Tail end connecting device and surgical robot

Abstract

The utility model provides a tail end connecting device and a surgical robot, the surgical robot comprises the tail end connecting device, the tail end connecting device comprises a tail end clamping assembly and a tail end quick release assembly, and the tail end clamping assembly comprises a connecting plate; the tail end quick release assembly comprises a bottom plate, a first clamping arm, a second clamping arm and a linkage assembly, the first clamping arm, the second clamping arm and the linkage assembly are all rotationally connected with the bottom plate, the linkage assembly is connected between the first clamping arm and the second clamping arm in a linkage mode, and the linkage assembly drives the first clamping arm and the second clamping arm to rotate when operated to act. And the tail end quick release assembly is switched between a locking state and an unlocking state, and when the tail end quick release assembly is in the locking state, the first clamping arm and the second clamping arm are matched to clamp the connecting plate and surround the linkage assembly. According to the tail end connecting device, reliable connection between the surgical instrument and the mechanical arm of the surgical robot is achieved through the tail end quick release assembly and the tail end clamping assembly, and the dismounting and replacing efficiency is high.

Description

Technical Field

[0001] The present application belongs to the technical field of medical equipment, and more specifically, to an end connection device and a surgical robot. Background Art

[0002] Surgical robots have high-precision robotic arms and sensors, accurate positioning, and stable operation. They can assist doctors in implementing precise control and completing complex surgical operations, improving the accuracy and safety of operations, resulting in an increasing number of surgical robots being used in clinical operations.

[0003] Surgical robots need to be used in conjunction with surgical instruments. During surgery, different surgical instruments need to be replaced frequently. It is particularly important to ensure that the surgical instruments are installed reliably and replaced easily. The efficiency of replacing surgical instruments directly affects the progress of the operation. In traditional technologies, surgical instruments are mainly positioned with locating pins and connected to the robotic arm through screws for detachable connection. The operation is cumbersome, resulting in low efficiency in replacing surgical instruments. In addition, the tightening degree of the screws is greatly affected by human factors. If the screws are not tightened, the surgical instruments may become loose during surgery, affecting the safety of the operation. Utility Model Content

[0004] The purpose of the present application is to provide a terminal connection device and a surgical robot to solve the technical problems existing in the prior art that the efficiency of surgical instrument replacement is low and is greatly affected by human factors.

[0005] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide an end connection device, including: an end clamping assembly and an end quick-release assembly, the end clamping assembly includes a connecting plate; the end quick-release assembly includes a base plate, a first clamping arm, a second clamping arm and a linkage assembly, the first clamping arm, the second clamping arm and the linkage assembly are all rotatably connected to the base plate, the linkage assembly is linkage-connected between the first clamping arm and the second clamping arm, and when the linkage assembly is operated, it drives the first clamping arm and the second clamping arm to rotate, and switches the end quick-release assembly between a locked state and an unlocked state, and when in the locked state, the first clamping arm and the second clamping arm cooperate to clamp the connecting plate and surround the linkage assembly.

[0006] Optionally, the connecting plate includes a plate body and a boss arranged on one side of the plate body, the first clamping arm and the second clamping arm can cooperate to clamp on the boss, the boss has a first flange and a second flange on opposite sides, the first clamping arm has a first slot that cooperates with the first flange, and the second clamping arm has a second slot that cooperates with the second flange.

[0007] Optionally, a protrusion is provided on the bottom plate, a positioning pin is provided on one of the protrusion and the boss, and a positioning hole for inserting the positioning pin is provided on the other.

[0008] Optionally, the first clamping arm has a first end and a second end, the second clamping arm has a third end and a fourth end, the first end and the third end are both rotatably connected to the base plate, and the second end is linked to the fourth end via the linkage assembly.

[0009] Optionally, the second end and / or the fourth end is provided with a wrench, and the wrench extends out of the outer edge of the base plate.

[0010] Optionally, the second end and / or the fourth end is provided with a shielding portion, which extends along the circumference of the base plate to between the second end and the fourth end, and shields the gap between the second end and the fourth end when the end quick-release assembly is in a locked state to surround the linkage assembly.

[0011] Optionally, the linkage assembly includes a linkage rod, a first transmission rod and a second transmission rod, the linkage rod is rotatably connected to the base plate, the two ends of the first transmission rod are respectively rotatably connected to one end of the linkage rod and the second end of the first clamping arm, and the two ends of the second transmission rod are respectively rotatably connected to the other end of the linkage rod and the fourth end of the second clamping arm.

[0012] Optionally, the terminal quick-release assembly further includes an elastic member, and the elastic member is disposed on the bottom plate. When the terminal quick-release assembly is in the locked state, the elastic member presses against the linkage rod and causes the linkage rod to self-lock.

[0013] Optionally, the end clamping assembly further comprises a sterile cover, and the sterile cover is connected to the connecting plate.

[0014] The present application also provides a surgical robot, a surgical instrument, a robotic arm and an end connection device as described in any of the above items, wherein the end clamping assembly is connected to the surgical instrument, and the end quick-release assembly is connected to the robotic arm.

[0015] Optionally, the connecting plate is provided with a sleeve, and the end clamping assembly further includes a tightening sleeve sleeved on the sleeve, and a knob sleeve sleeved on the sleeve and the tightening sleeve, the knob sleeve is threadedly matched with the sleeve, and can drive the tightening sleeve to move axially along the sleeve, the surgical instrument has a connecting part, the connecting part is inserted into the sleeve, and the tightening sleeve clamps the connecting part.

[0016] Optionally, the sleeve has a first limiting surface, the tightening sleeve has a first contact surface, the surgical instrument is provided with a positioning block, the positioning block has a second limiting surface and a second contact surface, the second limiting surface contacts the first limiting surface, the second contact surface contacts the first contact surface, and the first contact surface and / or the second contact surface are inclined surfaces along the axial direction of the sleeve.

[0017] The beneficial effects of the terminal connection device and the surgical robot provided by the present application are as follows: compared with the prior art, the terminal clamping assembly of the terminal connection device of the present application is used to connect the surgical instrument, and the terminal quick-release assembly is used to connect the mechanical arm, by rotating the first clamping arm, the second clamping arm and the linkage assembly of the terminal quick-release assembly to the bottom plate, and the first clamping arm is linked with the second clamping arm through the linkage assembly, so that when the linkage assembly is operated, the first clamping arm and the second clamping arm are driven to rotate, so that the first clamping arm and the second clamping arm are closed or opened, and then the terminal quick-release assembly is switched between the locked state and the unlocked state, completing the action of clamping or releasing the connecting plate, so that the detachable connection between the terminal quick-release assembly and the terminal clamping assembly is realized, the operation is simple, so as to realize the reliable connection between the surgical instrument and the mechanical arm of the surgical robot, during the operation, different surgical instruments can be quickly replaced, and the replacement efficiency is high, and when the terminal quick-release assembly is in the locked state, the linkage assembly is surrounded by the space formed by the first clamping arm and the second clamping arm, so that the structure is compact, which is conducive to reducing the overall space occupation, and the appearance is more neat and beautiful. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 A schematic diagram of a partial three-dimensional structure of a surgical robot provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of a partial exploded structure of a surgical robot provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of the three-dimensional structure of the end clamping assembly provided in an embodiment of the present application, wherein the sterile cover is omitted;

[0022] Figure 4 A schematic diagram of the three-dimensional structure of the terminal quick-release assembly provided in an embodiment of the present application;

[0023] Figure 5A schematic diagram of a vertical cross-sectional structure of an end connection device provided in an embodiment of the present application, wherein the end quick-release assembly is in a locked state;

[0024] Figure 6 A vertical cross-sectional structure diagram of the terminal connection device provided in the embodiment of the present application Figure 1 ;

[0025] Figure 7 A schematic diagram of the three-dimensional structure of a first clamping arm provided in an embodiment of the present application;

[0026] Figure 8 A schematic diagram of the three-dimensional structure of the second clamping arm provided in an embodiment of the present application;

[0027] Fig. 9 A schematic diagram of the main structure of the base plate provided in an embodiment of the present application;

[0028] Fig.10 The main structure diagram of the terminal quick release assembly provided in the embodiment of the present application Figure 1 , the end quick release assembly is in unlocked state;

[0029] Fig.11 The main structure diagram of the terminal quick release assembly provided in the embodiment of the present application Figure 2 , the end quick release assembly is in unlocked state;

[0030] Fig.12 The main structure diagram of the terminal quick release assembly provided in the embodiment of the present application Figure 3 , the end quick release assembly is in a locked state;

[0031] Fig.13 The main structure diagram of the terminal quick release assembly provided in the embodiment of the present application Figure 4 , the end quick release assembly is in unlocked state;

[0032] Fig.14 The main structure diagram of the terminal quick release assembly provided in the embodiment of the present application Figure 5 , the end quick release assembly is in a locked state;

[0033] Fig.15 A schematic diagram of the exploded structure of the end clamping assembly provided in an embodiment of the present application;

[0034] Fig.16 A schematic cross-sectional structure diagram of an end clamping assembly provided in an embodiment of the present application;

[0035] Fig.17 A schematic diagram of the three-dimensional structure of a surgical instrument provided in an embodiment of the present application;

[0036] Fig.18Schematic diagram of the connection between the end clamping assembly and the surgical instrument provided in the embodiment of the present application Figure 1 , wherein the knob cover, tightening cover and sterile cover are omitted;

[0037] Fig.19 Schematic diagram of the connection between the end clamping assembly and the surgical instrument provided in the embodiment of the present application Figure 2 , wherein the knob cover and the sterile cover are omitted.

[0038] Among them, the reference numerals in the figure are:

[0039] 100, end clamping assembly; 10, sterile cover; 11, adapter ring; 111, connecting column; 20, connecting plate; 21, plate body; 211, connecting hole; 22, boss; 221, first flange; 222, second flange; 223, positioning hole; 224, avoidance groove; 23, sleeve; 225, first positioning surface; 231, threaded section; 232, sliding section; 233, first notch; 234, first limiting surface; 24, tightening sleeve; 241, raised portion; 242, second notch; 243, first contact surface; 25, knob sleeve; 25, snap ring; 200, end quick release assembly; 30, bottom plate; 31, first hinge hole; 32, second hinge hole; 33, third hinge hole; 34, bump; 341, fixed Position pin; 342, limiting groove; 343, second positioning surface; 40, first clamping arm; 41, first slot; 42, first inclined surface; 43, first end; 431, first mounting hole; 44, second end; 441, second mounting hole; 442, wrench; 50, second clamping arm; 51, second slot; 53, third end; 531, third mounting hole; 54, fourth end; 541, fourth mounting hole; 542, shielding part; 60, linkage assembly; 61, linkage rod; 62, first transmission rod; 63, second transmission rod; 70, elastic member; 80, fixing block; 300, surgical instrument; 301, connecting part; 302, positioning block; 3021, second limiting surface; 3022, second contact surface; 400, robotic arm. DETAILED DESCRIPTION

[0040] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0041] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0042] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0044] Please also read Figures 1 to 19 , the terminal connection device provided in the embodiment of the present application is now described.

[0045] See also Figure 1 and Figure 2 , the end connection device includes an end clamping assembly 100 and an end quick release assembly 200, and the end clamping assembly 100 is detachably connected to the end quick release assembly 200. Among them, the end clamping assembly 100 is used to connect the surgical instrument 300, and the end quick release assembly 200 is used to connect the robotic arm 400. It can be understood that the surgical instrument 300 is detachably connected to the robotic arm 400 through the end connection device. Of course, it can be understood that in other embodiments, the end clamping assembly 100 can be used to connect the robotic arm 400, and the end quick release assembly 200 can be used to connect the surgical instrument 300.

[0046] See also Figures 1 to 4 The end clamping assembly 100 includes a connecting plate 20; the end quick-release assembly 200 includes a base plate 30, a first clamping arm 40, a second clamping arm 50 and a linkage assembly 60. The first clamping arm 40, the second clamping arm 50 and the linkage assembly 60 are all rotatably connected to the base plate 30. The linkage assembly 60 is linked and connected between the first clamping arm 40 and the second clamping arm 50. When the linkage assembly 60 is operated, it drives the first clamping arm 40 and the second clamping arm 50 to rotate, and switches the end quick-release assembly 200 between a locked state and an unlocked state. When in the locked state, the first clamping arm 40 and the second clamping arm 50 cooperate to clamp the connecting plate 20 and are surrounded by the linkage assembly 60.

[0047] Optionally, the base plate 30 and the connecting plate 20 are coaxially arranged opposite to each other, the connecting plate 20 is used to connect the surgical instrument 300 , and the base plate 30 is used to connect the robotic arm 400 .

[0048] The first clamping arm 40 , the second clamping arm 50 and the linkage assembly 60 are all disposed on a side of the base plate 30 facing the connecting plate 20 , and the first clamping arm 40 and the second clamping arm 50 are disposed opposite to each other.

[0049] By rotatably connecting the first clamping arm 40 to the base plate 30, the first clamping arm 40 can rotate relative to the base plate 30. By rotatably connecting the second clamping arm 50 to the base plate 30, the second clamping arm 50 can rotate relative to the base plate 30. By rotatably connecting the linkage assembly 60 to the base plate 30, the linkage assembly 60 can rotate relative to the base plate 30. The linkage assembly 60 is connected between the first clamping arm 40 and the second clamping arm 50 to realize the linkage between the first clamping arm 40 and the second clamping arm 50. When the linkage assembly 60 is operated, the first clamping arm 40 and the second clamping arm 50 are driven to rotate. For example, when one of the first clamping arm 40 and the second clamping arm 50 is driven to rotate relative to the base plate 30, the other can be driven to rotate in the opposite direction through the linkage assembly 60, so that the first clamping arm 40 and the second clamping arm 50 are closed or opened, that is, the end quick-release assembly 200 can switch between a locked state and an unlocked state. When the end quick-release assembly 200 is in a locked state, the first clamping arm 40 and the second clamping arm 50 cooperate to clamp the connecting plate 20 and surround it with the linkage assembly 60; when the end quick-release assembly 200 is in an unlocked state, the first clamping arm 40 and the second clamping arm 50 release the connecting plate 20.

[0050] Compared with the prior art, the terminal connection device provided by the present application has an terminal clamping assembly 100 for connecting a surgical instrument 300, and a terminal quick-release assembly 200 for connecting a robotic arm 400. The first clamping arm 40, the second clamping arm 50 and the linkage assembly 60 of the terminal quick-release assembly 200 are rotatably connected to the base plate 30, and the first clamping arm 40 is linked with the second clamping arm 50 through the linkage assembly 60. In this way, when the linkage assembly 60 is operated, the first clamping arm 40 and the second clamping arm 50 are driven to rotate, so that the first clamping arm 40 and the second clamping arm 50 are closed or opened, and the terminal quick-release assembly 200 is switched between a locked state and an unlocked state. When the terminal quick-release assembly 200 is in a locked state, the first clamping arm 40 and the second clamping arm 50 are locked. In conjunction with the clamping connecting plate 20, when the end quick-release assembly 200 is in an unlocked state, the first clamping arm 40 and the second clamping arm 50 loosen the connecting plate 20, thereby realizing a detachable connection between the end quick-release assembly 200 and the end clamping assembly 100, which is simple to operate, so that the surgical instrument 300 can be quickly connected to the mechanical arm 400 of the surgical robot, and a reliable connection between the surgical instrument 300 and the mechanical arm 400 of the surgical robot is realized. During the operation, different surgical instruments 300 can be quickly replaced, and the replacement efficiency is high. When the end quick-release assembly 200 is in a locked state, the linkage assembly 60 is surrounded by the space formed by the first clamping arm 40 and the second clamping arm 50, which makes the structure compact, which is conducive to reducing the overall space occupancy, and the appearance is more neat and beautiful.

[0051] In one embodiment of the present application, see Figures 3 to 5 The connecting plate 20 includes a plate body 21 and a boss 22 disposed on one side of the plate body 21 . The first clamping arm 40 and the second clamping arm 50 cooperate to clamp on the boss 22 .

[0052] See also Figures 6 to 8 The boss 22 has a first flange 221 and a second flange 222 on opposite sides thereof. The first clamping arm 40 has a first slot 41 matched with the first flange 221 . The second clamping arm 50 has a second slot 51 matched with the second flange 222 .

[0053] The boss 22 is disposed on a side of the plate body 21 facing the terminal quick release assembly 200 , and is integrally formed with the plate body 21 .

[0054] Optionally, the first flange 221 and the second flange 222 are both arc-shaped, the first clamping arm 40 and the second clamping arm 50 are both arc-shaped structures, and the first slot 41 and the second slot 51 are also arc-shaped. When in the clamping state, the first flange 221 fits into the first slot 41, and the second flange 222 fits into the second slot 51.

[0055] In the above technical solution, when the first clamping arm 40 and the second clamping arm 50 cooperate to clamp on the boss 22, the first flange 221 is inserted into the first slot 41, and the second flange 222 is inserted into the second slot 51, which is beneficial to improving the stability of the first clamping arm 40 and the second clamping arm 50 clamping the boss 22.

[0056] In some embodiments, see Figure 3 and Figure 5 The boss 22 is provided with an avoidance groove 224 on one side close to the linkage assembly 60, and the avoidance groove 224 is used to avoid the linkage assembly 60. Specifically, when the end quick release assembly 200 is in a locked state, that is, when the end quick release assembly 200 clamps the connecting plate 20, part of the linkage assembly 60 is accommodated in the avoidance groove 224.

[0057] Optionally, the boss 22 is waist-shaped, wherein the first flange 221 and the second flange 222 are two relatively arranged arc edges of the boss 22 , and the avoidance groove 224 is arranged on the straight edge of the boss 22 close to the linkage assembly 60 .

[0058] For further information, see Figure 6 The first slot 41 has a first inclined surface 42 at its notch, and the first flange 221 contacts and cooperates with the first inclined surface 42. By providing the first inclined surface 42 at the notch of the first slot 41, the first flange 221 is easily inserted into the first slot 41, and the stability of the cooperation between the first flange 221 and the first slot 41 is improved.

[0059] The second slot 51 has a second inclined surface at its notch, and the second flange 222 contacts and cooperates with the second inclined surface. The second inclined surface is provided at the notch of the second slot 51, so that the second flange 222 can be easily inserted into the second slot 51, and the stability of the cooperation between the second flange 222 and the second slot 51 can be improved.

[0060] In one embodiment of the present application, see Figure 3 and Figure 4 A protrusion 34 is provided on the bottom plate 30, a positioning pin 341 is provided on one of the protrusion 34 and the boss 22, and a positioning hole 223 for inserting the positioning pin 341 is provided on the other.

[0061] Specifically, the boss 22 has a first positioning surface 225 facing the protrusion 34, the protrusion 34 is arranged on the side of the base plate 30 facing the connecting plate 20, and the protrusion 34 is arranged opposite to the boss 22, and the protrusion 34 has a second positioning surface 343 facing the boss 22, and the second positioning surface 343 is used to contact with the first positioning surface 225 accordingly.

[0062] Optionally, a positioning pin 341 is provided on the protrusion 34, and the positioning pin 341 is located on the second positioning surface 343, a positioning hole 223 is provided on the boss 22, and the positioning hole 223 passes through the first positioning surface 225; or, a positioning pin 341 is provided on the boss 22, the positioning pin 341 is located on the first positioning surface 225, a positioning hole 223 is provided on the protrusion 34, and the positioning hole 223 passes through the second positioning surface 343.

[0063] See also Figure 6 When it is necessary to connect the end quick-release assembly 200 with the end clamping assembly 100, the first clamping arm 40 and the second clamping arm 50 are opened to put the end quick-release assembly 200 in an unlocked state, the plate body 21 is aligned with the bottom plate 30, the boss 22 is aligned with the protrusion 34, the positioning pin 341 is inserted into the positioning hole 223, the first positioning surface 225 is in corresponding contact with the second positioning surface 343, the first clamping arm 40 and the second clamping arm 50 are rotated to close the first clamping arm 40 and the second clamping arm 50, so that the end quick-release assembly 200 is in a locked state to be clamped on the boss 22.

[0064] In the above technical solution, during the connection process between the end clamping assembly 100 and the end quick-release assembly 200, the positioning is performed by the cooperation between the positioning pin 341 and the positioning hole 223, which is beneficial to the installation efficiency and accuracy.

[0065] For further information, see Figure 3 , Figure 4 and Figure 6 There are multiple positioning pins 341, and the number of positioning holes 223 is equal to the number of positioning pins 341. The multiple positioning pins 341 are respectively inserted into the multiple positioning holes 223. The multiple positioning pins 341 cooperate with the multiple positioning holes 223 to improve the stability of positioning between the end clamping assembly 100 and the end quick release assembly 200.

[0066] Optionally, the sizes of the multiple positioning pins 341 are different, and the multiple positioning holes 223 are respectively matched with the multiple positioning pins 341 one by one. For example, the number of the positioning pins 341 is three, and the three positioning pins 341 are arranged at lateral intervals along the protrusion 34, and the diameters of the three positioning pins 341 increase successively. The number of the positioning holes 223 is also three, and the three positioning holes 223 are arranged at lateral intervals along the boss 22, and the apertures of the three positioning holes 223 increase successively. Each positioning pin 341 is inserted into a positioning hole 223 of matching size, so that it has a better anti-mistake effect when positioning between the end quick-release assembly 200 and the end clamping assembly 100.

[0067] The bottom plate 30 is fixedly connected to the robot arm 400. For example, the bottom plate 30 and the end of the robot arm 400 can be connected by screws. Specifically, a plurality of screw holes are provided on the bottom plate 30. The plurality of screw holes are arranged at intervals along the axial direction of the protrusion 34. The screws pass through the screw holes and are connected to the end of the robot arm 400. Of course, other fastening methods can also be used, such as welding.

[0068] See also Figures 7 to 10 The first clamping arm 40 is rotatably connected to the base plate 30 via a rotating shaft, and the second clamping arm 50 is rotatably connected to the base plate 30 via a rotating shaft. The rotating shaft rotatably connecting the first clamping arm 40 and the base plate 30 is colinear or parallel to the rotating shaft rotatably connecting the second clamping arm 50 and the base plate 30.

[0069] In one embodiment of the present application, the first clamping arm 40 has a first end 43 and a second end 44, and the second clamping arm 50 has a third end 53 and a fourth end 54. The first end 43 and the third end 53 are both rotatably connected to the base plate 30, and the second end 44 is linked to the fourth end 54 through a linkage assembly 60. Fig.10 .

[0070] The first end 43 is rotatably connected to the base plate 30 via a rotating shaft, and the second end 44 is rotatably connected to the base plate 30 via a rotating shaft. The rotating shaft rotatably connecting the first end 43 and the base plate 30 is colinear or parallel to the rotating shaft rotatably connecting the second end 44 and the base plate 30.

[0071] Optionally, see Fig. 9 The bottom plate 30 is circular, and is provided with a first hinge hole 31, a second hinge hole 32 and a third hinge hole 33. The first hinge hole 31 and the second hinge hole 32 are symmetrically distributed with the third hinge hole 33, and the first hinge hole 31 and the second hinge hole 32 are arranged close to each other, or the first hinge hole 31 and the second hinge hole 32 overlap.

[0072] See also Figure 7 and Fig. 9 The first end 43 and the second end 44 are the opposite ends of the first clamping arm 40. The first end 43 is provided with a first mounting hole 431. The shaft passes through the first mounting hole 431 and the first hinge hole 31, so that the first end 43 is hinged to the bottom plate 30. The second end 44 is provided with a second mounting hole 441, and the second mounting hole 441 is used to connect with the linkage assembly 60. Figure 8 and Fig. 9 The third end 53 and the fourth end 54 are the opposite ends of the second clamping arm 50, respectively. The third end 53 is provided with a third mounting hole 531. The rotating shaft passes through the third mounting hole 531 and the second hinge hole 32, so that the third end 53 is hinged to the bottom plate 30. The fourth end 54 is provided with a fourth mounting hole 541, and the fourth mounting hole 541 is used to connect with the linkage assembly 60.

[0073] The above technical scheme enables the first clamping arm 40 to rotate relative to the base plate 30 around the first end 43 by rotationally connecting the first end 43 with the base plate 30, and enables the second clamping arm 50 to rotate relative to the base plate 30 around the third end 53 by rotationally connecting the third end 53 with the base plate 30. The second end 44 is linkage-connected with the fourth end 54 via a linkage assembly 60. In this way, when the first clamping arm 40 rotates relative to the base plate 30 around the first end 43, the linkage assembly 60 can drive the second clamping arm 50 to rotate in the opposite direction around the third end 53, so that the second end 44 and the fourth end 54 are moved closer to or farther away from each other, and the end quick-release assembly 200 is switched between a locked state and an unlocked state, thereby achieving clamping or loosening of the connecting plate 20.

[0074] In one embodiment of the present application, see Figure 5 and Fig.10 The second end 44 and / or the fourth end 54 is provided with a wrench 442 , and the wrench 442 extends out of the outer edge of the base plate 30 .

[0075] Specifically in this embodiment, a wrench 442 is provided on the outside of the second end 44, and the wrench 442 is integrally formed with the first clamping arm 40. The user can rotate the first clamping arm 40 around the first end 43 by turning the wrench 442, and the first clamping arm 40 drives the second clamping arm 50 to rotate in the opposite direction around the third end 53 through the linkage assembly 60.

[0076] In one embodiment, a wrench 442 may be provided on the outside of the fourth end 54, and the wrench 442 is integrally formed with the second clamping arm 50. The user can rotate the second clamping arm 50 around the third end 53 by pulling the wrench 442, and the second clamping arm 50 drives the first clamping arm 40 to rotate in the opposite direction around the first end 43 through the linkage assembly 60.

[0077] Of course, in other embodiments, see Figures 11 to 14 Alternatively, a wrench 442 may be disposed on the outside of the second end 44 and the fourth end 54, and the user may rotate the first clamping arm 40 or the second clamping arm 50 by pulling the wrench 442 on the second end 44 or the fourth end 54 as required.

[0078] In the above technical solution, by arranging a wrench 442 extending out of the outer edge of the base plate 30 at the second end 44 and / or the fourth end 54, the user can rotate the first clamping arm 40 and the second clamping arm 50 by turning the wrench 442, which is easy to operate.

[0079] In one embodiment of the present application, see Figure 5 and Fig.10The second end 44 and / or the fourth end 54 is provided with a shielding portion 542, which extends along the circumference of the bottom plate 30 to between the second end 44 and the fourth end 54, and blocks the gap between the second end 44 and the fourth end 54 when the end quick release assembly 200 is in a locked state to surround the linkage assembly 60.

[0080] Specifically in this embodiment, the fourth end 54 is provided with a shielding portion 542, which is integrally formed with the second clamping arm 50, and the shielding portion 542 extends along the circumference of the base plate 30 to between the second end 44 and the fourth end 54, and one end of the shielding portion 542 away from the fourth end 54 is bent inwardly into a hook shape, that is, the shielding portion 542 is roughly L-shaped.

[0081] In one embodiment, the second end 44 is provided with a shielding portion 542 , the shielding portion 542 is integrally formed with the first clamping arm 40 , and the shielding portion 542 extends along the circumference of the bottom plate 30 to between the second end 44 and the fourth end 54 .

[0082] Of course, in other embodiments, it can also be, see Fig.13 and Fig.14 The second end 44 and the fourth end 54 are both provided with a shielding portion 542 , and the shielding portion 542 on the second end 44 and the shielding portion 542 on the fourth end 54 extend toward each other along the circumferential direction of the bottom plate 30 to between the second end 44 and the fourth end 54 .

[0083] In the above technical solution, since the second end 44 and the fourth end 54 are spaced apart when the end quick-release assembly 200 is in the locked state, a shielding portion 542 is provided at the second end 44 and / or the fourth end 54, and the shielding portion 542 extends along the circumference of the bottom plate 30 to between the second end 44 of the first clamping arm 40 and the fourth end 54 of the second clamping arm 50. In this way, when the end quick-release assembly 200 is in the locked state, the shielding portion 542 can make up or largely make up the gap between the second end 44 and the fourth end 54 to surround the linkage assembly 60, thereby shielding the linkage assembly 60 and effectively preventing the linkage assembly 60 from being exposed or reducing the exposed area of ​​the linkage assembly 60.

[0084] In one embodiment of the present application, see Figure 5 and Fig.10 The linkage assembly 60 includes a linkage rod 61, a first transmission rod 62 and a second transmission rod 63. The linkage rod 61 is rotatably connected to the base plate 30. The two ends of the first transmission rod 62 are rotatably connected to the linkage rod 61 and the second end 44 of the first clamping arm 40 respectively. The two ends of the second transmission rod 63 are rotatably connected to the linkage rod 61 and the fourth end 54 of the second clamping arm 50 respectively.

[0085] Optionally, the middle part of the linkage rod 61 is rotatably connected to the base plate 30, one end of the first transmission rod 62 and the second transmission rod 63 are rotatably connected to the two ends of the linkage rod 61 respectively, and the other ends of the first transmission rod 62 and the second transmission rod 63 are rotatably connected to the second end 44 of the first clamping arm 40 and the fourth end 54 of the second clamping arm 50 respectively.

[0086] Specifically, the linkage rod 61 is provided with a first axial hole, a second axial hole and a third axial hole. The third axial hole is provided in the middle part of the linkage rod 61. The first axial hole and the second axial hole are respectively provided at two ends of the linkage rod 61, and are symmetrically arranged with the third axial hole. The rotating shaft passes through the third axial hole and the third hinge hole 33, so that the middle part of the linkage rod 61 is hinged to the base plate 30.

[0087] The first transmission rod 62 is generally curved, and a fourth shaft hole and a fifth shaft hole are respectively provided at both ends of the first transmission rod 62. The rotating shaft passes through the fourth shaft hole and the first shaft hole, so that one end of the first transmission rod 62 is hinged to one end of the linkage rod 61. The rotating shaft passes through the fifth shaft hole and the second mounting hole 441, so that the other end of the first transmission rod 62 is hinged to the second end 44 of the first clamping arm 40. Figure 7 and Fig.10 .

[0088] The structure of the second transmission rod 63 is the same as that of the first transmission rod 62 and the size is the same. The second transmission rod 63 has a sixth shaft hole and a seventh shaft hole at both ends, respectively. The rotating shaft passes through the sixth shaft hole and the second shaft hole, so that one end of the second transmission rod 63 is hinged to the other end of the linkage rod 61. The rotating shaft passes through the seventh shaft hole and the fourth mounting hole 541, so that the other end of the second transmission rod 63 is hinged to the fourth end 54 of the second clamping arm 50. Figure 8 and Fig.10 .

[0089] The above technical solution is to rotationally connect the linkage rod 61 with the base plate 30, and the two ends of the first transmission rod 62 are rotationally connected to one end of the linkage rod 61 and the second end 44 of the first clamping arm 40, and the two ends of the second transmission rod 63 are rotationally connected to the other end of the linkage rod 61 and the fourth end 54 of the second clamping arm 50, so that when one of the first clamping arm 40 and the second clamping arm 50 rotates, the other one can be linked and rotated in the opposite direction, so that the second end 44 and the fourth end 54 are close to or away from each other, so that the end quick-release assembly 200 can switch between the locked state and the unlocked state. The structure is simple and the transmission is stable.

[0090] In one embodiment of the present application, see Figure 5 and Fig.10 The end quick release assembly 200 further includes an elastic member 70 , which is disposed on the bottom plate 30 . When the end quick release assembly 200 is in a locked state, the elastic member 70 presses against the linkage rod 61 and causes the linkage rod 61 to self-lock.

[0091] Optionally, see Fig. 9 and Fig.10 The position of the protrusion 34 near the linkage assembly 60 is provided with a limiting groove 342, which penetrates the edge of the protrusion 34 near the linkage rod 61 and the side of the protrusion 34 facing the connecting plate 20. The elastic member 70 is arranged in the limiting groove 342 to limit the elastic member 70, and the elastic member 70 is located directly below the linkage rod 61. Further, the terminal quick release assembly 200 also includes a fixing block 80, which is fixed to the side of the protrusion 34 facing the connecting plate 20 and spans the limiting groove 342 to firmly limit the elastic member 70 in the limiting groove 342 to prevent the elastic member 70 from escaping from the limiting groove 342.

[0092] During the process of the linkage rod 61 rotating along the preset direction, after the linkage rod 61 rotates by the preset angle, the elastic member 70 provides the linkage rod 61 with elastic force to continue rotating along the preset direction, so that when the end quick-release assembly 200 is in a locked state or an unlocked state, the linkage rod 61 is self-locked under the action of the elastic member 70, so that the end quick-release assembly 200 is stably in a locked state or an unlocked state.

[0093] Exemplarily, when the end quick-release assembly 200 needs to be switched from the unlocked state to the locked state, the wrench 442 is pulled to rotate the first clamping arm 40 in the first direction, and the first clamping arm 40 drives the linkage rod 61 to rotate in the second direction through the first transmission rod 62, the second direction being opposite to the first direction, for example, when the first direction is counterclockwise, the second direction is clockwise, and the first linkage rod 61 drives the second clamping arm 50 to rotate in the second direction through the second transmission rod 63, so that the second end 44 and the fourth end 54 are close to each other. In this process, when the linkage rod 61 is in the first stage, such as when the rotation angle of the linkage rod 61 is less than 45°, one end of the linkage rod 61 gradually abuts against the elastic member 70, and the elastic member 70 provides a reaction force to the linkage rod 61, and the point of action of the elastic member 70 on the linkage rod 61 is located on the side of the rotation axis of the linkage rod 61 close to the first clamping arm 40, so that the elastic member 70 provides a resistance to the linkage rod 61 that hinders the linkage rod 61 from rotating in the second direction, such as Fig.10 As the first clamping arm 40 continues to rotate in the first direction, when the linkage rod 61 enters the second stage, such as when the rotation angle of the linkage rod 61 is greater than 45°, the point of action of the elastic member 70 on the linkage rod 61 is located on the side of the rotation axis of the linkage rod 61 close to the second clamping arm 50, so that the elastic member 70 provides an elastic force for the linkage rod 61 to continue to rotate in the second direction. In this way, when the end quick-release assembly 200 is in a locked state, the linkage rod 61 has a tendency to continue to rotate in the second direction under the elastic force of the elastic member 70, so that the end quick-release assembly 200 can be stably maintained in the locked state, such as Figure 5It can be understood that when the end quick release assembly 200 is in the locked state, the point of action of the elastic member 70 on the linkage rod 61 is located on one side of the rotation axis of the linkage rod 61, and the elastic member 70 makes the linkage rod 61 have a tendency to move in the locking direction, thereby realizing the self-locking of the linkage rod 61.

[0094] According to the above technical solution, when the end quick-release assembly 200 is in a locked state, the elastic member 70 abuts against the linkage rod 61, so that the linkage rod 61 is self-locked, so that the end quick-release assembly 200 is stably maintained in an open state, which is beneficial to ensuring the stability of the connection between the end quick-release assembly 200 and the end clamping assembly 100.

[0095] Optionally, the elastic member 70 may be a spring or other member with elastic restoring force.

[0096] In one embodiment of the present application, please refer again to Figure 1 and Figure 2 The end clamping assembly 100 further includes a sterile cover 10 , and the sterile cover 10 is connected to the connecting plate 20 .

[0097] The sterile cover 10 is used to cover the robot arm 400. Specifically, when the terminal quick release assembly 200 is connected to the robot arm 400, the sterile cover 10 covers the terminal quick release assembly 200 and the robot arm 400; when the terminal clamping assembly 100 is connected to the robot arm 400, the sterile cover 10 covers the robot arm 400. It can be understood that the surgical instrument 300 is sterilely isolated from the robot arm 400 through the sterile cover 10.

[0098] Optionally, see Fig.15 The sterile cover 10 is provided with an opening, and the end clamping assembly 100 further includes an adapter ring 11, which is sealed and connected to the peripheral side of the opening. For example, the adapter ring 11 is hot-pressed and connected to the peripheral side of the opening corresponding to the sterile cover 10, and the edge of the plate body 21 is connected to the adapter ring 11.

[0099] Specifically, the adapter ring 11 is provided with a connecting column 111 , the edge of the plate body 21 is provided with a connecting hole 211 , the edge of the plate body 21 is fitted with the adapter ring 11 , and the connecting column 111 is inserted into the connecting hole 211 to connect the plate body 21 with the adapter ring 11 .

[0100] Furthermore, the connecting column 111 is an elastic structure. When the connecting column 111 is inserted into the connecting hole 211 , the connecting column 111 and the connecting hole 211 are interference-fitted and elastically buckled, thereby effectively preventing the connecting column 111 from being separated from the connecting hole 211 .

[0101] There are multiple connecting posts 111, which are evenly distributed along the circumference of the adapter ring 11. The number of connecting holes 211 is equal to the number of connecting posts 111. The multiple connecting holes 211 are arranged at equal intervals around the boss 22, and the multiple connecting posts 111 are inserted into the multiple connecting holes 211 one by one. By providing multiple connecting posts 111 to cooperate with multiple connecting holes 211, it is helpful to improve the stability of the connection between the plate body 21 and the adapter ring 11.

[0102] See also Figure 1 and Figure 2 The present application provides a surgical robot, a surgical instrument 300, a robotic arm 400 and an end connection device of any of the above embodiments, wherein the end clamping assembly 100 is connected to the surgical instrument 300, and the end quick-release assembly 200 is connected to the robotic arm 400.

[0103] It should be noted that the surgical instrument 300 may be of different types, and during surgery, the surgical instrument 300 connected with the end clamping assembly 100 may be quickly installed and disassembled.

[0104] The surgical instrument 300 is a sterile component, and the robotic arm 400 is a non-sterile component. The sterile cover 10 can separate the environmental space into a sterile area and a non-sterile area, so that the surgical instrument 300 and the robotic arm 400 can be better isolated, effectively avoiding contamination of the sterile area when replacing the surgical instrument 300.

[0105] In one embodiment of the present application, see Fig.16 and Fig.17 The connecting plate 20 is provided with a sleeve 23, and the end clamping assembly 100 also includes a tightening sleeve 24 sleeved on the sleeve 23, and a knob sleeve 25 sleeved on the sleeve 23 and the tightening sleeve 24. The knob sleeve 25 is threadedly matched with the sleeve 23 and can drive the tightening sleeve 24 to move axially along the sleeve 23. The surgical instrument 300 has a connecting portion 301, which is inserted into the sleeve 23, and the tightening sleeve 24 clamps the connecting portion 301.

[0106] Specifically, one end of the shaft sleeve 23 is connected to the side surface of the plate body 21 facing away from the boss 22 .

[0107] Optionally, the shaft sleeve 23 includes a threaded section 231 and a sliding section 232, the threaded section 231 is connected to the plate body 21, the outer wall of the threaded section 231 is provided with an outer thread, the inner wall of the knob sleeve 25 is provided with an inner thread, the knob sleeve 25 is sleeved on the threaded section 231, and the inner thread of the knob sleeve 25 cooperates with the outer thread of the threaded section 231 to achieve threaded connection. The sliding section 232 is connected to the end of the threaded section 231 away from the plate body 21, and the outer diameter of the sliding section 232 is smaller than the outer diameter of the threaded section 231. The tightening sleeve 24 is slidably sleeved on the sliding section 232 and clamped between the sliding section 232 and the knob sleeve 25. When the knob sleeve 25 rotates relative to the threaded section 231, it can drive the tightening sleeve 24 to slide along the axial direction of the sliding section 232.

[0108] Furthermore, a retaining ring 251 is provided on the inner wall of one end of the knob sleeve 25 away from the connecting plate 20 , and a protrusion 241 is provided on the tightening sleeve 24 . The protrusion 241 is arranged between the retaining ring 251 and the threaded section 231 to prevent the tightening sleeve 24 from detaching from the knob sleeve 25 .

[0109] It should be noted that the tightening sleeve 24 can only slide along the axial direction of the sliding section 232 and cannot rotate relative to the sliding section 232. Specifically, the sleeve opening of the tightening sleeve 24 is a non-circular hole, such as a flat opening, a square opening, etc. The shape of the sliding section 232 is adapted to the sleeve opening of the tightening sleeve 24. In this way, when the tightening sleeve 24 is slidably mounted on the sliding section 232, the tightening sleeve 24 can only slide along the axial direction of the sliding section 232 and cannot rotate relative to the sliding section 232.

[0110] The inner diameter of the sleeve 23 gradually decreases from the sliding section 232 to the threaded section 231 , and the connecting portion 301 is adapted to the sleeve 23 , that is, the connecting portion 301 is tapered, and the outer diameter of the connecting portion 301 gradually decreases toward the end clamping assembly 100 .

[0111] According to the above technical solution, when the connecting part 301 is inserted into the shaft sleeve 23, the knob sleeve 25 and the tightening sleeve 24 cooperate to clamp the connecting part 301, so as to realize the detachable connection between the end clamping assembly 100 and the surgical instrument 300. In this way, when replacing the surgical instrument 300, the surgical instrument 300 provided with the connecting part 301 and other structures can be directly connected to the end clamping assembly 100, without operating the connection relationship between the end clamping assembly 100 and the end quick-release assembly 200, which is beneficial to improving the efficiency of ring removal.

[0112] In one embodiment of the present application, see Fig.18 and Fig.19The sleeve 23 has a first limiting surface 234, the tightening sleeve 24 has a first contact surface 243, the surgical instrument 300 is provided with a positioning block 302, the positioning block 302 has a second limiting surface 3021 and a second contact surface 3022, the second limiting surface 3021 contacts the first limiting surface 234, the second contact surface 3022 contacts the first contact surface 243, and the first contact surface 243 and / or the second contact surface 3022 are inclined surfaces along the axial direction of the sleeve 23.

[0113] Optionally, a first notch 233 is provided at one end of the sleeve 23 away from the connecting plate 20. Specifically, the first notch 233 is provided at one end of the sliding section 232 away from the threaded section 231. A first limiting surface 234 is formed on the inner wall surface of the first notch 233. The first limiting surface 234 is parallel to the axial direction of the sleeve 23. A second notch 242 is provided at one end of the tightening sleeve 24 away from the connecting plate 20. In the circumferential direction of the sleeve 23, the second notch 242 is arranged corresponding to the first notch 233. A first contact surface 243 is formed on the inner wall surface of the second notch 242. The first contact surface 243 is arranged opposite to the first limiting surface 234, and the first contact surface 243 is an inclined surface inclined inwardly. The positioning block 302 is arranged near the connecting portion 301. The second limiting surface 3021 and the second contact surface 3022 are the opposite side surfaces of the positioning block 302. The second contact surface 3022 is an inclined surface, that is, the positioning block 302 is in a wedge shape. When the connecting part 301 is inserted into the sleeve 23, the positioning block 302 is located in the first slot 233 and the second slot 242, and the second limiting surface 3021 is in contact with the first limiting surface 234. The knob sleeve 25 is rotated to drive the tightening sleeve 24 to slide along the axial direction of the sleeve 23 toward the connecting plate 20, so that the first contact surface 243 and the second contact surface 3022 gradually fit together, and the positioning block 302 is squeezed in the direction of the first limiting surface 234, so that the first contact surface 243 and the first limiting surface 234 are clamped on the positioning block 302, thereby realizing the connection between the end clamping assembly 100 and the robotic arm 400.

[0114] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A terminal connection device, characterized in that: The invention comprises an end clamping assembly (100) and an end quick-release assembly (200), wherein the end clamping assembly (100) comprises a connecting plate (20); the end quick-release assembly (200) comprises a base plate (30), a first clamping arm (40), a second clamping arm (50) and a linkage assembly (60), wherein the first clamping arm (40), the second clamping arm (50) and the linkage assembly (60) are all rotatably connected to the base plate (30), and the linkage assembly (60) is linkage-connected between the first clamping arm (40) and the second clamping arm (50). When the linkage assembly (60) is operated, the first clamping arm (40) and the second clamping arm (50) are driven to rotate, and the end quick-release assembly (200) is switched between a locked state and an unlocked state. When in the locked state, the first clamping arm (40) cooperates with the second clamping arm (50) to clamp the connecting plate (20) and surround the linkage assembly (60).

2. The end connection device according to claim 1, characterized in that: The connecting plate (20) comprises a plate body (21) and a boss (22) arranged on one side of the plate body (21); the first clamping arm (40) and the second clamping arm (50) cooperate to be clamped on the boss (22); a first flange (221) and a second flange (222) are provided on opposite sides of the boss (22); the first clamping arm (40) is provided with a first clamping groove (41) cooperating with the first flange (221); the second clamping arm (50) is provided with a second clamping groove (51) cooperating with the second flange (222).

3. The end connection device according to claim 2, characterized in that: The bottom plate (30) is provided with a convex block (34), one of the convex block (34) and the boss (22) is provided with a positioning pin (341), and the other is provided with a positioning hole (223) for inserting the positioning pin (341).

4. The end connection device according to claim 1, characterized in that: The first clamping arm (40) has a first end (43) and a second end (44), the second clamping arm (50) has a third end (53) and a fourth end (54), the first end (43) and the third end (53) are both rotatably connected to the base plate (30), and the second end (44) is linked to the fourth end (54) via the linkage assembly (60).

5. The end connection device according to claim 4, characterized in that: The second end (44) and / or the fourth end (54) is provided with a wrench (442), and the wrench (442) extends beyond the outer edge of the bottom plate (30).

6. The end connection device according to claim 4, characterized in that: The second end (44) and / or the fourth end (54) is provided with a shielding portion (542), and the shielding portion (542) extends along the circumference of the bottom plate (30) to between the second end (44) and the fourth end (54), and shields the gap between the second end (44) and the fourth end (54) when the end quick-release assembly (200) is in a locked state, so as to surround the linkage assembly (60).

7. The end connection device according to claim 4, characterized in that: The linkage assembly (60) comprises a linkage rod (61), a first transmission rod (62) and a second transmission rod (63); the linkage rod (61) is rotatably connected to the base plate (30); two ends of the first transmission rod (62) are rotatably connected to one end of the linkage rod (61) and the second end (44) of the first clamping arm (40); and two ends of the second transmission rod (63) are rotatably connected to the other end of the linkage rod (61) and the fourth end (54) of the second clamping arm (50).

8. The end connection device according to claim 7, characterized in that: The terminal quick-release assembly (200) further comprises an elastic member (70), wherein the elastic member (70) is arranged on the base plate (30), and when the terminal quick-release assembly (200) is in the locked state, the elastic member (70) presses against the linkage rod (61) and causes the linkage rod (61) to self-lock.

9. The end connection device according to any one of claims 1 to 8, characterized in that: The end clamping assembly (100) further comprises a sterile cover (10), wherein the sterile cover (10) is connected to the connecting plate (20).

10. A surgical robot, characterized in that: A surgical instrument (300), a robotic arm (400), and an end connection device as described in any one of claims 1 to 9, wherein the end clamping assembly (100) is connected to the surgical instrument (300), and the end quick-release assembly (200) is connected to the robotic arm (400).

11. The surgical robot according to claim 10, characterized in that: The connecting plate (20) is provided with a shaft sleeve (23), and the end clamping assembly (100) further includes a tightening sleeve (24) sleeved on the shaft sleeve (23), and a knob sleeve (25) sleeved on the shaft sleeve (23) and the tightening sleeve (24), wherein the knob sleeve (25) is threadedly matched with the shaft sleeve (23) and can drive the tightening sleeve (24) to move axially along the shaft sleeve (23), and the surgical instrument (300) has a connecting portion (301), wherein the connecting portion (301) is inserted into the shaft sleeve (23), and the tightening sleeve (24) clamps the connecting portion (301).

12. The surgical robot according to claim 11, characterized in that: The sleeve (23) has a first limiting surface (234), the tightening sleeve (24) has a first contact surface (243), the surgical instrument (300) is provided with a positioning block (302), the positioning block (302) has a second limiting surface (3021) and a second contact surface (3022), the second limiting surface (3021) contacts the first limiting surface (234), the second contact surface (3022) contacts the first contact surface (243), and the first contact surface (243) and / or the second contact surface (3022) are inclined surfaces along the axial direction of the sleeve (23).

Images