Poking card limiting and fixing mechanism

Abstract

The utility model discloses a trocar limiting and fixing mechanism, which comprises a magnetic assembly and a trocar assembly, the magnetic assembly comprises a limiting seat, a limiting block, a limiting block, a limiting block and a clamping block, and the limiting seat is connected to the tail end of a mechanical arm; the magnetic resistance body is arranged in the limiting seat; the permanent magnet is rotationally arranged in the limiting seat, and the limiting seat is in a magnetized state and a demagnetized state through the change of the relative position of the permanent magnet and the magnetic resistance body; in a magnetization state, the limiting seat is used for limiting and adsorbing the trocar assembly; and in a demagnetization state, the limiting seat releases the poke card assembly. Magnetic attraction control between the limiting base and the trocar assembly is achieved through relative position changes of the permanent magnet and the magnetic resistance body, so that detachable fixing of the trocar is achieved, meanwhile, automatic alignment of the trocar is achieved in cooperation with a limiting structure between the limiting base and the trocar assembly, the trocar can be firmly and accurately fixed, and the trocar can be prevented from being damaged. And meanwhile, the situation that the trocar and the mechanical arm are not in place in butt joint can be effectively avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of auxiliary medical devices, in particular to a card-poking and limiting fixing mechanism. Background Art

[0002] With the development of medical technology, the application of robotic-assisted surgical equipment in minimally invasive surgery is becoming more and more widespread. In the process of robot-assisted minimally invasive surgery, it is usually necessary to establish a dedicated channel through a poke card, and then use a slender minimally invasive surgical instrument to enter the dedicated channel to perform surgical operations in the human abdominal cavity. Since the poke card must be disinfected after each operation, it is required that the poke card can be detachably fixed on the surgical robot.

[0003] The poke card is a widely used tool in laparoscopic or thoracoscopic surgery. During use, it needs to maintain a rigid connection with the instrument arm, so that the poke card can be fixed and not loosened, and can be quickly disassembled and assembled. The common method of fixing the poke card is often to achieve mechanical locking through a series of mechanical structures. Although these methods can fix firmly, they are not easy to disassemble and assemble, have complex structures, and cannot achieve automatic alignment. Summary of the invention

[0004] Purpose of the invention: In view of the above-mentioned deficiencies, the utility model provides a poking card limiting and fixing mechanism for realizing the limiting and fixing of the poking card, which can not only fix the poking card without loosening, but also realize the convenience of quick disassembly and assembly, and effectively avoid the inadequate docking between the poking card and the mechanical arm.

[0005] Technical solution: To achieve the above purpose, the utility model provides a card-poking limit fixing mechanism, including a magnetic component and a card-poking component, wherein the magnetic component includes:

[0006] A limit seat, the limit seat is connected to the end of the mechanical arm;

[0007] A magnetic block, wherein the magnetic block is constructed in a limiting seat;

[0008] A permanent magnet is rotatably disposed in the limit seat, and the limit seat is magnetized and demagnetized by changing its relative position with the blocking magnet;

[0009] In the magnetized state, the limit seat limits the position of the card stamping component;

[0010] In the demagnetized state, the limit seat releases the card punching assembly.

[0011] Furthermore, a hollow groove is formed on the limit seat, the permanent magnet is rotatably disposed in the hollow groove, and the blocking magnet is embedded on opposite sides of the hollow groove, so that the limit seat is divided into two parts by the blocking magnet, and one of the blocking magnets is constructed at the junction of the limit seat and the card punching assembly;

[0012] When the permanent magnet rotates until the two magnetic poles are away from the blocking magnet, the limiting seat limits the position of the stamping assembly;

[0013] When the permanent magnet rotates until the two magnetic poles are respectively facing a blocking magnet, the limit seat releases the punching assembly.

[0014] Specifically, the hollow groove is constructed as a hollow cylindrical groove, a rotating body is embedded in the cylindrical groove, and the permanent magnet is embedded in the rotating body along the radial direction.

[0015] Furthermore, the magnetic assembly also includes a driving member for driving the rotating body to axially rotate in the limiting seat.

[0016] Specifically, the driving member is configured as a handle radially fixed to the end surface of the rotating body, and the direction of the handle is consistent with the direction of the magnetic pole of the permanent magnet.

[0017] Furthermore, it also includes a shell assembly, which is used to achieve external protection of the magnetic assembly and also serves to connect the mechanical arm.

[0018] Furthermore, the limiting seat and the poking card assembly are matched with each other through a limiting structure, and the limiting structure is constructed of a matching limiting block and limiting groove.

[0019] Specifically, the limiting structure is constructed of a matching limiting sliding block and a limiting sliding groove, which are plug-in and limited in cooperation.

[0020] Furthermore, the limiting seat and the card poking assembly are provided with limiting guidance via a guiding structure, and the guiding structure is constructed as a matching guiding surface.

[0021] Furthermore, a sensor element is provided on the limit seat for detecting the limit cooperation between the limit seat and the card poking assembly.

[0022] Beneficial effects:

[0023] The utility model realizes magnetic attraction control between the limit seat and the poking card assembly by changing the relative positions of the permanent magnet and the blocking magnet, thereby realizing the detachable fixation of the poking card, and at the same time realizes automatic alignment of the poking card in cooperation with the limit structure between the limit seat and the poking card assembly, which can not only firmly and accurately fix the poking card, but also facilitate the disassembly and assembly operation, and can effectively avoid the inadequate docking between the poking card and the mechanical arm, which may cause accidental injury to the patient during the operation, and has the characteristics of simple structure, firm connection, convenient disassembly and assembly, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is an overall schematic diagram of the card-poking and limiting fixing mechanism in the embodiment of the utility model;

[0025] Figure 2It is an exploded view of the card-poking and limiting fixing mechanism in the embodiment of the utility model;

[0026] Figure 3 (a) to 3(b) are schematic diagrams of the magnetic control principle of the card-stamping and limiting fixing mechanism in the embodiment of the utility model;

[0027] Figure 4 A top view of the card punching assembly in the embodiment of the utility model;

[0028] Figure 5 This is a schematic diagram of the structure of the limit seat in the embodiment of the utility model;

[0029] The figure includes: 10, shell assembly, 11, magnetic assembly, 12, poking card assembly, 101, shell, 102, bottom cover, 111, handle, 112, rotating body, 113, permanent magnet, 114, limit seat, 115, magnetic resistance, 116, Hall sensor, 121, poking card, 122, fixed seat, 1141, cylindrical groove, 1142, limit slide groove, 1143, first inclined wedge surface, 1221, limit slider, 1222, second inclined wedge surface. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings to more clearly and completely illustrate the technical solution of the present invention.

[0031] Reference Figure 1 This embodiment provides a card poking and limiting fixing mechanism, which specifically includes a shell component 10, a magnetic component 11 and a card poking component 12.

[0032] Reference Figure 2 , the magnetic assembly 11 comprises:

[0033] A limit seat 114, the limit seat 114 is connected to the end of the robot arm;

[0034] The magnetic blocking body 115 is constructed in the limiting seat 114;

[0035] The permanent magnet 113 is rotatably disposed in the limit seat 114, and the limit seat 114 is magnetized and demagnetized by changing its relative position with the blocking magnet 115;

[0036] In the magnetized state, the limiting seat 114 limits the position of the card stamping assembly 12;

[0037] In the demagnetized state, the limiting seat 114 releases the card punching assembly 12 .

[0038] Specifically, the poking card assembly 12 includes a poking card 121 and a fixing seat 122 fixed on the poking card 121 . The fixing seat 122 and the limiting seat 114 are both made of soft magnetic materials, thereby achieving magnetic adsorption.

[0039] Furthermore, a hollow groove is formed on the limit seat 114, the permanent magnet 113 is rotatably disposed in the hollow groove, and the blocking magnet 115 is embedded on opposite sides of the hollow groove, so that the limit seat 114 is divided into two parts by the blocking magnet 115, and one of the blocking magnets 115 is constructed at the junction of the limit seat 114 and the card punching assembly 12;

[0040] When the permanent magnet 113 rotates until the two magnetic poles are away from the blocking magnet 115, the limiting seat 114 limits the position of the card stamping assembly 12;

[0041] When the permanent magnet 113 rotates until the two magnetic poles are respectively facing a blocking magnet 115 , the limiting seat 114 releases the punching assembly 12 .

[0042] Exemplarily, a hollow cylindrical groove 1141 is formed on the limiting seat 114, and the rotating body 112 is embedded in the cylindrical groove 1141. The permanent magnet 113 is radially embedded in the rotating body 112 and is limited to the middle position of the rotating body 112 in the length direction. Figure 3 (a) to 3(b), the blocking magnet 115 is embedded in the opposite sides of the cylindrical groove 1141, one of which is constructed between the cylindrical groove 1141 and the joint surface (i.e., the joint surface between the limit seat 114 and the fixed seat 122); one side of the blocking magnet 115 close to the cylindrical groove 1141 is limited to the circumferential surface of the cylindrical groove 1141, and the other side is limited to the outer end surface of the limit seat 114, so that the limit seat 114 is divided into two left and right parts by the blocking magnet 115.

[0043] like Figure 3 As shown in (b), when the two poles of the permanent magnet 113 are in the horizontal direction, that is, the N pole and the S pole are far away from the blocking magnet 115, the magnetic induction circuit of the permanent magnet 113 is isolated by the blocking magnets 115 on both sides, and the magnetic lines of force starting from the N pole cannot effectively reach the S pole. Only when the fixing seat 122 approaches the limiting seat 114 from below, the magnetic lines of force can pass through the fixing seat 122 to reach the S pole, forming a closed circuit, so it can be used to absorb the fixing seat 122 to achieve effective fixation of the stamping card 121.

[0044] like Figure 3 As shown in (a), when the two poles of the permanent magnet 113 are in the vertical direction, that is, the N pole and the S pole are facing a blocking magnet 115 respectively, the magnetic lines of the permanent magnet 113 can be directly closed through the limit seats 114 on the left and right sides without passing through the fixing seat 122 below, so the magnetic attraction to the fixing seat 122 is lost, and the stamp card 121 can be easily removed.

[0045] Furthermore, the magnetic assembly 11 further includes a driving member for driving the rotating body 112 to axially rotate in the limiting seat 114 .

[0046] Preferably, the driving member is constructed as a handle 111 radially fixed to the end face of the rotating body 112, and the direction of the handle 111 is consistent with the magnetic pole direction of the permanent magnet 113 to facilitate confirmation of the magnetic pole direction; the handle 111 and the rotating body 112 are circumferentially positioned by radially extending positioning blocks and positioning grooves to ensure that the two rotate synchronously.

[0047] Furthermore, the magnetic component 11 is disposed in the shell component 10, and external protection is achieved through the shell component 10, while also serving as a connection to the robotic arm.

[0048] Exemplarily, the housing assembly 10 is L-shaped as a whole, one end of which is connected to the robot arm, and the other end has a built-in limit seat 114, one end of which extends outside the housing assembly 10 and is limitedly matched with the fixed seat 122. Specifically, the housing assembly 10 can be constructed as a fixedly connected shell 101 and a bottom cover 102, and an opening is provided on the shell 101, so that the handle 111 passes through the opening and is driven and connected to the rotating body 112.

[0049] Furthermore, the limiting seat 114 and the fixing seat 122 are matched with each other through a limiting structure. Specifically, the limiting structure can be constructed as a matching limiting block and a limiting groove, thereby achieving the limiting match.

[0050] Specifically, the shapes of the limiting groove and the limiting block are not limited, and can be waist-shaped grooves, V-shaped grooves, conical grooves, etc.; the positional relationship between the limiting groove and the limiting block is not limited, that is, the limiting groove can be on the limiting seat 114 or on the fixed seat 122.

[0051] Reference Figure 4-5 The limiting seat 114 is provided with a vertically extending limiting slot 1142, and the fixed seat 122 is provided with a corresponding limiting slider 1221, and the two are plug-in limited. Specifically, the cylindrical groove 1141 is located directly behind the limiting slot 1142, and the center line connecting the two is perpendicular to the joint surface of the limiting seat 114 and the fixed seat 122, and one of the magnetic blocking bodies 115 is located between the cylindrical groove 1141 and the limiting slot 1142.

[0052] Furthermore, the limiting guide is realized by the guide structure between the limiting seat 114 and the fixing seat 122. Specifically, the guide structure can be constructed as a matching guide surface (such as an inclined wedge surface, an arc surface, etc.), thereby realizing the limiting guide.

[0053] Exemplarily, first inclined wedge surfaces 1143 that gradually expand outward are provided on both sides of the limiting slide groove 1142, and corresponding second inclined wedge surfaces 1222 are provided on both sides of the limiting slider 1221. The limiting guidance between the limiting seat 114 and the fixed seat 122 is achieved through the cooperation between the first inclined wedge surface 1143 and the second inclined wedge surface 1222.

[0054] In this embodiment, the cooperation between the first inclined wedge surface 1143 and the second inclined wedge surface 1222 plays a guiding role, and the cooperation between the limiting slider 1221 and the limiting slide groove 1142 plays a limiting role, thereby fully ensuring the plug-in limiting cooperation between the limiting seat 114 and the fixing seat 122, thereby realizing the automatic alignment of the stamping card 121. In other embodiments, the guide surface can be directly arranged on the limiting groove and the limiting block, so that it has both the guiding and limiting functions, such as the plug-in cooperation between the trapezoidal grooves and the trapezoidal grooves.

[0055] Furthermore, a sensor element is provided on the limiting seat 114 for detecting the limiting fit between the limiting seat 114 and the fixing seat 122 .

[0056] Exemplarily, a Hall sensor 116 is embedded in the limiting slide groove 1142 to detect in real time whether the connection between the limiting seat 114 and the fixing seat 122 is stable.

[0057] The specific implementation of this embodiment is as follows:

[0058] When the stamp card 121 is fixed, the handle 111 is turned to drive the rotating body 112 to drive the permanent magnet 113 to rotate, so that the magnetic poles of the permanent magnet 113 are Figure 3 (b) in the horizontal direction, and then the fixing seat 122 is brought close to the limiting seat 114. Under the action of the magnetic force, the fixing seat 122 is limitedly matched with the limiting seat 114 along the guide surface, and is fixed by the limiting seat 114 (the magnetic force can reach more than 200N).

[0059] When the fixing seat 122 is sucked, the Hall sensor 116 will be triggered, and the Hall sensor 116 will send a signal to the surgical robot. During the operation, it can detect in real time whether the connection of the fixing seat 122 is stable, thereby preventing the poking card 121 from accidentally loosening and ensuring that the surgical robot accurately positions the poking card 121.

[0060] When the stamping card 121 is released, the rotating body 112 is driven by the handle 111 to drive the permanent magnet 113 to rotate, so that the magnetic poles of the permanent magnet 113 are Figure 3 (a) in the vertical direction, at this time, the permanent magnet 113 loses its magnetic attraction to the fixing seat 122, and then the operation can be completed by pulling the poking card 121 outward, so that the poking card 121 is released.

[0061] The above specific implementations are only descriptions of the preferred implementations of the utility model, and do not limit the protection scope of the utility model. Without departing from the design concept and spirit of the utility model, various modifications, substitutions and improvements made by ordinary technicians in this field to the technical solution of the utility model based on the text description and drawings provided by the utility model should all fall within the protection scope of the utility model.

Claims

1. A card-poking limit fixing mechanism, characterized in that: It includes a magnetic component and a card stamping component, and the magnetic component includes: A limit seat, the limit seat is connected to the end of the mechanical arm; A magnetic block, wherein the magnetic block is constructed in a limiting seat; A permanent magnet is rotatably disposed in the limit seat, and the limit seat is magnetized and demagnetized by changing its relative position with the blocking magnet; In the magnetized state, the limit seat limits the position of the card stamping component; In the demagnetized state, the limit seat releases the card punching assembly.

2. A card-poking and limiting fixing mechanism according to claim 1, characterized in that: The position limiting seat is provided with a hollow groove, the permanent magnet is rotatably disposed in the hollow groove, the blocking magnets are embedded at two opposite sides of the hollow groove, so that the position limiting seat is divided into two parts by the blocking magnets, and one of the blocking magnets is constructed at the junction of the position limiting seat and the card punching assembly; When the permanent magnet rotates until the two magnetic poles are away from the blocking magnet, the limiting seat limits the position of the stamping assembly; When the permanent magnet rotates until the two magnetic poles are respectively facing a blocking magnet, the limit seat releases the punching assembly.

3. A card-poking and limiting fixing mechanism according to claim 2, characterized in that: The hollow groove is constructed as a hollow cylindrical groove, a rotating body is embedded in the cylindrical groove, and the permanent magnet is embedded in the rotating body along the radial direction.

4. A card-poking and limiting fixing mechanism according to claim 3, characterized in that: The magnetic assembly also includes a driving member for driving the rotating body to rotate axially in the limiting seat.

5. A card-poking and limiting fixing mechanism according to claim 4, characterized in that: The driving member is configured as a handle which is radially fixed to the end surface of the rotating body, and the direction of the handle is consistent with the direction of the magnetic pole of the permanent magnet.

6. The card-poking and limiting fixing mechanism according to claim 1, characterized in that: It also includes a shell assembly, which is used to provide external protection for the magnetic assembly and also serves to connect the robotic arm.

7. The card-poking and limiting fixing mechanism according to claim 1, characterized in that: The limiting seat and the card punching assembly are matched with each other through a limiting structure, and the limiting structure is constructed of a matching limiting block and a limiting groove.

8. The card-poking and limiting fixing mechanism according to claim 7, characterized in that: The limiting structure is constructed of a matching limiting sliding block and a limiting sliding groove, which are plug-in and limited in cooperation.

9. The card-poking and limiting fixing mechanism according to claim 1, characterized in that: The limiting seat and the card punching assembly are provided with limiting guidance via a guiding structure, and the guiding structure is constructed as a matching guiding surface.

10. The card-poking and limiting fixing mechanism according to claim 1, characterized in that: The limit seat is provided with a sensor element for detecting the limit cooperation between the limit seat and the card poking assembly.

Images