Quick change device for surgical instruments

Abstract

The utility model discloses a surgical instrument quick-changing device, the surgical instrument quick-changing device comprises a driving box and an isolation piece capable of being connected with the driving box in a clamped mode, a first adapter piece is arranged on the driving box in an elastic telescopic mode, and a second adapter piece capable of being connected with the first adapter piece in an inserted mode is arranged on the isolation piece. According to the surgical instrument quick change device, the first adapter is elastically arranged on the driving box in a telescopic mode, and in the installation process of the isolation piece and the driving box or the instrument box, the insertion matching state of the second adapter and the first adapter or the third adapter is reflected through the telescopic state change of the first adapter; and on the basis of the telescopic change state of the first adapter, the first adapter is controlled to rotate to adjust the circumferential matching position between the adapters, so that automatic alignment between the adapters is realized, and the mounting efficiency of the driving box and the isolation piece can be greatly improved while the transmission matching precision of the surgical instrument is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a surgical instrument quick-change device. Background Art

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

[0003] Common minimally invasive surgical robots consist of a doctor's console, a patient-side trolley, and a display device. The surgeon operates the input device on the doctor's console and transmits the input to the patient's surgical platform connected to the remotely operated surgical instrument. An instrument box is set at the top of the surgical instrument. The instrument box is generally detachably connected to the drive box through an isolation plate. The surgical instrument is a consumable and needs to be replaced after a certain number of uses. A rotating shaft is set in the instrument box, and a rotating disk corresponding to the rotating shaft is set on the isolation plate. The upper and lower parts of the rotating disk are respectively connected to the rotating shaft of the drive box and the rotating shaft of the instrument box. A motor is set in the drive box. The rotation of the motor drives the rotating shaft in the drive box to rotate, drives the rotating disk of the isolation plate to rotate, and the rotating disk drives the rotating shaft of the instrument box to rotate, thereby pulling the wire rope on the rotating shaft of the instrument box. The wire rope controls the opening and closing rotation of the instrument clamp and other actions.

[0004] The drive box, isolation plate and instrument box of existing surgical instruments are mostly connected in a detachable manner, and the drive box shaft, isolation plate turntable and instrument box shaft are generally transmitted by plugging. Since multiple shafts are provided on an instrument box, the drive box shaft, isolation plate turntable and instrument box shaft need to be aligned and connected at the same time during connection. To facilitate the connection, the initial positions of the drive box shaft, isolation plate turntable and instrument box shaft are adjusted by workers to a consistent zero position. However, during the actual loading and unloading process, it is easy for the drive box shaft, isolation plate turntable and instrument box shaft to be difficult to align due to the effect of matching errors, which requires the operator to further manually adjust the rotating shaft until it is aligned, affecting the installation efficiency. Summary of the invention

[0005] In view of the deficiencies in the prior art, the utility model provides a surgical instrument quick-changing device which is simple to operate and has high loading and unloading efficiency.

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

[0007] The present application provides a surgical instrument quick-change device, comprising a drive box and an isolating member, wherein the isolating member can be engaged with the drive box in a first direction;

[0008] A first adapter connected to the rotation drive assembly is elastically and telescopically provided on the end surface of the drive box near the isolating member, and a second adapter capable of being plugged into the first adapter in a first direction is provided on the end surface of the isolating member near the drive box at a position corresponding to the first adapter;

[0009] The driving box is also provided with a sensing unit for monitoring the telescopic state of the first adapter;

[0010] Wherein, the first adapter and the second adapter can transmit torque to each other in the plug-in state, and the first direction is specifically set to be the axial direction of the first adapter;

[0011] When the drive box and the isolating member are not connected or connected, the first adapter is in an extended state under the elastic force exerted on it;

[0012] The technical effect is that the drive box and the isolation member are installed by snap-fitting, and the first adapter can be elastically and telescopically arranged on the drive box. During the installation of the drive box and the isolation member, the plug-in fitting state of the first adapter and the second adapter is reflected by the change of the telescopic state of the first adapter, and the rotation adjustment of the first adapter and the circumferential fitting position of the second adapter are controlled based on the telescopic change state of the first adapter, thereby realizing automatic alignment of the first adapter and the second adapter, and greatly improving the installation efficiency of the drive box and the isolation member while ensuring the transmission fitting accuracy between the first adapter and the second adapter.

[0013] It is further defined that the above-mentioned surgical instrument quick-change device further includes an instrument box detachably connected to the isolation member;

[0014] A third adapter coupled to the instrument rod is provided on the end surface of the instrument box close to the isolation piece, which is rotatable about the corresponding position of the second adapter;

[0015] The third adapter can be plugged into the end of the second adapter away from the drive box in the first direction, and the second adapter and the third adapter can transmit torque to each other in the plugged state.

[0016] It is further defined that in the above-mentioned surgical instrument quick-change device, the first adapter is provided with a first adapter groove at one end close to the isolating member, and the second adapter is provided with a first adapter protrusion at one end close to the driving box, and the first adapter protrusion can be plugged into the first adapter groove on the first adapter at a corresponding position and transmit torque;

[0017] And / or the second adapter is provided with a second adapter protrusion at one end away from the drive box, and the third adapter is provided with a second adapter groove at one end close to the isolation element, and the second adapter groove can be plugged with the second adapter protrusion on the second adapter at the corresponding position to transmit torque.

[0018] It is further defined that in the above-mentioned surgical instrument quick-change device, the isolation member comprises an isolation plate body and a floating plate disposed on the isolation plate body;

[0019] Wherein, the floating plate can move in a first direction relative to the isolation plate body, and the second adapter is disposed through the floating plate and can rotate relative to the floating plate;

[0020] The technical effect lies in that the floating plate is movably arranged on the isolating member, and during the installation process of the isolating member and the instrument box, the telescopic state of the first adapter can be changed by the position change of the floating plate, thereby reflecting the plug-in matching state of the second adapter and the third adapter, and the first adapter and the second adapter are controlled to rotate synchronously based on the telescopic change state of the first adapter, so as to realize the adjustment of the circumferential matching position of the second adapter and the third adapter, and then realize the automatic alignment of the second adapter and the third adapter, and during the installation process of the drive box, the isolating member and the instrument box, the first adapter, the second adapter and the third adapter can be automatically aligned by monitoring the telescopic state and adjusting the rotation of the first adapter at the same time, without manual adjustment, thereby further improving the overall installation efficiency of the device.

[0021] It is further defined that in the above-mentioned surgical instrument quick-change device, a movable cavity for accommodating the floating plate is provided through the isolation plate body, and a floating adjustment groove is provided on the inner wall of the movable cavity;

[0022] A sliding ear is fixedly arranged on the floating plate at a position corresponding to the floating adjustment groove, and the sliding ear is slidably arranged in the floating adjustment groove along a first direction.

[0023] It is further defined that in the above-mentioned surgical instrument quick-change device, the side end of the isolation member away from the driving box can be plugged with the instrument box in the second direction, and the displacement of the instrument box relative to the isolation member in the first direction is restricted when the isolation member and the instrument box are plugged together;

[0024] A positioning protrusion is fixedly provided on the end surface of the instrument box close to the driving box, and a guide groove capable of slidingly connecting with the positioning protrusion is provided on the end surface of the isolating member away from the driving box, wherein the guide groove extends along the second direction and one end of the guide groove is connected to the movable cavity and the other end of the guide groove is connected to the outer surface of the isolating member;

[0025] A receiving groove is provided on the end surface of the floating plate of the isolation member away from the driving box and located in the extending direction of the guide groove;

[0026] The second direction is specifically set to any direction on the axial vertical plane of the first adapter; during the insertion process of the isolation member and the instrument box, the positioning protrusion can abut against the floating plate so that the second adapter and the third adapter maintain a distance in the first direction; after the isolation member and the instrument box are inserted, the positioning protrusion can be engaged with the receiving groove;

[0027] The technical effect is that the isolation piece and the instrument box are plugged in and matched in the second direction, and the floating plate is supported by the positioning protrusion during the plug-in matching process, so that the second adapter and the third adapter maintain a distance in the first direction, avoiding interference during the installation of the isolation piece and the instrument box.

[0028] It is further defined that in the above-mentioned surgical instrument quick-change device, guide grooves parallel to the guide grooves are respectively provided on the isolation plate body of the isolation member at corresponding positions on both sides of the floating plate;

[0029] Two clamping protrusions are fixedly provided on the instrument box at positions corresponding to the two guide grooves, and the two clamping protrusions can be respectively plugged into the guide grooves at corresponding positions in the second direction;

[0030] Wherein, inner walls on both sides of the guide groove in the first direction can abut against corresponding side end surfaces of the clamping protrusion.

[0031] It is further defined that the above-mentioned surgical instrument quick-change device further includes an unlocking component for releasing the plug-in state of the second adapter and the third adapter;

[0032] The unlocking assembly includes a control member and a push member which is arranged on an end surface of the instrument box close to the isolating member and can be extended and retracted along a first direction;

[0033] The control member is coupled to the push member and can control the push member to extend toward a side close to the driving box to push against the floating plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the structure of a surgical instrument quick-change device according to an embodiment of the present application;

[0035] Figure 2 This is a schematic diagram of the installation of the "drive box 100" and the "isolator 200" in the surgical instrument quick-change device according to an embodiment of the present application;

[0036] Figure 3 This is a schematic diagram of the structure explosion of the "drive box 100" in the surgical instrument quick-change device of the embodiment of the present application after the "cover 110" is hidden;

[0037] Figure 4 This is a schematic structural diagram of the "bottom plate 130" part of the surgical instrument quick-change device according to an embodiment of the present application;

[0038] Figure 5 This is a schematic structural diagram of the "mounting plate 120" portion of the surgical instrument quick-change device in the embodiment of the present application;

[0039] Figure 6 This is a schematic diagram of the structure of the "drive box 100" in the surgical instrument quick-change device of the embodiment of the present application after the "bottom plate 130" is hidden;

[0040] Figure 7 This is a schematic diagram of the structure explosion of the "elastic adapter assembly" in the surgical instrument quick-change device of the embodiment of the present application;

[0041] Figure 8 This is a structural cross-sectional view of the "elastic adapter assembly" in the surgical instrument quick-change device of the embodiment of the present application;

[0042] Fig. 9 This is a structural schematic diagram of the “first adapter 151” in the surgical instrument quick-change device according to an embodiment of the present application;

[0043] Fig.10 This is a structural schematic diagram of the “first adapter 151” in the surgical instrument quick-change device according to an embodiment of the present application;

[0044] Fig.11 This is a schematic diagram of the structure explosion of the "isolation element 200" in the surgical instrument quick-change device according to an embodiment of the present application;

[0045] Fig.12 This is a schematic diagram of the structure explosion of the "isolation element 200" in the surgical instrument quick-change device according to an embodiment of the present application;

[0046] Fig.13 This is a schematic diagram of the installation of the "second adapter 240" and "base plate 250" in the surgical instrument quick-change device of the embodiment of the present application;

[0047] Fig.14 This is a schematic diagram of the structure of the "instrument box 300" in the surgical instrument quick-change device of the embodiment of the present application;

[0048] Fig.15 This is a schematic diagram of the structure of the "instrument box 300" in the surgical instrument quick-change device of the embodiment of the present application after the "loading and unloading plate 310" is hidden.

[0049] Reference numerals

[0050] Drive box-100, cover-110, mounting plate-120, bottom plate-130, limit baffle-131, clamping hole-132, first adapter-151, adapter-1511, transmission gear-1512, center through hole-1513, mounting groove-1514, screw hole-1515, first adapter groove-1516, limiter-152, fastening bolt-153, elastic member-154, center axis-155, bearing member-156, clamping ring-157, induction head-158, flat groove-159, motor-160, driving gear-161, displacement sensor-170, isolation member-200, connecting plate-210, button-211, clamping plate-212, first floating groove-2 13. Guide groove 214, sleeve plate 220, guide groove 221, second floating groove 222, limiting plate 230, accommodating groove 231, embedding hole 232, second adapter 240, adapter body 241, second adapter protrusion 242, first adapter protrusion 243, limiting protrusion 244, base plate 250, mounting hole 251, sliding ear 252, positioning step 253, instrument box 300, loading and unloading plate 310, card protrusion 311, instrument frame 320, control member 330, pressing part 331, tilting top part 332, pushing member 340, positioning protrusion 350, third adapter 360, second adapter groove 361, instrument rod 400. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0052] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0053] The surgical instrument quick-change device provided in the embodiment of the present application is described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0054] like Figures 1 to 15As shown, an embodiment of the present application provides a surgical instrument quick-change device, including a drive box 100, an isolation member 200 that is clamped with the drive box 100 in a first direction, and an instrument box 300 that is detachably connected to the isolation member 200, and an instrument rod 400 is installed on the instrument box 300.

[0055] A first adapter 151 connected to a rotating drive assembly is elastically and retractably provided on the end surface of the drive box 100 near the isolation member 200, and a second adapter 240 capable of cooperating and plugging with the first adapter 151 in a first direction is provided on the end surface of the isolation member 200 near the drive box 100 at a position corresponding to the first adapter 151. The first adapter 151 and the second adapter 240 can transmit torque to each other in the plugged-in state.

[0056] Among them, the first direction is specifically set to the axial direction of the first adapter 151. When the driving box 100 and the isolation member 200 are not connected, the first adapter 151 is in an extended state due to the elastic force it is subjected to. The driving box 100 is also provided with a sensing unit for monitoring the extension and retraction state of the first adapter 151.

[0057] It can be understood that when the isolation member 200 is snap-fitted and installed with the drive box 100 in the first direction, the first adapter 151 is plugged into the second adapter 240 at the corresponding position. During the snap-fitting process of the drive box 100 and the isolation member 200, if the first adapter 151 is not aligned with the second adapter 240 at the corresponding position in the plug-in direction, the second adapter 240 will contact the first adapter 151, thereby driving the first adapter 151 to overcome the elastic force it receives and retract. After the sensing unit detects that the first adapter 151 is in the retracted state, the first adapter 151 is driven to rotate by the rotating drive assembly. When the first adapter 151 is rotated to be aligned with the second adapter 240 at the corresponding position in the plug-in direction, the first adapter 151 can be extended under the action of the elastic force it receives and plugged into the second adapter 240. The sensing unit detects that the first adapter 151 is in the extended state and then turns off the rotating drive assembly.

[0058] In an embodiment of the present application, a surgical instrument quick-change device as described above is adopted, and the drive box 100 and the isolation member 200 are installed by snap-fitting, and at the same time, the first adapter 151 can be elastically and telescopically arranged on the drive box 100. During the installation process of the drive box 100 and the isolation member 200, the plug-in fitting state of the first adapter 151 and the second adapter 240 is reflected by the change in the telescopic state of the first adapter 151, and the rotation adjustment of the first adapter 151 and the circumferential fitting position of the second adapter 240 are controlled based on the telescopic change state of the first adapter 151, thereby realizing automatic alignment of the first adapter 151 and the second adapter 240, and can greatly improve the installation efficiency of the drive box 100 and the isolation member 200 while ensuring the transmission fitting accuracy between the first adapter 151 and the second adapter 240.

[0059] In a preferred embodiment, Figures 2 to 6 , Figures 11 to 13 As shown, a plurality of first adapters 151 are elastically and telescopically provided on the driving box 100 , and a plurality of second adapters 240 are provided on the isolation member 200 . The plurality of second adapters 240 and the plurality of first adapters 151 correspond to each other in position and can be plugged in and matched.

[0060] It is understandable that the sensing unit can monitor the telescopic states of the plurality of first adapters 151 respectively, and based on the telescopic states of the first adapters 151, individually control the rotation of the first adapters 151 at corresponding positions through the rotation drive assembly.

[0061] In a preferred embodiment, Figure 3 , Figure 4 , Figures 6 to 13 As shown, the first adapter 151 is provided with a first adapter groove 1516 at one end close to the isolation member 200, and the second adapter 240 is provided with a first adapter protrusion 243 at one end close to the drive box 100 that can cooperate with the first adapter groove 1516 on the corresponding position of the first adapter 151 and transmit torque.

[0062] It can be understood that in order to ensure the torque transmission between the first adapter 151 and the second adapter 240, the first adapter groove 1516 cannot be set as a rotational groove coaxial with the first adapter 151. It can be set as a square groove, a pentagonal groove, a special-shaped groove or other groove types that can abut against the first adapter protrusion 243 in the circumferential direction of the first adapter 151. As long as the torque transmission between the first adapter 151 and the second adapter 240 can be achieved, it will not be elaborated here.

[0063] It is understandable that the plug-in fit between the first adapter 151 and the second adapter 240 is not limited to the above-mentioned one. For example, the first adapter protrusion 243 can be set on the first adapter 151, and the first adapter groove 1516 can be set on the second adapter 240. As long as the plug-in fit between the first adapter 151 and the second adapter 240 can be achieved, it will not be elaborated here.

[0064] In a preferred embodiment, Figures 1 to 6 As shown, the drive box 100 includes a mounting plate 120, a cover shell 110 fixedly disposed on the end surface of the mounting plate 120 away from the isolation member 200, and a bottom plate 130 fixedly disposed on the end surface of the mounting plate 120 close to the isolation member 200.

[0065] The first adapter 151 is disposed through the bottom plate 130 and can be elastically retracted relative to the bottom plate 130 .

[0066] In a preferred embodiment, Figure 2 , Fig.11 , Fig.12 As shown, the isolation member 200 includes an isolation plate body and a floating plate disposed on the isolation plate body, and the second adapter 240 is disposed through the floating plate and can rotate relative to the floating plate.

[0067] In a preferred embodiment, Figure 3 , Figure 4 , Fig.11 , Fig.12 As shown, a plurality of clamping holes 132 are provided on the end surface of the bottom plate 130 close to the isolation member 200, and a plurality of clamping plates 212 are fixedly provided on the isolation plate body at positions corresponding to the plurality of clamping holes 132, and the plurality of clamping plates 212 can be respectively clamped with the clamping holes 132 at corresponding positions.

[0068] It is understandable that the snap-fitting form between the drive box 100 and the isolation member 200 is not limited to the above-mentioned one. For example, the snap-fitting hole 132 can be set on the isolation plate body, and the snap-fitting plate 212 can be set on the bottom plate 130. As long as the snap-fitting of the drive box 100 and the isolation member 200 in the first direction can be achieved, it will not be elaborated here.

[0069] In a preferred embodiment, the isolation plate body includes a connecting plate 210 and a sleeve plate 220 fixedly arranged on the end face of the connecting plate 210 away from the driving box 100, and the floating plate can move in a first direction relative to the connecting plate 210 and the sleeve plate 220. A third adapter 360 coupled to the instrument rod 400 is rotatably provided on the end face of the instrument box 300 close to the isolation member 200 at a corresponding position of the second adapter 240.

[0070] The third adapter 360 can be plugged in with the end of the second adapter 240 away from the driving box 100 in the first direction, and the second adapter 240 and the third adapter 360 can transmit torque to each other in the plugged state.

[0071] It can be understood that when the isolation member 200 and the driving box 100 are engaged and the first adapter 151 is plugged into the second adapter 240 at the corresponding position, when the instrument box 300 is installed on the isolation member 200, if the third adapter 360 and the second adapter 240 at the corresponding position are not aligned in the plugging direction, the third adapter 360 will conflict with the second adapter 240, thereby driving the floating plate to move relative to the connecting plate 210 and the sleeve plate 220 toward the side close to the driving box 100, and then driving the first adapter 151 to overcome its own elastic force and retract through the second adapter 240. After the sensing unit detects that the first adapter 151 is in the retracted state, The rotating drive assembly drives the first adapter 151 and the second adapter 240 to rotate synchronously. When the second adapter 240 rotates to be aligned with the corresponding position of the third adapter 360 in the plug-in direction, the first adapter 151 can be extended under the action of the elastic force on itself and drive the floating plate to move relative to the connecting plate 210 and the sleeve plate 220 to the side away from the drive box 100 and reset through the second adapter 240. The sensing unit detects that the first adapter 151 is in the extended state and then turns off the rotating drive assembly. At this time, when the first adapter 151 rotates, it can drive the second adapter 240 and the third adapter 360 to rotate synchronously, thereby realizing the drive control of the instrument rod 400.

[0072] In an embodiment of the present application, a surgical instrument quick-change device as described above is adopted, and a floating plate is movably arranged on the isolation member 200. During the installation process of the isolation member 200 and the instrument box 300, the telescopic state of the first adapter 151 can be driven to change through the position change of the floating plate, thereby reflecting the plug-in matching state of the second adapter 240 and the third adapter 360. Based on the telescopic change state of the first adapter 151, the first adapter 151 and the second adapter 240 are controlled to rotate synchronously, so that the second adapter 240 and the third adapter 360 can be adjusted in the circumferential matching position, thereby realizing automatic alignment of the second adapter 240 and the third adapter 360. During the installation process of the drive box 100, the isolation member 200, and the instrument box 300, the first adapter 151, the second adapter 240, and the third adapter 360 can be automatically aligned by monitoring the telescopic state of the first adapter 151 and adjusting the rotation, without manual adjustment, thereby further improving the overall installation efficiency of the device.

[0073] In a preferred embodiment, Figures 2 to 6 , Figures 11 to 15As shown, a plurality of third adapters 360 are provided on the instrument box 300 , and the plurality of third adapters 360 correspond to the plurality of second adapters 240 in position and can be plugged in and matched with each other.

[0074] It can be understood that when the instrument box 300 is installed on the isolation member 200, as long as one of the third adapters 360 is not aligned with the second adapter 240 at the corresponding position, the floating plate will drive all the second adapters 240 to move synchronously toward the side close to the drive box 100, that is, all the first adapters 151 will be converted to a retracted state under the push of the second adapter 240. After the sensing unit detects that the first adapter 151 is in the retracted state, it drives all the first adapters 151 and the second adapters 240 to rotate synchronously until all the second adapters 240 are aligned with the third adapter 360.

[0075] In a preferred embodiment, Figures 11 to 15 As shown, the second adapter 240 is provided with a second adapter protrusion 242 at one end away from the drive box 100, and the third adapter 360 is provided with a second adapter groove 361 at one end close to the isolation member 200, which can cooperate with the second adapter protrusion 242 on the corresponding position of the second adapter 240 and transmit torque.

[0076] It can be understood that in order to ensure the torque transmission between the second adapter 240 and the third adapter 360, the second adapter groove 361 cannot be set as a rotational groove coaxial with the third adapter 360. It can be set as a square groove, a pentagonal groove, a special-shaped groove or other groove types that can abut against the second adapter 240 in the circumferential direction of the third adapter 360. As long as the torque transmission between the third adapter 360 and the second adapter 240 can be achieved, it will not be elaborated here.

[0077] It is understandable that the plug-in fit between the second adapter 240 and the third adapter 360 is not limited to the above-mentioned one. For example, the second adapter groove 361 can be set on the second adapter 240, and the second adapter protrusion 242 can be set on the third adapter 360. As long as the plug-in fit between the third adapter 360 and the second adapter 240 can be achieved, it will not be elaborated here.

[0078] In a preferred embodiment, Figure 1 , Figure 2 , Fig.11 , Fig.12 As shown, the connecting plate 210 and the sleeve plate 220 are provided with a movable cavity for accommodating the floating plate.

[0079] A plurality of first floating grooves 213 are provided on the end surface of the connecting plate 210 close to the sleeve plate 220 along the edge of the active cavity, and a plurality of second floating grooves 222 are provided on the end surface of the sleeve plate 220 close to the connecting plate 210 at positions corresponding to the plurality of first floating grooves 213. The first floating grooves 213 and the second floating grooves 222 are respectively connected to the active cavity.

[0080] Among them, a plurality of sliding ears 252 are fixedly provided on the floating plate at corresponding positions of the plurality of first floating grooves 213 and the second floating grooves 222. When the connecting plate 210 and the sleeve plate 220 are connected, the first floating groove 213 and the corresponding second floating groove 222 are buckled together to form a floating adjustment groove. The floating plate is located in the active cavity and the sliding ears 252 are slidably arranged in the floating adjustment groove at the corresponding position along the first direction.

[0081] It is understandable that in order to ensure the stability of the movement of the floating plate relative to the connecting plate 210 in the first direction, at least two of the plurality of first floating grooves 213 are located at the inner walls on opposite sides of the movable cavity.

[0082] Of course, if the floating plate and the movable cavity are slidably matched, the number of the first floating groove 213 and the second floating groove 222 can be set to at least one, and their setting positions can be unrestricted. At this time, the sliding match between the floating adjustment groove and the sliding ear 252 is only used to limit the movable stroke of the floating plate relative to the connecting plate 210.

[0083] In a preferred embodiment, Figure 2 , Figures 11 to 13 As shown, the floating plate includes a base plate 250 and a limiting plate 230 fixedly disposed on an end surface of the base plate 250 away from the driving box 100 .

[0084] The second adapter 240 is disposed through the base plate 250 and the limiting plate 230 and can rotate along its own axis relative to the base plate 250 and the limiting plate 230 .

[0085] In a preferred embodiment, Figures 11 to 13 As shown, a mounting hole 251 is formed on the base plate 250 at a position corresponding to the first adapter 151 , a positioning step 253 is formed on the inner wall of the mounting hole 251 , and an embedding hole 232 is formed on the limiting plate 230 at a position corresponding to the mounting hole 251 .

[0086] The second adapter 240 includes an adapter body 241, a second adapter protrusion 242, a first adapter protrusion 243, and a limiting protrusion 244. The adapter body 241 is fixedly arranged on the end face of the adapter body 241 away from the drive box 100, the first adapter protrusion 243 is fixedly arranged on the end face of the adapter body 241 close to the drive box 100, and the limiting protrusion 244 is fixedly arranged on the outer peripheral surface of the adapter body 241.

[0087] Among them, the adapter body 241 is penetrated into the mounting hole 251 and the embedding hole 232 and is gap-matched with the mounting hole 251 and the embedding hole 232. The aperture of the embedding hole 232 is smaller than the outer diameter of the limiting protrusion 244. The end face of the limiting protrusion 244 close to the drive box 100 can abut against the end of the positioning step 253 away from the drive box 100, and the end face away from the drive box 100 can abut against the end face of the limiting plate 230 close to the drive box 100.

[0088] It is understandable that the second adapter 240 can be installed and limited on the base plate 250 and the limit plate 230 through the interference cooperation between the limit protrusion 244 and the positioning step 253 and the limit plate 230, while meeting the requirement of the second adapter 240 rotating relative to the floating plate.

[0089] It is understandable that the installation form of the second adapter 240 on the floating plate is not limited to the above-mentioned one. For example, the second adapter 240 can be rotatably connected to the floating plate through a bearing member, but the component cost will increase. On the other hand, when the third adapter 360 drives the floating plate as a whole to move toward the side close to the drive box 100 through the second adapter 240, and the rotating drive assembly drives the first adapter 151 and the second adapter 240 to rotate synchronously, since the limiting protrusion 244 can float slightly along the first direction in the mounting hole 251, the second adapter 240 and the third adapter 360 at the corresponding position can be directly pre-plugged under the push of the first adapter 151 after being aligned. When all the second adapters 240 and the third adapters 360 have completed the pre-plugging, the floating plate will be reset under the push of the first adapter 151.

[0090] In a preferred embodiment, Figures 11 to 13 As shown, the sliding ear 252 is fixedly disposed on the base plate 250 and can slide in the floating adjustment slot along a first direction.

[0091] In a preferred embodiment, Fig.11 , Fig.12 As shown, two buttons 211 are symmetrically and fixedly provided on the end surface of the connecting plate 210 away from the driving box 100 with respect to the floating plate.

[0092] A slot is formed on the cover plate 220 at a position corresponding to the button 211 , and the button 211 can pass through the slot at the corresponding position and be snap-fitted with the cover plate 220 .

[0093] In a preferred embodiment, Fig.11 , Fig.12 As shown, an unlocking notch is provided on the cover plate 220 at a position corresponding to the button 211 , and an operator can press the button 211 at the unlocking notch to release the engagement between the button 211 and the cover plate 220 .

[0094] It can be understood that since the first floating groove 213 on the connecting plate 210 and the second floating groove 222 on the sleeve plate 220 need to be buckled to form a floating adjustment groove, the connecting plate 210 and the sleeve plate 220 adopt a snap-fit ​​fit to improve the installation efficiency of the connecting plate 210 and the sleeve plate 220. At the same time, the connection method between the connecting plate 210 and the sleeve plate 220 is not limited to the above-mentioned one. For example, other detachable installation structures such as bolt connection and buckle connection can be adopted between the two. As long as the detachable connection between the connecting plate 210 and the sleeve plate 220 can be achieved, it will not be elaborated here.

[0095] In a preferred embodiment, Figure 1 , Fig.14 , Fig.15 As shown, the instrument box 300 includes a loading and unloading plate 310 and an instrument rack 320 fixedly arranged on an end surface of the loading and unloading plate 310 away from the driving box 100 .

[0096] The third adapter 360 penetrates the loading and unloading plate 310 and can rotate along its own axis relative to the loading and unloading plate 310 .

[0097] In a preferred embodiment, Figure 2 , Fig.14 , Fig.15 As shown, the instrument box 300 can be plugged into the side end of the isolation member 200 away from the driving box 100 in the second direction.

[0098] A positioning protrusion 350 is fixedly provided on the end surface of the instrument frame 320 close to the driving box 100, and a guide groove 221 that can be slidably connected to the positioning protrusion 350 is provided on the end surface of the isolation member 200 away from the driving box 100. The guide groove 221 extends along the second direction and one end is connected to the active cavity and the other end is connected to the outer surface of the isolation member 200.

[0099] An accommodating groove 231 is provided on an end surface of the floating plate away from the driving box 100 and located in the extending direction of the guiding groove 221 .

[0100] Among them, the second direction is specifically set to any direction on the axial vertical plane of the first adapter 151. When the isolation member 200 and the instrument box 300 are plugged in, the positioning protrusion 350 can be embedded in the accommodating groove 231, and the displacement of the instrument box 300 relative to the isolation member 200 in the first direction is limited.

[0101] It can be understood that when the instrument box 300 and the isolation member 200 are plugged in the second direction, the positioning protrusion 350 slides to the corresponding position of the active cavity through the guide groove 221. As the positioning protrusion 350 continues to move, the positioning protrusion 350 will abut against the end face of the floating plate away from the side of the driving box 100, so that the second adapter 240 and the third adapter 360 are not plugged in temporarily. When the positioning protrusion 350 moves to the position of the accommodating groove 231, the floating plate loses its abutment and moves in a direction away from the side of the driving box 100 under the action of the elastic force exerted on the first adapter 151. At this time, the second adapter 240 and the third adapter 360 cooperate to be plugged in. If the second adapter 240 If the third adapter 360 at the corresponding position is misaligned in the circumferential direction, the abutment of the third adapter 360 on the second adapter 240 drives the first adapter 151 at the corresponding position to overcome its own elastic force and retract. After the sensing unit detects that the first adapter 151 is in the retracted state, the rotation driving assembly drives the first adapter 151 and the second adapter 240 to rotate synchronously until the second adapter 240 and the third adapter 360 at the corresponding position are aligned in the circumferential direction. When all the second adapters 240 and the third adapters 360 are connected, the floating plate is reset under the push of the first adapter 151. At this time, the positioning protrusion 350 is completely embedded in the accommodating groove 231.

[0102] In an embodiment of the present application, the above-mentioned surgical instrument quick-change device is adopted, and the isolation member 200 and the instrument box 300 are plugged together in the second direction. At the same time, the floating plate is supported by the positioning protrusion 350 during the plug-in and mating process, so that the second adapter 240 and the third adapter 360 maintain a distance in the first direction, avoiding interference during the installation process of the isolation member 200 and the instrument box 300.

[0103] It is understandable that when the positioning protrusion 350 lifts the floating plate, since all the first adapters 151 are in a retracted state at this time, and the second adapter 240 and the third adapter 360 maintain a distance in the first direction, it is meaningless for the rotation drive assembly to drive the first adapter 151 and the second adapter 240 to rotate synchronously at this time. Therefore, at this stage, the rotation drive assembly can be set to not work. After the instrument box 300 is plugged in, the rotation drive assembly will perform rotation adjustment of the first adapter 151 and the second adapter 240 based on the telescopic state of the first adapter 151.

[0104] In a preferred embodiment, Figure 2 , Fig.12 As shown, the guide groove 221 is arranged on the sleeve plate 220 , and the receiving groove 231 is arranged on the limiting plate 230 .

[0105] In a preferred embodiment, Figure 2 , Fig.12 , Fig.14 , Fig.15 As shown, the button 211 is parallel to the guide groove 221 , and a guide groove 214 parallel to the guide groove 221 is respectively provided on the end surface of the two buttons 211 close to the symmetry axis.

[0106] Two locking protrusions 311 are fixedly disposed on the loading and unloading plate 310 at positions corresponding to the two guide slots 214 . The two locking protrusions 311 can be respectively plugged into the guide slots 214 at corresponding positions in the second direction.

[0107] It is understandable that when the protrusion 311 is plugged into the guide groove 214, the inner walls on both sides of the guide groove 214 in the first direction can abut against the corresponding side end faces of the protrusion 311, thereby limiting the movement of the instrument box 300 relative to the isolation member 200 in the first direction.

[0108] In a preferred embodiment, Figures 2 to 4 As shown, a limit baffle 131 is fixedly provided on the bottom plate 130 , and when the instrument box 300 and the isolation member 200 are plugged in, the limit baffle 131 can contact the instrument box 300 to limit the instrument box 300 in the second direction.

[0109] In a preferred embodiment, it also includes an unlocking component for releasing the plug-in state of the second adapter 240 and the third adapter 360.

[0110] In a preferred embodiment, Fig.14 , Fig.15 As shown, the unlocking assembly includes a manipulation member 330 and a push member 340 which is arranged on an end surface of the instrument box 300 close to the isolation member 200 and can be extended and retracted along a first direction.

[0111] Among them, the control member 330 is coupled with the push member 340 and can control the push member 340 to extend toward the side close to the drive box 100. When the isolation member 200 and the instrument box 300 are connected, the push member 340 extends to push the floating plate to move away from the instrument box 300.

[0112] It is understandable that when the pusher 340 extends and lifts the floating plate, the positioning protrusion 350 disengages from the accommodating groove 231, and the second adapter 240 and the third adapter 360 are unplugged. At this time, the instrument box 300 can move along the second direction and unplug from the isolation member 200.

[0113] It is understandable that when the lifting member 340 lifts the floating plate, since all the first adapters 151 are in a retracted state and the second adapter 240 and the third adapter 360 maintain a distance in the first direction, it is meaningless for the rotating drive component to drive the first adapter 151 and the second adapter 240 to rotate synchronously. Therefore, at this stage, the rotating drive component can also be set to not work, thereby reducing energy loss.

[0114] In a preferred embodiment, Fig.14 , Fig.15 As shown, the control member 330 is fixedly connected to the instrument frame 320 and can swing relative to the instrument frame 320 . The control member 330 includes a pressing portion 331 and a tilting portion 332 fixedly connected to the pressing portion 331 .

[0115] Among them, the end of the lift-up top portion 332 close to the driving box 100 can abut against the end of the lifting member 340 away from the driving box 100. Pressing or pulling the pressing portion 331 can drive the lift-up top portion 332 to swing toward the side close to the driving box 100 and lift the lifting member 340, thereby realizing the disengagement between the second adapter 240 and the third adapter 360 and the release of the engagement between the positioning protrusion 350 and the accommodating groove 231.

[0116] In a preferred embodiment, the setting form of the unlocking component is not limited to the above-mentioned one. For example, a guide slope can be set on the inner wall of the accommodating groove 231 on the side close to the guide groove 221. When the instrument box 300 and the isolation member 200 are unplugged, the positioning protrusion 350 can be directly disengaged from the accommodating groove 231 along the guide slope, and then the floating plate is lifted to release the plug-in between the second adapter 240 and the third adapter 360.

[0117] It is understandable that due to the provision of a guide slope on the inner wall of the accommodating groove 231, the embedding stability of the positioning protrusion 350 in the accommodating groove 231 will be reduced, that is, the isolation member 200 and the instrument box 300 may be separated under the action of gravity or vibration. In order to avoid this situation, a controllable limiting structure can be further provided between the isolation member 200 and the instrument box 300 to ensure the connection reliability between the isolation member 200 and the instrument box 300.

[0118] In a preferred embodiment, Figure 3 , Figure 5 , Figure 7 , Figure 8 As shown, the sensing unit includes a displacement sensor 170 fixedly disposed on the mounting plate 120 and located at a position corresponding to the first adapter 151 , and a sensing head 158 fixedly connected to an end of the first adapter 151 away from the isolation member 200 .

[0119] It can be understood that when the first adapter 151 elastically expands and contracts relative to the mounting plate 120, the distance between the sensing head 158 and the displacement sensor 170 in the first direction changes. The displacement sensor 170 and the sensing head 158 cooperate to monitor the distance change between the two, thereby determining the expansion and contraction state of the first adapter 151.

[0120] It is understandable that the configuration of the sensing unit is not limited to the above-mentioned one. For example, a travel switch can be directly set at the end point of the telescopic travel of the first adapter 151. As long as the telescopic state of the first adapter 151 can be monitored, it will not be elaborated here.

[0121] In a preferred embodiment, Figure 3 , Figures 5 to 10 As shown, the rotation driving assembly includes a motor 160 fixedly mounted on the end surface of the mounting plate 120 away from the bottom plate 130. The motor 160 is located at a position corresponding to the first adapter 151 and a driving gear 161 is fixedly mounted on the power output end.

[0122] The first adapter 151 is fixedly provided with a transmission tooth portion 1512 meshing with the driving gear 161 at a corresponding position. The meshing stroke of the transmission tooth portion 1512 and the driving gear 161 in the first direction is greater than the elastic telescopic stroke of the first adapter 151 .

[0123] It can be understood that when the motor 160 is started, the transmission tooth portion 1512 can be driven to rotate through the driving gear 161, thereby realizing the rotational drive of the first adapter 151. Since the meshing stroke of the transmission tooth portion 1512 and the driving gear 161 in the first direction is greater than the elastic extension stroke of the first adapter 151, when the first adapter 151 is elastically extended relative to the mounting plate 120, the transmission tooth portion 1512 can always maintain a meshing state with the driving gear 161, thereby ensuring the reliability of the rotational drive assembly for the first adapter 151.

[0124] In a preferred embodiment, Figures 3 to 6 As shown, the power output end of the motor 160 extends to the cavity between the mounting plate 120 and the bottom plate 130 , and the driving gear 161 is fixedly disposed on the power output end of the motor 160 and is located in the cavity between the mounting plate 120 and the bottom plate 130 .

[0125] The first adapter 151 passes through the bottom plate 130 and the transmission gear portion 1512 is located in a cavity between the mounting plate 120 and the bottom plate 130 .

[0126] It can be understood that by arranging the driving gear 161 and the transmission tooth portion 1512 in the cavity between the mounting plate 120 and the bottom plate 130, the transmission components can be hidden, thereby improving the neatness of the device.

[0127] like Figures 3 to 10 As shown, an embodiment of the present application provides an elastic transition structure for use in the surgical instrument quick-change device in the above embodiment, including a first transition member 151 penetratingly disposed on the base plate 130 and an elastic unit connected to the first transition member 151 .

[0128] The elastic unit includes a central shaft 155 rotatably connected to the housing 110 via a bearing 156 , and the first adapter 151 is slidably disposed on the central shaft 155 .

[0129] A circumferential limiting unit and an elastic unit are disposed between the first adapter 151 and the central axis 155 .

[0130] It can be understood that since a circumferential limit unit is provided between the first adapter 151 and the center axis 155, the center axis 155 can drive the first adapter 151 to rotate synchronously when it rotates, or the first adapter 151 can drive the center axis 155 to rotate synchronously when it rotates. At the same time, when the first adapter 151 is subjected to an axial thrust along the center axis 155, the elastic unit can accumulate elastic potential energy, and when the external force applied to the first adapter 151 is released, it can be reset under the elastic force of the elastic unit.

[0131] In a preferred embodiment, Figure 7 , Figure 8 As shown, an outer convex portion is fixedly provided on the outer circumferential surface of the central shaft 155 , and the elastic unit is specifically configured as an elastic member 154 sleeved on the central shaft 155 .

[0132] One end of the elastic member 154 abuts against an end surface of one side of the outer protrusion close to the first adapter 151 , and the other end abuts against a corresponding end of the first adapter 151 .

[0133] It is understandable that when the first adapter 151 slides on the central axis 155 , the elastic member 154 can accumulate elastic potential energy and provide elastic force for the first adapter 151 to return to its original position.

[0134] In a preferred embodiment, the elastic member 154 is specifically configured as a spring.

[0135] It is understandable that the setting form of the elastic unit is not limited to the above-mentioned one. For example, an elastic rubber or a retaining spring can also be set between the outer protrusion and the first adapter 151. As long as the elastic sliding of the first adapter 151 on the central axis 155 can be achieved, it will not be elaborated here.

[0136] In a preferred embodiment, Figure 7 , Figure 8 As shown, a plurality of bearing members 156 are arranged on the central axis 155 in an axial array along the central axis 155 .

[0137] The bearing member 156 on the side closest to the first adapter member 151 abuts against the corresponding side end surface of the outer protrusion, and a retaining ring 157 for limiting the bearing member 156 is fixedly provided on the central shaft 155 .

[0138] It is understandable that the retaining ring 157 can abut against the end of the bearing member 156 , thereby achieving the fixation of the relative position between the bearing member 156 and the central shaft 155 .

[0139] In a preferred embodiment, Figure 7 , Figure 8 As shown, a sensing head 158 is embedded at one end of the central axis 155 away from the first adapter 151 .

[0140] In a preferred embodiment, Figures 7 to 10 As shown, the first adapter 151 includes an adapter portion 1511 and a transmission tooth portion 1512 fixedly disposed at one end of the adapter portion 1511 . A central through hole 1513 slidably connected to the central shaft 155 is formed on the adapter portion 1511 and the transmission tooth portion 1512 along the central axis.

[0141] A first adapter groove 1516 is provided on an end surface of the adapter portion 1511 away from the transmission tooth portion 1512 . The first adapter groove 1516 is radially arranged along the adapter portion 1511 and penetrates the outer peripheral surface of the adapter portion 1511 .

[0142] In a preferred embodiment, Figures 7 to 10 As shown, the circumferential limiting unit includes a flat groove 159 arranged on the outer circumference of the central axis 155, a mounting groove 1514 arranged on the outer circumference of the adapter 1511 and communicating with the central through hole 1513, and a limiting member 152 fixedly arranged in the mounting groove 1514.

[0143] The stopper 152 extends to the central through hole 1513 at one end close to the central axis of the first adapter 151 and is slidably connected to the flat groove 159 . The inner walls of the flat groove 159 on both sides of the axial direction of the central axis 155 can respectively abut against the extension of the stopper 152 .

[0144] When the first adapter 151 is not subjected to external thrust, the elastic member 154 has not accumulated elastic potential energy or has elastic potential energy to push the first adapter 151 to move to the side away from the outer protrusion, and the extension portion of the limit member 152 abuts against the inner wall of the flat groove 159 away from the outer protrusion; when the first adapter 151 is subjected to external thrust and the elastic member 154 is compressed, the extension portion of the limit member 152 can abut against the inner wall of the flat groove 159 close to the outer protrusion.

[0145] In the embodiment of the present application, the above-mentioned elastic transition structure is adopted. Through the cooperation of the flat groove 159 and the limit member 152, on the one hand, the relative rotation restriction between the first adapter 151 and the central axis 155 can be realized, and on the other hand, the sliding stroke of the first adapter 151 on the central axis 155 can be limited, thereby ensuring the cooperation stability between the central axis 155 and the first adapter 151.

[0146] It can be understood that the setting form of the circumferential limit unit is not limited to the above-mentioned one. For example, the center shaft 155 can be set to be spline-connected with the first adapter 151, and a limit portion is set at the end point of the spline sliding fit stroke of the first adapter 151 and the center shaft 155. As long as the axial sliding fit and torque transmission between the first adapter 151 and the center shaft 155 can be achieved, it will not be elaborated here.

[0147] In a preferred embodiment, Figures 7 to 10 As shown, a screw hole 1515 is provided on the inner wall of the mounting groove 1514 close to the central through hole 1513 , and the limiting member 152 is threadedly fixedly connected to the screw hole 1515 by a fastening bolt 153 .

[0148] It is understandable that the fixed installation method between the limit member 152 and the first adapter 151 is not limited to the above-mentioned one. For example, the two can also be set as a snap-on or buckle structure. As long as the fixed installation of the limit member 152 on the first adapter 151 can be achieved, it will not be elaborated here.

[0149] The present application also provides a surgical instrument quick-change method, which is applicable to the surgical instrument quick-change device in the above embodiment, comprising:

[0150] S1, clamping the isolation member 200 onto the drive box 100 in a first direction;

[0151] S2, obtaining the telescopic state of the first adapter 151 during the process of the isolating member 200 and the driving box 100 being connected, or after the isolating member 200 and the driving box 100 are connected;

[0152] S3, rotating and driving the first adapter 151 in the retracted state, monitoring the telescopic state of the first adapter 151 during its rotation, and stopping the rotation and driving when the first adapter 151 is converted into the extended state;

[0153] Among them, the first direction is specifically set to the axial direction of the first adapter 151. When the isolation member 200 and the drive box 100 are engaged and the first adapter 151 is in an extended state, the first adapter 151 and the second adapter 240 are in a plug-in state and can transmit torque to each other.

[0154] In an embodiment of the present application, the above-mentioned surgical instrument quick-change method is adopted. During the installation process of the drive box 100 and the isolation member 200, the plug-in matching state of the first adapter 151 and the second adapter 240 is reflected by the change in the telescopic state of the first adapter 151, and the rotation adjustment of the first adapter 151 and the circumferential matching position of the second adapter 240 are controlled based on the telescopic change state of the first adapter 151, thereby realizing automatic alignment of the first adapter 151 and the second adapter 240, avoiding the inefficiency of manual adjustment, and solving the problem of inability to install caused by the inability to align the first adapter 151 and the second adapter 240.

[0155] In a preferred embodiment, step S3 further includes:

[0156] S4, plugging the instrument box 300 onto the isolation member 200 in the second direction;

[0157] S5, obtaining the telescopic state of the first adapter 151 after the instrument box 300 is plugged in;

[0158] S6, rotating and driving the first adapter 151 in the retracted state, monitoring the telescopic state of the first adapter 151 during its rotation, and stopping the rotation and driving when the first adapter 151 is converted into the extended state;

[0159] The second direction is specifically set to any direction on the axial vertical plane of the first adapter 151. When the instrument box 300 is plugged in and the first adapter 151 is in the extended state, the second adapter 240 and the third adapter 360 are in the plugged state and can transmit torque to each other.

[0160] During the insertion process of the instrument box 300 , the floating plate is lifted up by the positioning protrusion 350 . After the insertion of the instrument box 300 is completed, the positioning protrusion 350 is embedded in the receiving groove 231 to release the support for the floating plate.

[0161] In an embodiment of the present application, the above-mentioned surgical instrument quick-change method is adopted. During the installation process of the isolation member 200 and the instrument box 300, the position change of the floating plate drives the change of the telescopic state of the first adapter 151, thereby reflecting the plug-in matching state of the second adapter 240 and the third adapter 360. Based on the telescopic change state of the first adapter 151, the first adapter 151 and the second adapter 240 are controlled to rotate synchronously, so that the second adapter 240 and the third adapter 360 can be adjusted in the circumferential matching position, thereby realizing automatic alignment of the second adapter 240 and the third adapter 360. Not only is the alignment accuracy high, but also no manual adjustment is required, which further improves the overall installation efficiency of the device. At the same time, during the plug-in matching process, the floating plate is supported by the positioning protrusion 350, so that the second adapter 240 and the third adapter 360 maintain a distance in the first direction, avoiding interference during the installation process of the isolation member 200 and the instrument box 300, and ensuring the overall stability of the installation process.

[0162] In a preferred embodiment, step S6 further includes:

[0163] S7, controlling the push member 340 to extend and lift the floating plate through the operating member 330;

[0164] S8, releasing the connection between the instrument box 300 and the isolation member 200 in the second direction;

[0165] When the push member 340 extends out and lifts up the floating plate, the positioning protrusion 350 is disengaged from the receiving groove 231 , and the second adapter 240 and the third adapter 360 are disconnected.

[0166] In a preferred embodiment, step S8 further includes:

[0167] S9, releasing the engagement between the isolation member 200 and the drive box 100 in the first direction.

[0168] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0169] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A surgical instrument quick-change device, characterized in that: It includes a driving box and an isolating member, wherein the isolating member can be engaged with the driving box in a first direction; A first adapter connected to the rotation drive assembly is elastically and telescopically provided on the end surface of the drive box near the isolating member, and a second adapter capable of being plugged into the first adapter in a first direction is provided on the end surface of the isolating member near the drive box at a position corresponding to the first adapter; The driving box is also provided with a sensing unit for monitoring the telescopic state of the first adapter; Wherein, the first adapter and the second adapter can transmit torque to each other in the plug-in state, and the first direction is specifically set to be the axial direction of the first adapter; When the driving box and the isolating member are not connected or connected, the first adapter is in an extended state under the action of the elastic force exerted on the first adapter.

2. A surgical instrument quick-change device according to claim 1, characterized in that: Also included is an instrument box detachably connected to the isolation member; A third adapter coupled to the instrument rod is provided on the end surface of the instrument box close to the isolation piece, which is rotatable about the corresponding position of the second adapter; The third adapter can be plugged into the end of the second adapter away from the drive box in the first direction, and the second adapter and the third adapter can transmit torque to each other in the plugged state.

3. A surgical instrument quick-change device according to claim 2, characterized in that: The first adapter is provided with a first adapter groove at one end close to the isolating member, and the second adapter is provided with a first adapter protrusion at one end close to the driving box, and the first adapter protrusion can be plugged into the first adapter groove on the first adapter at a corresponding position and transmit torque; And / or the second adapter is provided with a second adapter protrusion at one end away from the drive box, and the third adapter is provided with a second adapter groove at one end close to the isolation element, and the second adapter groove can be plugged with the second adapter protrusion on the second adapter at the corresponding position to transmit torque.

4. A surgical instrument quick-change device according to claim 1, characterized in that: The isolation member comprises an isolation plate body and a floating plate arranged on the isolation plate body; The floating plate can move in a first direction relative to the isolation plate body, and the second adapter is disposed through the floating plate and can rotate relative to the floating plate.

5. A surgical instrument quick-change device according to claim 4, characterized in that: The isolation plate body is provided with an active cavity for accommodating the floating plate, and the inner wall of the active cavity is provided with a floating adjustment groove; A sliding ear is fixedly arranged on the floating plate at a position corresponding to the floating adjustment groove, and the sliding ear is slidably arranged in the floating adjustment groove along a first direction.

6. A surgical instrument quick-change device according to any one of claims 2 to 5, characterized in that: The isolating member can be plugged into the instrument box at one end away from the driving box in the second direction, and the displacement of the instrument box relative to the isolating member in the first direction is restricted when the isolating member and the instrument box are plugged together; A positioning protrusion is fixedly provided on the end surface of the instrument box close to the driving box, and a guide groove capable of slidingly connecting with the positioning protrusion is provided on the end surface of the isolating member away from the driving box, wherein the guide groove extends along the second direction and one end of the guide groove is connected to the movable cavity and the other end of the guide groove is connected to the outer surface of the isolating member; A receiving groove is provided on the end surface of the floating plate of the isolation member away from the driving box and located in the extending direction of the guide groove; Among them, the second direction is specifically set to any direction on the axial vertical plane of the first adapter; during the plug-in process of the isolation member and the instrument box, the positioning protrusion can contact the floating plate so that the second adapter and the third adapter maintain a distance in the first direction; after the isolation member and the instrument box are plugged in, the positioning protrusion can be embedded in the accommodating groove.

7. A surgical instrument quick-change device according to claim 6, characterized in that: The isolation plate body of the isolation member is provided with guide grooves parallel to the guide grooves at corresponding positions on both sides of the floating plate; Two clamping protrusions are fixedly arranged on the instrument box at positions corresponding to the two guide grooves, and the two clamping protrusions can be respectively plugged into the guide grooves at corresponding positions in the second direction; Wherein, inner walls on both sides of the guide groove in the first direction can abut against corresponding side end surfaces of the clamping protrusion.

8. A surgical instrument quick-change device according to claim 6, characterized in that: It also includes an unlocking component for releasing the plug-in state of the second adapter and the third adapter; The unlocking assembly includes a control member and a push member which is arranged on an end surface of the instrument box close to the isolation member and can be extended and retracted along a first direction; The control member is coupled to the push member and can control the push member to extend toward a side close to the driving box to push against the floating plate.

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