Mechanical arm quick-change connector and surgical robot
By designing a robotic arm quick change interface with a pure mechanical structure, the lock button is used to realize the axial locking of the robotic arm and the instrument equipped with the instrument, the problem of cumbersome installation and disassembly and safety hazards in the existing technology is solved, and the rapid and convenient Connect and disassemble, reducing the risk and time of surgery.
Patent Information
- Application Number
- CN202420852150.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-23
- Publication Date
- 2025-02-18
- Estimated Expiration
- 2034-04-23
AI Technical Summary
The existing robotic arm quick change interface requires tools when installed or disassembled, which is wasted time and has axial rotation problem, which affects the use; other methods such as cylinder locking is prone to wear, increasing operating room equipment and posing safety hazards; motor magnetic locking power consumption High and affects the use range.
Design a robotic arm quick change interface, adopting a pure mechanical structure, and realize axial locking of the robotic arm and the instrument equipped with the first lock button and the second lock button, avoiding the occupancy of the operating room space, and through the circumferential anti-rotation structure Prevent axial rotation.
It realizes fast and convenient connection and disassembly between the robotic arm and the instrument equipped with the instrument, without the need for additional equipment to occupy the operating room space, reduces surgical risks, improves surgical efficiency and reduces surgical time.
Smart Images
Figure CN222494315U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of medical equipment, in particular to a mechanical arm quick-change interface and a surgical robot. Background Art
[0002] With the development of science and technology, the 2023 World Robot Conference in the field of medical robots has become the focus. Among them, the high precision and operational advantages of surgical robots give modern medical surgery higher safety and efficiency. With the rapid development and in-depth application of technologies such as artificial intelligence and intelligent sensing, my country's medical robot industry is entering a stage of leapfrog development, and the industry has huge room for future development. Medical robots refer to robots used for medical or auxiliary medical care in hospitals and clinics. They are intelligent service robots that can independently compile operation plans, determine action programs based on actual conditions, and then convert actions into movements of operating mechanisms, greatly improving the work efficiency of medical personnel.
[0003] In actual surgery, surgical robots need to complete different tasks, and a single robotic arm cannot meet the complex situations in surgery. Therefore, in order to solve this problem, a robotic arm is needed to carry different instruments to complete the entire surgical process.
[0004] Some of the existing quick-change interfaces of robotic arms are fixed with screw connections, which require tools such as wrenches during installation or disassembly, wasting time; axial rotation and other problems are prone to occur between the robotic arm and the instruments carried on it, affecting the use of the robotic arm; others use power through a cylinder to achieve a locking effect with steel balls in the quick-change interface, but the steel balls are easily worn, resulting in a decrease in the locking effect. If pneumatics are used, a special air pressure device and delivery pipe must be added to the operating room. If the air pressure device fails during surgery, the carried instruments may fall off, posing a safety hazard; and the locking method that relies on motor magnetic attraction will result in high power consumption, and the accompanying electromagnetic field will affect the use range of the robotic arm. Utility Model Content
[0005] The technical problem to be solved by the utility model is to provide a mechanical arm quick-change interface and a surgical robot which are easy to disassemble and assemble, do not need to add additional equipment to occupy the operating room space, and reduce the risk of surgery.
[0006] In order to solve the above technical problems, the utility model provides the following technical solutions:
[0007] On the one hand, a robot arm quick-change interface is provided, comprising an interface body, wherein two ends of the interface body are respectively provided with a first interface member for forming a first quick-change interface to connect the robot arm and a second interface member for forming a second quick-change interface to connect the mounted instrument, wherein:
[0008] The first quick-change interface is provided with a first plug-in hole that matches with the first plug-in column on the distal end surface of the mechanical arm, and a first locking button for locking the first plug-in column in the first plug-in hole is provided between the first interface member and the interface body;
[0009] The second quick-change interface is provided with a second plug hole that matches the second plug column on the proximal end surface of the mounted instrument, and a second locking button for locking the second plug column in the second plug hole is provided between the second interface member and the interface body.
[0010] Furthermore, the first locking button and the second locking button each include a button body and a button pressing portion located on the button body, and the button body is used to extend into the annular groove of the corresponding plug-in column to achieve axial locking;
[0011] And / or, a first circumferential anti-rotation structure for achieving circumferential locking is provided on the surfaces opposite to the first interface member and the mechanical arm;
[0012] And / or, a second circumferential anti-rotation structure for achieving circumferential locking is provided on the surfaces opposite to the second interface member and the mounted instrument.
[0013] Furthermore, the button body is C-shaped, and the inner side of the distal end of the button body is used to extend into the annular groove of the corresponding plug-in column;
[0014] And / or, an arc-shaped groove is provided on the inner side of the distal end of the button body;
[0015] And / or, the front ends of the first plug-in column and the second plug-in column are both hemispherical.
[0016] Furthermore, the first locking button and the second locking button are both a pair of locking buttons arranged opposite to each other, the button bodies of the pair of locking buttons are staggered and the inner sides of their distal ends are respectively used to extend into the opposite sides of the annular grooves of the corresponding plug-in columns.
[0017] Furthermore, each of the pair of locking buttons is provided with an elastic member for resetting the buttons, one end of the elastic member abuts against the proximal inner side of the button body of one of the pair of locking buttons, and the other end abuts against the distal outer side of the button body of the other of the pair of locking buttons.
[0018] Furthermore, the first interface member and the second interface member are respectively provided with a first button mounting groove and a second button mounting groove on their end surfaces opposite to the corresponding locking buttons;
[0019] And / or, one of the surfaces opposite to the interface body and each locking button is provided with a positioning rib extending in the pressing direction of the locking button, and the other is provided with a positioning groove matching the positioning rib.
[0020] Furthermore, one of the surfaces of the interface body and the first interface member facing each other is provided with a positioning pin, and the other is provided with a positioning hole matched with the positioning pin;
[0021] And / or, one of the surfaces opposite to each other of the interface body and the second interface member is provided with a positioning pin, and the other is provided with a positioning hole matched with the positioning pin;
[0022] And / or, the interface body, the first interface component and the second interface component are fixed by bolt connection.
[0023] Furthermore, one of the surfaces opposite to the first interface member and the robot arm is provided with an anti-rotation groove, and the other is provided with an anti-rotation protrusion matching with the anti-rotation groove, and the anti-rotation groove and the anti-rotation protrusion together constitute the first circumferential anti-rotation structure.
[0024] Furthermore, one of the surfaces opposite to the second interface member and the mounted instrument is provided with an anti-rotation boss, and the other is provided with an anti-rotation socket matched with the anti-rotation boss, and the anti-rotation boss and the anti-rotation socket together constitute the second circumferential anti-rotation structure.
[0025] On the other hand, a surgical robot is provided, including a robotic arm, an onboard instrument, and the robotic arm quick-change interface mentioned above.
[0026] The utility model has the following beneficial effects:
[0027] The robotic arm quick-change interface and surgical robot of the utility model adopt a purely mechanical structure. The robotic arm quick-change interface can axially lock the robotic arm and the carried instrument by operating the first locking button and the second locking button, so that the doctor can perform subsequent surgical operations. There is no need to add additional equipment to occupy the operating room space, and the use of the robotic arm will not be affected by other factors, thereby reducing surgical risks. Other carried instruments can be quickly replaced during surgery, saving surgical time. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 Schematic diagram of the exploded structure of the quick-change interface of the robotic arm, the robotic arm and the mounted instrument in the surgical robot of the utility model, wherein (a) is a structural diagram in one direction, and (b) is a structural diagram in another direction;
[0029] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the quick-change interface of the robot arm, where (a) is a structural diagram in one direction and (b) is a structural diagram in another direction;
[0030] Figure 3Schematic diagram of the structure of the quick-change interface of the robotic arm, the robotic arm and the mounted instrument before assembly in the surgical robot of the utility model, wherein (a) is a stereoscopic diagram in one direction, (b) is a stereoscopic diagram in another direction, and (c) is a cross-sectional view;
[0031] Figure 4 for Figure 3 Schematic cross-sectional view of the locking button, wherein (a) is a cross-sectional view of the first locking button, and (b) is a cross-sectional view of the second locking button;
[0032] Figure 5 The schematic diagram is a schematic diagram of the structure of the quick-change interface of the robotic arm, the robotic arm and the mounted instrument after assembly in the utility model surgical robot, wherein (a) is a stereogram and (b) is a cross-sectional view;
[0033] Figure 6 for Figure 5 Schematic cross-sectional view of the locking button, wherein (a) is a cross-sectional view of the first locking button, and (b) is a cross-sectional view of the second locking button. DETAILED DESCRIPTION
[0034] In order to make the technical problems to be solved, technical solutions and advantages of the present invention more clear, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.
[0035] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.
[0036] On the one hand, the utility model provides a robot arm quick change interface 100, such as Figure 1-6 As shown, it includes an interface body 1, and two ends of the interface body 1 are respectively provided with a first interface member 2 for forming a first quick-change interface to connect the robot arm 200 and a second interface member 3 for forming a second quick-change interface to connect the carried instrument 300, wherein:
[0037] The first quick-change interface is provided with a first plug hole 21 that matches with the first plug column 201 on the distal end surface of the robot arm 200, and a first locking button 4 for locking the first plug column 201 in the first plug hole 21 is provided between the first interface member 2 and the interface body 1;
[0038] The second quick-change interface is provided with a second plug hole 31 that matches the second plug column 301 on the proximal end face of the mounted instrument 300, and a second locking button 5 for locking the second plug column 301 in the second plug hole 31 is provided between the second interface member 3 and the interface body 1.
[0039] In a specific implementation, the first locking button 4 and the second locking button 5 may both include a button body 41, 51 and a button pressing portion 42, 52 located on the button body 41, 51, and the button body 41, 51 is used to extend into the annular grooves 202, 302 of the corresponding plug-in columns 201, 301 to achieve axial locking.
[0040] When in use, the robot arm quick-change interface 100, the robot arm 200 and the instrument 300 that needs to be replaced during the operation are sterilized and disinfected, the first plug-in column 201 of the robot arm 200 and the second plug-in column 301 of the instrument 300 are respectively inserted into the first plug-in hole 21 and the second plug-in hole 31, and then the button pressing parts 42 and 52 of the first locking button 4 and the second locking button 5 are operated to make the button bodies 41 and 51 extend into the annular grooves 202 and 302 of the corresponding plug-in columns 201 and 301 to achieve axial locking, so that the robot arm 200 and the instrument 300 are connected through the robot arm quick-change interface 100 (see Figure 5-6 ) and make real-time adjustments based on the surgical situation to ensure that the doctor can continue the surgery and complete the postoperative wound disinfection.
[0041] The robotic arm quick-change interface (also known as the quick-change connector) of the utility model adopts a purely mechanical structure. Only the first locking button and the second locking button need to be operated to axially lock the robotic arm and the carried instrument, so that the doctor can perform subsequent surgical operations. There is no need to add additional equipment to occupy the operating room space, and the use of the robotic arm will not be affected by other factors, thereby reducing surgical risks. Other carried instruments can be quickly replaced during surgery, saving surgical time.
[0042] like Figure 1 As shown, a first circumferential anti-rotation structure for achieving circumferential locking can be provided on the opposite surfaces of the first interface component 2 and the robotic arm 200; a second circumferential anti-rotation structure for achieving circumferential locking can be provided on the opposite surfaces of the second interface component 3 and the mounted instrument 300, thereby effectively avoiding axial rotation of the robotic arm during the operation and facilitating use during the operation.
[0043] like Figure 4-5As shown, the button bodies 41, 51 are preferably C-shaped, and the inner sides of the distal ends of the button bodies 41, 51 are used to extend into the annular grooves 202, 302 of the corresponding plug-in columns 201, 301, that is, the button bodies 41, 51 surround the corresponding plug-in columns 201, 301 and the inner sides of the distal ends are used to extend into the annular grooves 202, 302 of the corresponding plug-in columns 201, 301 to achieve axial locking; at this time, the number of the first locking button 4 and the second locking button 5 are both one, so axial locking can be achieved.
[0044] To improve the locking firmness, the first locking button 4 and the second locking button 5 can both be a pair of locking buttons arranged opposite to each other, the button bodies 41, 51 of the pair of locking buttons are staggered and the inner sides of their distal ends are respectively used to extend into the opposite sides of the annular grooves 202, 302 of the corresponding plug-in columns 201, 301, that is, the inner sides of the distal ends of the button bodies 41, 51 of the locking buttons 4, 5 at the upper position in the figure extend into the lower sides of the annular grooves 202, 302 of the corresponding plug-in columns 201, 301, and the inner sides of the distal ends of the button bodies 41, 51 of the locking buttons 4, 5 at the lower position in the figure extend into the upper sides of the annular grooves 202, 302 of the corresponding plug-in columns 201, 301.
[0045] Continue as Figure 4-5 As shown, a pair of locking buttons can be provided with elastic members 43, 53 (specifically, springs) for resetting the buttons, one end of the elastic members 43, 53 abuts against the proximal inner side of the button body 41, 51 of one of the pair of locking buttons, and the other end abuts against the distal outer side of the button body 41, 51 of the other of the pair of locking buttons. At this time, the button pressing parts 42, 52 of the first locking button 4 and the second locking button 5 are first pressed, and then the first plug-in column 201 of the robotic arm 200 and the second plug-in column 301 of the instrument 300 are respectively inserted along the first plug-in hole 21 and the second plug-in hole 31. After adjusting the orientation, release the button pressing parts 42, 52 to axially lock the robotic arm 200 and the instrument 300, which is convenient for use during surgery and saves the overall surgery time.
[0046] like Figure 4 As shown, the inner side of the distal end of the button body 41, 51 may be provided with an arc groove 411, 511 to increase the contact area with the corresponding plug-in column 201, 301 and improve the locking effect. Figure 5 As shown in (b), the front ends of the first plug-in column 201 and the second plug-in column 301 can both be hemispherical, so as to facilitate the insertion of the plug-in columns 201 and 301 into the corresponding plug-in holes 21 and 31.
[0047] like Figure 1As shown, the first interface member 2 and the second interface member 3 may be provided with a first button mounting groove 24 and a second button mounting groove 34 on the end surfaces opposite to the corresponding locking buttons 4 and 5, respectively, so as to conveniently accommodate the corresponding locking buttons 4 and 5. Figure 1 and Figure 3 As shown, one of the surfaces opposite to the interface body 1 and the locking buttons 4, 5 may be provided with positioning ribs 45, 55 extending in the pressing direction of the locking buttons 4, 5, and the other may be provided with positioning grooves 11, 12 matching the positioning ribs 45, 55. The positioning ribs 45, 55 and the positioning grooves 11, 12 cooperate with each other to play a guiding role to prevent the buttons from being dislocated. In the embodiment shown in the figure, the locking buttons 4, 5 are provided with positioning ribs 45, 55, and the interface body 1 is provided with positioning grooves 11, 12.
[0048] like Figure 1 As shown, one of the surfaces opposite to the interface body 1 and the first interface member 2 may be provided with a positioning pin 13, and the other may be provided with a positioning hole 22 that matches the positioning pin 13. The positioning pin 13 and the positioning hole 22 cooperate to prevent the interface body 1 and the first interface member 2 from rotating in the circumferential direction, making it convenient to use during surgery. In the embodiment shown in the figure, the interface body 1 is provided with a positioning pin 13, and the first interface member 2 is provided with a positioning hole 22.
[0049] The interface body 1 and the second interface member 3 have opposite surfaces, one of which may be provided with a positioning pin 14, and the other may be provided with a positioning hole 32 that matches the positioning pin 14. The positioning pin 14 and the positioning hole 32 cooperate to prevent the interface body 1 and the second interface member 3 from rotating in the circumferential direction, making it convenient to use during surgery. In the embodiment shown in the figure, the interface body 1 is provided with a positioning pin 14, and the second interface member 3 is provided with a positioning hole 32.
[0050] The interface body 1 , the first interface component 2 , and the second interface component 3 may be connected and fixed by means of bolts 6 . Specifically, the bolts may pass through the first interface component 2 and the interface body 1 and then be threadedly connected to the second interface component 3 .
[0051] In the present invention, the first circumferential anti-rotation structure preferably adopts the following structural form:
[0052] like Figure 1 As shown, the first interface member 2 and the robot arm 200 have opposing surfaces, one of which may be provided with an anti-rotation groove 23, and the other with an anti-rotation protrusion 203 that matches the anti-rotation groove 23, and the anti-rotation groove 23 and the anti-rotation protrusion 203 together constitute a first circumferential anti-rotation structure. In the embodiment shown in the figure, the first interface member 2 is provided with an anti-rotation groove 23, and the robot arm 200 is provided with an anti-rotation protrusion 203, the number of the anti-rotation grooves 23 is 4, the number of the anti-rotation protrusions 203 is 8, and they are evenly distributed circumferentially.
[0053] In the present invention, the second circumferential anti-rotation structure preferably adopts the following structural form:
[0054] Continue as Figure 1 As shown, the second interface member 3 and the mounted instrument 300 have opposite surfaces, one of which may be provided with an anti-rotation convex column 33, and the other may be provided with an anti-rotation plug hole 303 matched with the anti-rotation convex column 33, and the anti-rotation convex column 33 and the anti-rotation plug hole 303 together constitute a second circumferential anti-rotation structure. In the embodiment shown in the figure, the second interface member 2 is provided with an anti-rotation convex column 33, and the mounted instrument 300 is provided with an anti-rotation plug hole 303, the number of the anti-rotation convex columns 33 is 4, and the number of the anti-rotation plug holes 303 is 8, and they are evenly distributed circumferentially.
[0055] On the other hand, the utility model provides a surgical robot, including a robotic arm 200, an instrument 300, and the above-mentioned robotic arm quick-change interface 100. The structures of the robotic arm quick-change interface 100, the robotic arm 200, and the instrument 300 are the same as above, so they are not repeated here.
[0056] The surgical robot of the utility model adopts a purely mechanical structure for its robotic arm quick-change interface. Only the first locking button and the second locking button need to be operated to axially lock the robotic arm and the carried instrument, so that the doctor can perform subsequent surgical operations. There is no need to add additional equipment to occupy the operating room space, and the use of the robotic arm will not be affected by other factors, thus reducing the risk of surgery. Other carried instruments can be quickly replaced during surgery, saving surgical time.
[0057] The above is a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.
Claims
1. A quick-change interface for a robotic arm, characterized in that: The interface body comprises an interface body, and two ends of the interface body are respectively provided with a first interface member for forming a first quick-change interface to connect the robot arm and a second interface member for forming a second quick-change interface to connect the carried instrument, wherein: The first quick-change interface is provided with a first plug-in hole that matches with the first plug-in column on the distal end surface of the mechanical arm, and a first locking button for locking the first plug-in column in the first plug-in hole is provided between the first interface member and the interface body; The second quick-change interface is provided with a second plug hole that matches the second plug column on the proximal end surface of the mounted instrument, and a second locking button for locking the second plug column in the second plug hole is provided between the second interface member and the interface body.
2. The robot arm quick-change interface according to claim 1, characterized in that: The first locking button and the second locking button each include a button body and a button pressing portion located on the button body, wherein the button body is used to extend into the annular groove of the corresponding plug-in column to achieve axial locking; And / or, a first circumferential anti-rotation structure for achieving circumferential locking is provided on the surfaces opposite to the first interface member and the mechanical arm; And / or, a second circumferential anti-rotation structure for achieving circumferential locking is provided on the surfaces opposite to the second interface member and the mounted instrument.
3. The robot arm quick-change interface according to claim 2, characterized in that: The button body is C-shaped, and the inner side of the distal end of the button body is used to extend into the annular groove of the corresponding plug-in column; And / or, an arc-shaped groove is provided on the inner side of the distal end of the button body; And / or, the front ends of the first plug-in column and the second plug-in column are both hemispherical.
4. The robot arm quick-change interface according to claim 2, characterized in that: The first locking button and the second locking button are both a pair of locking buttons arranged opposite to each other, the button bodies of the pair of locking buttons are staggered and the inner sides of the distal ends thereof are respectively used to extend into the opposite sides of the annular grooves of the corresponding plug-in posts.
5. The robot arm quick-change interface according to claim 4, characterized in that: The pair of locking buttons are each provided with an elastic member for resetting the buttons, one end of the elastic member abuts against the proximal inner side of the button body of one of the pair of locking buttons, and the other end abuts against the distal outer side of the button body of the other of the pair of locking buttons.
6. The robot arm quick-change interface according to claim 1, characterized in that: The first interface member and the second interface member are respectively provided with a first button mounting groove and a second button mounting groove on their end surfaces opposite to the corresponding locking buttons; And / or, one of the surfaces opposite to the interface body and each locking button is provided with a positioning rib extending in the pressing direction of the locking button, and the other is provided with a positioning groove matching the positioning rib.
7. The robot arm quick-change interface according to claim 1, characterized in that: The surfaces of the interface body and the first interface member facing each other are provided with a positioning pin on one of them and a positioning hole matched with the positioning pin on the other; And / or, one of the surfaces opposite to each other of the interface body and the second interface member is provided with a positioning pin, and the other is provided with a positioning hole matched with the positioning pin; And / or, the interface body, the first interface component and the second interface component are fixed by bolt connection.
8. The robot arm quick-change interface according to claim 2, characterized in that: One of the surfaces opposite to the first interface member and the robot arm is provided with an anti-rotation groove, and the other is provided with an anti-rotation protrusion matching with the anti-rotation groove. The anti-rotation groove and the anti-rotation protrusion together constitute the first circumferential anti-rotation structure.
9. The robot arm quick-change interface according to claim 2, characterized in that: The second interface component and the surface opposite to the mounted instrument are provided with an anti-rotation boss on one of them and an anti-rotation socket matched with the anti-rotation boss on the other, and the anti-rotation boss and the anti-rotation socket together constitute the second circumferential anti-rotation structure.
10. A surgical robot, characterized in that: It comprises a robotic arm, an onboard instrument, and a robotic arm quick-change interface as described in any one of claims 1-9.