is inserted into the pin hole and locked. The elastic force generated by the pressure of the ball plunger between the first claw of the adapter ring and the second claw of the guide makes the adapter ring and the guide fit tightly, eliminating the matching gap between the two, and the installation is more stable. When disassembling, you only need to press the pressing rod of the locking pin to pull out the locking pin, and rotate the guide in the opposite direction to separate the guide from the base, realizing rapid locking and disassembly, which is stable and fast, and convenient for doctors to quickly change surgical tools during surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods, and the above and / or other advantages of the present invention will become more clear.

[0025] Figure 1 It is a schematic diagram of the overall structure of a rapid locking and disassembly system of a surgical robot end tool disclosed in one embodiment of the utility model;

[0026] Figure 2 for Figure 1 The schematic diagram of the structure of the base in the quick locking and disassembly system shown:

[0027] Figure 3 for Figure 1 The schematic diagram of the structure of the adapter ring in the quick locking and disassembly system is shown:

[0028] Figure 4 for Figure 1 The schematic diagram of the structure of the ball plunger in the quick locking and disassembly system shown:

[0029] Figure 5 for Figure 1 The schematic diagram of the structure of the guide in the quick locking and disassembly system is shown:

[0030] Figure 6 for Figure 1 The schematic diagram of the structure of the locking pin in the quick locking and disassembly system is shown.

[0031] The description of the accompanying drawings is:

[0032] 1. Base; 101. Inner ring; 2. Adapter ring; 201. Top surface; 202. First claw; 203. Threaded hole; 3. Elastic mechanism; 301. Ball head; 302. First spring; 4. Guide; 401. Connecting ring; 402. Second claw; 403. Inner recess; 404. Outer cover; 5. Elastic locking assembly; 501. Outer rod; 502. Press rod; 503. Second spring; 504. Small ball; 505. Step mounting cavity; 5021. Notch; 6. Pin hole; 601. Notch. DETAILED DESCRIPTION

[0033] The utility model discloses a rapid locking and disassembly system for a surgical robot end tool, which comprises a base 1, a guide 4, a positioning mechanism and an elastic locking assembly 5. Figure 1 , an annular adapter assembly is provided on the top of the base 1. A connecting assembly is provided at the bottom of the guide 4, and the annular adapter assembly and the connecting assembly can be rotatably engaged around the rotation axis. A positioning mechanism is provided between the annular adapter assembly and the connecting assembly, and the positioning mechanism is configured to preliminarily position the circumferential position of the connecting assembly relative to the annular adapter assembly during the rotational engagement of the annular adapter assembly and the connecting assembly around the rotation axis. The elastic locking assembly 5 is pluggably installed between the base 1 and the guide 4, and when the connecting assembly is preliminarily positioned at the annular adapter assembly, the elastic locking assembly 5 prevents the relative rotation of the annular adapter assembly and the connecting assembly.

[0034] In one embodiment, see Figure 1 The positioning mechanism includes an elastic mechanism 3 disposed on the annular adapter assembly and an inner recess 403 disposed on the connecting assembly, see Figure 5 The expansion and contraction direction of the elastic mechanism 3 is along the rotation axis. During the process of the annular adapter assembly and the connecting assembly rotating and engaging around the rotation axis, the connecting assembly presses down the elastic mechanism 3 until the elastic mechanism 3 releases its own compression elastic force and engages into the inner recess 403 on the connecting assembly, which is used to preliminarily locate the circumferential position of the connecting assembly relative to the annular adapter assembly and to tightly dock the connecting assembly with the annular adapter assembly.

[0035] This embodiment uses the elastic mechanism 3 to release its own compression elastic force to snap into the inner concave portion 403 on the connecting component, thereby achieving preliminary positioning of the connecting component relative to the annular adapter component and making the connecting component closely docked with the annular adapter component. The way in which the elastic mechanism 3 snaps into the connecting component enables doctors to obtain a better clinical experience.

[0036] In one embodiment, see Figure 4 , the elastic mechanism 3 includes a ball plunger. More specifically, see Figure 4 The ball plunger is a hollow screw structure, and a first spring 302 and a ball head 301 are arranged inside.

[0037] In one embodiment, see Figure 1 The annular adapter assembly includes an inner ring 101 disposed on the inner side of the top of the base 1 and an adapter ring 2 connected to the top surface of the inner ring 101, see Figure 3 The inner side of the adapter ring 2 is provided with a first claw 202 along the circumferential direction, see Figure 1 A clamping space is formed between the first clamping claw 202 and the bottom surface of the inner ring 101. Figure 5The connecting assembly includes a connecting ring 401 arranged on the bottom surface of the guide 4, and a second claw 402 is arranged on the edge of the connecting ring 401. When the connecting assembly rotates relative to the annular adapter assembly, the second claw 402 is clamped into or slides out of the clamping space.

[0038] In one embodiment, see Figure 5 The inner recess 403 on the connecting assembly is formed on the second claw 402 ; the elastic mechanism 3 is installed on the first claw 202 of the adapter ring 2 .

[0039] Preferably, the position of the first claw 202 is complementary to the position of the second claw 402 .

[0040] In one embodiment, see Figure 3 A threaded hole 203 is formed on the top surface of the first claw 202 of the adapter ring 2, and the ball plunger is installed in the threaded hole 203.

[0041] In one embodiment, see Figure 5 The connection assembly includes an outer cover 404 arranged outside the connection ring 401.

[0042] In one embodiment, see Figure 1 , the base 1 is connected to the insulating flange of the robot arm.

[0043] In one embodiment, see Figure 1 The system includes a pin hole 6. When the connection assembly is initially positioned on the annular adapter assembly, the system forms a pin hole 6, and the pin hole 6 extends from the top surface of the guide 4 through the adapter ring 2 to the inner ring 101. Figure 2 The side wall of the pin hole 6 in the inner ring 101 is provided with a notch 601 . When the elastic locking component 5 is inserted into the pin hole 6 , the elastic locking component 5 is engaged with the notch 601 .

[0044] Specifically, see Figure 6The elastic locking assembly 5 includes an outer rod 501, a pressing rod 502, a second spring 503 and a small ball 504; an axially through-going step installation cavity 505 is provided inside the outer rod 501, and one or more small balls 504 are embedded at the lower end of the inner side wall of the step installation cavity 505; the pressing rod 502 includes a first end and a second end, the first end of the pressing rod 502 is inserted into the step installation cavity 505, and the second end of the pressing rod 502 extends outside the step installation cavity 505 to move the pressing rod 502 along the step installation cavity 505 under external pressure; the outer wall of the pressing rod 502 is sleeved with a second spring 503, one end of the second spring 503 is connected to the step installation cavity 505, and the other end is connected to the step installation cavity 505. The pressing rod 502 is abutted; a notch 5021 is provided at a position corresponding to the lower side wall of the pressing rod 502 and the small ball 504. When the pressing rod 502 is pressed downward by an external force until the notch 5021 is opposite to the small ball 504, in the process of pulling out the elastic locking component 5, the small ball 504 is acted upon by the force of the step mounting cavity 505 to slide out of the notch 601 and retract into the outer rod 501; when the external force applied to the pressing rod 502 is removed, the second spring 503 applies a spring force to the pressing rod 502 to drive the pressing rod 502 to move upward, and the small ball 504 is partially extended beyond the outer rod 501 by the force of the outer side wall of the pressing rod 502, and the part of the small ball 504 extending beyond the outer rod 501 is located in the notch 601.

[0045] Specifically, see Figure 6 Two small balls 504 are embedded in a circumferential array at the lower end of the inner side wall of the step installation cavity 505, and correspondingly, two notches 601 are provided on the side wall of the pin hole 6 in the inner ring 101. It should be understood that the number of small balls 504 and notches 601 in this embodiment is not limited to two, but can be set to multiple.

[0046] The two sets of complementary claws are interlocked and connected to ensure the uniqueness of the installation angle of the guide 4 and the base 1, with high repeatable installation accuracy; the guide 4 rotates around the axis at a certain angle, and the locking pin 5 is inserted into the pin hole of the adapter ring 2 to lock it. The elastic force generated by the pressure on the ball plunger between the claws of the adapter ring 2 and the claws of the guide 4 makes the upper surface of the adapter ring 2 fit closely with the guide 4, eliminating the matching gap between the two, and the installation is more stable; the fixing and unlocking, the locking pin 5 unlocking method is stable and fast, which is convenient for doctors to quickly change surgical tools during surgery. Its advantages are: effectively improving the speed of surgical tool replacement, so that doctors can get a better clinical experience.

[0047] Below, refer to Figures 1 to 6 , a method for using a quick locking and disassembly system of a surgical robot end tool in this embodiment is described.

[0048] Step 1: Figure 1 , Figure 2 , Figure 3 , Figure 4As shown, the ball plunger 3 is installed into the threaded hole 203 of the adapter ring 2;

[0049] Step 2: If Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, align the fan-shaped flange of the second claw 402 with the fan-shaped recessed edge of the adapter ring 2. After it is locked in, rotate the guide 4 relative to the base 1 by a certain angle until you hear the sound of the ball head 301 of the ball plunger 3 being locked into the inner recess 403 of the adapter ring 2. At this time, the top surface 201 of the adapter ring 2 fits tightly with the guide 4, eliminating the fitting gap; at this time, the circumferential position of the connecting assembly relative to the annular adapter assembly is preliminarily positioned.

[0050] Step 3: Press the pressing rod 502 of the locking pin 5 to retract the ball 504 and keep it in the outer rod 501, and then insert the locking pin 5 into the pin hole 6; release the pressing rod 502 of the locking pin 5, and the pressing rod 502 moves upward to force the ball 504 to extend beyond the outer rod 501, and the extending part of the ball 504 is pressed into the groove 601, and the other end of the ball 504 abuts against the outer wall of the pressing rod 502, thereby preventing the relative rotation of the annular adapter assembly and the connecting assembly.

[0051] Step 4: Figure 1 , Figure 3 , Figure 6 As shown, when replacing the guide 4, the pressing rod 502 of the locking pin 5 is pressed and the locking pin 5 is pulled upward. In the process of pulling out the elastic locking component 5, the ball 504 is acted upon by the force of the step installation cavity 505 to slide out of the notch 601 and retract into the outer rod 501, thereby separating the locking pin 5 from the pin hole 6. The guide 4 is rotated in the opposite direction by a certain angle to make the second claw 402 slide out of the clamping space, and the guide 4 can be unlocked and separated.

[0052] Step 5: If you need to replace a different guide 4, just repeat steps 2 to 4 above;

[0053] The utility model discloses a rapid locking and disassembly system for a surgical robot end tool, which releases its own compression force through an elastic mechanism 3 to snap into an inner recess 403 on a connecting component, thereby achieving preliminary positioning of the circumferential position of the connecting component relative to the annular adapter component, while allowing doctors to obtain a better clinical experience; by pressing and pulling out the locking pin 5, the speed of replacing surgical tools can be effectively improved.

[0054] The utility model provides a concept and method for a quick locking and disassembly system of a surgical robot end tool. There are many methods and ways to implement the technical solution. The above is only a preferred implementation of the utility model. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model. These improvements and modifications should also be regarded as the protection scope of the utility model. All components not specified in this embodiment can be implemented using existing technologies.

Claims

1. A rapid locking and disassembly system for a surgical robot end tool, characterized in that: include: A base (1), wherein a ring-shaped adapter assembly is provided on the top of the base (1); A guide (4), wherein a connecting assembly is arranged at the bottom of the guide (4), and the annular adapter assembly and the connecting assembly can be rotatably engaged around a rotation axis; a positioning mechanism disposed between the annular adapter assembly and the connecting assembly, the positioning mechanism being configured to preliminarily position the circumferential position of the connecting assembly relative to the annular adapter assembly during the process of the annular adapter assembly and the connecting assembly being rotated and engaged around a rotation axis; and an elastic locking assembly (5) installed between the guide (4) and the base (1) in a pluggable manner, wherein when the connecting assembly is initially positioned on the annular adapter assembly, the elastic locking assembly (5) prevents the annular adapter assembly and the connecting assembly from rotating relative to each other; The annular adapter assembly comprises an inner ring (101) arranged on the inner side of the top of the base (1) and an adapter ring (2) connected to the top surface of the inner ring (101), the inner side of the adapter ring (2) is provided with a first clamping claw (202) along the circumferential direction, and a clamping space is formed between the first clamping claw (202) and the bottom surface of the inner ring (101); the connecting assembly comprises a connecting ring (401) arranged on the bottom surface of the guide (4), the edge of the connecting ring (401) is provided with a second clamping claw (402), and when the connecting assembly rotates relative to the annular adapter assembly, the second clamping claw (402) is clamped into or slides out of the clamping space; The system comprises a pin hole (6). When the connecting assembly is initially positioned on the annular adapter assembly, the system forms a pin hole (6), the pin hole (6) extending from the top surface of the guide (4) through the adapter ring (2) to the inner ring (101); a notch (601) is formed on the side wall of the pin hole (6) in the inner ring (101); when the elastic locking assembly (5) is inserted into the pin hole (6), the elastic locking assembly (5) is engaged with the notch (601); The elastic locking assembly (5) comprises an outer rod (501), a pressing rod (502), a second spring (503) and a small ball (504); an axially through-going step installation cavity (505) is provided inside the outer rod (501), and one or more small balls (504) are embedded at the lower end of the inner side wall of the step installation cavity (505); the pressing rod (502) comprises a first end and a second end, the first end of the pressing rod (502) is inserted into the step installation cavity (505), and the second end of the pressing rod (502) extends outside the step installation cavity (505) to move the pressing rod (502) along the step installation cavity (505) under external pressure; the outer wall of the pressing rod (502) is sleeved with the second spring (503), one end of the second spring (503) is connected to the step installation cavity (505), and the other end is connected to the pressing rod (502). A notch (5021) is provided on the lower side wall of the pressing rod (502) at a position corresponding to the small ball (504); when the pressing rod (502) is pressed downward by an external force until the notch (5021) is directly opposite to the small ball (504), during the process of pulling out the elastic locking assembly (5), the small ball (504) is acted upon by the force of the step mounting cavity (505) to slide out of the notch (601) and retract to the external position. When the external force applied to the pressing rod (502) is removed, the second spring (503) applies a spring force to the pressing rod (502) to drive the pressing rod (502) to move upward, and the small ball (504) is partially extended beyond the outer rod (501) by the force of the outer side wall of the pressing rod (502), and the part of the small ball (504) that extends beyond the outer rod (501) is located within the notch (601).

2. A rapid locking and disassembly system for a surgical robot end tool according to claim 1, characterized in that: The positioning mechanism comprises an elastic mechanism (3) provided on the annular adapter assembly and an inner recess (403) provided on the connecting assembly, and the expansion and contraction direction of the elastic mechanism (3) is along the rotation axis; During the process of the annular adapter component and the connecting component being rotated and engaged around the rotation axis, the connecting component presses down the elastic mechanism (3) until the elastic mechanism (3) releases its own compression elastic force and engages into the inner recess (403) on the connecting component, thereby preliminarily positioning the circumferential position of the connecting component relative to the annular adapter component and allowing the connecting component to be tightly docked with the annular adapter component.

3. A rapid locking and disassembly system for a surgical robot end tool according to claim 2, characterized in that: The elastic mechanism (3) comprises a ball plunger.

4. A rapid locking and disassembly system for a surgical robot end tool according to claim 3, characterized in that: The position of the first claw (202) is complementary to the position of the second claw (402).

5. A rapid locking and disassembly system for a surgical robot end tool according to claim 4, characterized in that: The inner recess (403) on the connecting assembly is formed on the second claw (402); the elastic mechanism (3) is installed on the first claw (202) of the adapter ring (2).

6. A rapid locking and disassembly system for a surgical robot end tool according to claim 5, characterized in that: A threaded hole (203) is provided on the top surface of the first clamping claw (202) of the adapter ring (2), and the ball plunger is installed in the threaded hole (203).

7. A rapid locking and disassembly system for a surgical robot end tool according to claim 1, characterized in that: The base (1) is connected to the insulating flange of the robotic arm.

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