Surgical robot mechanical arm tail end switching device

Abstract

The utility model relates to a surgical robot mechanical arm tail end switching device which comprises a first connecting piece, a second connecting piece and a switch piece, the switch piece is arranged on the first connecting piece in a sliding mode, a butt-joint groove is formed in the first connecting piece, a butt-joint protrusion is arranged on the second connecting piece, and the butt-joint protrusion is arranged on the second connecting piece. The switch piece is provided with a first position and a second position, when the switch piece is located at the first position, the butt joint protrusion is inserted into the butt joint groove, the butt joint protrusion is fixedly connected with the butt joint groove, and when the switch piece is located at the second position, the butt joint protrusion can be separated relative to the butt joint groove in the insertion direction. According to the utility model, electronic equipment is not needed, the structure is simple and reliable, and rapid butt joint and separation of the first connecting piece and the second connecting piece can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a terminal adapter device of a surgical robot mechanical arm. Background Art

[0002] With the application and development of robot-related technologies, the role of medical surgical robots in clinical practice has attracted more and more attention. The end of the robotic arm of the surgical robot needs to be connected to the surgical instrument through an adapter to achieve the connection between the surgical instrument and the end of the robotic arm. In order to achieve the docking and separation of the robotic arm and the surgical instrument, the adapter in the prior art generally has electronic equipment, which controls the docking and separation of the robotic arm and the surgical instrument through the electronic equipment, resulting in a relatively complex structure. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a surgical robot mechanical arm end adapter device, which can simplify the structure of the adapter device.

[0004] To achieve the above-mentioned purpose, the utility model provides a surgical robot manipulator arm end adapter device, including a first connecting member, a second connecting member and a switch member, the switch member can be slidably arranged on the first connecting member, the first connecting member is provided with a docking groove, the second connecting member is provided with a docking protrusion, the switch member has a first position and a second position, when the switch member is located at the first position, the docking protrusion is plugged into the docking groove, and the docking protrusion is fixedly connected to the docking groove, when the switch member is located at the second position, the docking protrusion is separable relative to the docking groove along the plug-in direction.

[0005] In an embodiment of the present invention, the sliding direction of the switch member is along the axial direction of the first connecting member, and the insertion direction of the docking protrusion along the docking groove intersects with the sliding direction of the switch member.

[0006] In one embodiment of the present invention, the width of the butt joint groove is a first width, the width of the groove bottom of the butt joint groove is a second width, and the second width is greater than the first width.

[0007] In one embodiment of the utility model, the width of one end of the docking protrusion that cooperates with the bottom of the docking groove is the third width, the width of one end of the docking protrusion that cooperates with the notch of the docking groove is the fourth width, the third width is greater than the fourth width, and the third width is greater than the first width.

[0008] In one embodiment of the present invention, the first connecting member includes a connecting seat and a docking column, the connecting seat is arranged at one end of the docking column, and the docking groove is arranged on an end of the docking column away from the connecting seat.

[0009] In one embodiment of the utility model, a sliding groove is provided on the switch member along its axial direction, and the sliding groove is sleeved on the docking column. When the switch member is located at the first position, the docking groove and the docking protrusion are located inside the sliding groove. When the switch member is located at the second position, the docking groove and the docking protrusion are located outside the sliding groove.

[0010] In one embodiment of the present invention, a positioning ring is provided on the first connecting member, a switch cavity is formed between the positioning ring, the connecting seat and the docking column, and the switch member is slidably disposed in the switch cavity along the axial direction of the first connecting member.

[0011] In one embodiment of the present invention, along the axial direction of the first connecting member, the switch member forms the first position when it is located at one end close to the docking groove in the switch cavity, and forms the second position when the switch member is located at one end away from the docking groove in the switch cavity.

[0012] In an embodiment of the present utility model, a compression spring is arranged between the switch element and the connecting seat.

[0013] In one embodiment of the utility model, a first connecting mechanism is provided on the end of the first connecting member facing away from the docking groove, and the first connecting mechanism is connected to the end of the robotic arm of the surgical robot. A second connecting mechanism is provided on the end of the second connecting member facing away from the docking protrusion, and the second connecting mechanism is connected to a surgical instrument.

[0014] The above technical solution of the utility model has the following advantages compared with the prior art:

[0015] (1) The surgical robot arm end adapter device of the present application uses a switch member as a switch for connecting and separating the first connecting member and the second connecting member. When the switch member is located in a first position relative to the first connecting member, the docking protrusion is fixedly connected to the docking groove, thereby achieving a stable connection between the first connecting member and the second connecting member.

[0016] (2) In the surgical robot manipulator arm end adapter device of the present application, when the switch member is located at the second position relative to the first connecting member, the docking protrusion can be separated from the docking groove along the plug-in direction, thereby realizing the separation of the first connecting member and the second connecting member; the surgical robot manipulator arm end adapter device of the present application does not require electronic equipment, has a simple and reliable structure, and can realize the rapid docking and separation of the first connecting member and the second connecting member. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 This is a cross-sectional view of the docking of the end adapter of the surgical robot mechanical arm of the utility model;

[0019] Figure 2 It is a separated cross-sectional view of the end adapter of the surgical robot mechanical arm of the utility model;

[0020] Figure 3 It is an exploded view of the end adapter device of the surgical robot mechanical arm of the utility model;

[0021] Figure 4 It is a cross-sectional view of an exploded state of the surgical robot mechanical arm end adapter of the utility model.

[0022] Description of the Figures in the Specification:

[0023] 1. First connecting member; 2. Second connecting member; 3. Switch member; 4. Docking groove; 5. Docking protrusion; 6. Connecting seat; 7. Docking column; 8. Sliding groove; 9. Positioning ring; 10. Switch cavity; 11. Compression spring; 12. First connecting mechanism; 13. Second connecting mechanism. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] Reference Figure 1 to Figure 4As shown, the surgical robot arm end adapter device of the utility model includes a first connecting member 1, a second connecting member 2 and a switch member 3, the switch member 3 is slidably arranged on the first connecting member 1, the first connecting member 1 is provided with a docking groove 4, the second connecting member 2 is provided with a docking protrusion 5, the switch member 3 has a first position and a second position, when the switch member 3 is located at the first position, the docking protrusion 5 is plugged into the docking groove 4, and the docking protrusion 5 is fixedly connected to the docking groove 4, when the switch member 3 is located at the second position, the docking protrusion 5 is separable relative to the docking groove 4 along the plug-in direction.

[0026] The surgical robot arm end adapter of the present application includes a first connector 1, a second connector 2 and a switch 3. The first connector 1 is used to achieve connection with the surgical robot arm, and the second connector 2 is used to connect the surgical instrument, thereby achieving connection between the end of the robotic arm and the surgical instrument through the first connector 1 and the second connector 2. The switch 3 is used to achieve docking and separation of the first connector 1 and the second connector 2. Specifically, a docking groove 4 is provided on the first connector 1, and a docking protrusion 5 is provided on the second connector 2. The docking protrusion 5 is inserted into the docking groove 4, and the docking and separation of the first connector 1 and the second connector 2 are achieved by plugging the docking protrusion 5 into the docking groove 4. Since the switch member 3 is slidably disposed on the first connector 1, the position of the switch member 3 relative to the first connector 1 is variable, that is, the switch member 3 has different positions relative to the first connector 1. When the switch member 3 is located at the first position relative to the first connector 1, the docking protrusion 5 is inserted into the docking groove 4, and the docking protrusion 5 is fixedly connected to the docking groove 4, and the docking protrusion 5 cannot be separated from the docking groove 4, thereby achieving a stable connection between the first connector 1 and the second connector 2. When the switch member 3 is located at the second position relative to the first connector 1, the docking protrusion 5 is separable relative to the docking groove 4 along the insertion direction, so the docking protrusion 5 can be disengaged from the docking groove 4, so that the second connector 2 can be removed from the first connector 1, thereby achieving the separation of the first connector 1 and the second connector 2.

[0027] The surgical robot manipulator arm end adapter device of the present application uses a switch member 3 as a switch for connecting and separating the first connecting member 1 and the second connecting member 2. When the switch member 3 is located at a first position relative to the first connecting member 1, the docking protrusion 5 is fixedly connected to the docking groove 4, thereby achieving a stable connection between the first connecting member 1 and the second connecting member 2; when the switch member 3 is located at a second position relative to the first connecting member 1, the docking protrusion 5 is separable relative to the docking groove 4 along the plug-in direction, thereby achieving the separation of the first connecting member 1 and the second connecting member 2; the surgical robot manipulator arm end adapter device of the present application does not require electronic equipment, has a simple and reliable structure, and can achieve rapid docking and separation of the first connecting member 1 and the second connecting member 2.

[0028] In one embodiment, the sliding direction of the switch member 3 is along the axial direction of the first connecting member 1 , and the insertion direction of the docking protrusion 5 along the docking groove 4 intersects with the sliding direction of the switch member 3 .

[0029] like Figure 1 to Figure 4 The first connector 1, the second connector 2 and the switch 3 are all cylindrical structures. The sliding direction of the switch 3 is along the axial direction of the first connector 1, and the plugging direction of the docking protrusion 5 along the docking groove 4 intersects with the sliding direction of the switch 3. Preferably, the plugging direction of the docking protrusion 5 along the docking groove 4 is perpendicular to the sliding direction of the switch 3, so that the first connector 1 and the second connector 2 can be effectively docked and separated through the switch 3. At this time, the docking and separation efficiency is the highest, and it is convenient for the staff to operate and facilitate human-computer interaction.

[0030] In one embodiment, the width of the butt joint groove 4 is a first width, the width of the groove bottom of the butt joint groove 4 is a second width, and the second width is greater than the first width.

[0031] like Figure 4 As shown, the docking groove 4 has a groove bottom and a groove opening, and the docking groove 4 is extended in a direction perpendicular to the axis of the first connecting member 1, that is, the docking groove 4 extends in the radial direction of the first connecting member 1, and the groove opening width of the docking groove 4 is a first width W1, and the groove bottom width of the docking groove 4 is a second width W2. In order to realize the connection and separation between the docking protrusion 5 on the first connecting member 1 and the docking groove 4 on the second connecting member 2, the second width is greater than the first width W1, so that after the docking protrusion 5 is connected to the docking groove 4, the docking protrusion 5 cannot slide along the axial direction of the first connecting member 1, so as to realize the fixed docking of the first connecting member 1 and the second connecting member 2.

[0032] In one embodiment, the width of one end of the docking protrusion 5 that matches with the bottom of the docking groove 4 is a third width, the width of one end of the docking protrusion 5 that matches with the notch of the docking groove 4 is a fourth width, the third width is greater than the fourth width, and the third width is greater than the first width.

[0033] like Figure 4As shown, the width of one end of the docking protrusion 5 that matches the bottom of the docking groove 4 is the third width W3, and the width of one end of the docking protrusion 5 that matches the notch of the docking groove 4 is the fourth width W4. The third width W3 is greater than the fourth width W4, so as to ensure that the docking protrusion 5 has the same shape as the docking groove 4, and the size of the docking protrusion 5 is slightly smaller than the size of the docking groove 4, so that the docking protrusion 5 can be inserted into the docking groove 4, and the docking protrusion 5 can be detached from the docking groove 4. Further, in order to ensure that the docking protrusion 5 is inserted into the docking groove 4 along the plug-in direction and the docking protrusion 5 cannot be detached from the docking groove 4 along the axial direction of the first connector 1, the third width W3 of the docking protrusion 5 needs to be greater than the first width W1 of the first docking groove 4, thereby limiting the freedom of movement of the docking protrusion 5 along the axial direction of the first connector 1.

[0034] In one embodiment, the first connector 1 includes a connecting seat 6 and a docking post 7 , wherein the connecting seat 6 is disposed at one end of the docking post 7 , and the docking groove 4 is disposed at an end of the docking post 7 away from the connecting seat 6 .

[0035] like Figure 1 , Figure 2 , Figure 4 As shown, the first connector 1 includes a connector seat 6 and a docking post 7. The connector seat 6 and the docking post 7 can be connected or integrally formed, preferably integrally formed. The connector seat 6 is provided at one end of the docking post 7, and the docking groove 4 is provided at the other end of the docking post 7, so that the docking protrusion 5 on the second connector 2 and the docking groove 4 on the first connector 1 can be connected and separated.

[0036] In one embodiment, a sliding groove 8 is provided on the switch member 3 along its axial direction, and the sliding groove 8 is sleeved on the docking column 7. When the switch member 3 is located at the first position, the docking groove 4 and the docking protrusion 5 are located inside the sliding groove 8. When the switch member 3 is located at the second position, the docking groove 4 and the docking protrusion 5 are located outside the sliding groove 8.

[0037] The switch member 3 is slidably connected to the first connection member 1, so as to realize the docking and separation of the first connection member 1 and the second connection member 2 through the different positions of the switch member 3 relative to the first connection member 1. Specifically, the switch member 3 is a cylindrical structure, and a cylindrical sliding groove 8 is provided on the axis of the switch member 3. The axis of the sliding groove 8 coincides with the axis of the switch member 3. The switch member 3 is sleeved on the docking column 7 of the first connection member 1 through the sliding groove 8. Therefore, the switch member 3 can slide on the first connection member 1 along the axial direction of the first connection member 1, so that the switch member 3 has different positions relative to the first connection member 1. Furthermore, since the switch member 3 slides along the axial direction of the docking column 7 through the sliding groove 8, when the switch member 3 slides to the first position along the axial direction of the docking column 7 through the sliding groove 8, the docking groove 4 and the docking protrusion 5 are located inside the sliding groove 8, as shown in FIG. Figure 1 As shown, at this time, the docking protrusion 5 is inserted into the docking groove 4, and the docking protrusion 5 is limited by the groove wall of the sliding groove 8 inside the sliding groove 8. Therefore, the sliding movement of the docking protrusion 5 along the plugging direction is limited by the groove wall of the sliding groove 8, so that the docking protrusion 5 cannot be separated from the docking groove 4 along the plugging direction, and because the third width of the docking protrusion 5 is greater than the first width of the docking groove 4, the docking protrusion 5 cannot be separated along the axial direction of the first connecting member 1. Therefore, the first connecting member 1 and the second connecting member 2 are stably docked together through the cooperation between the docking protrusion 5 and the docking groove 4. When the switch member 3 slides to the second position along the axial direction of the docking column 7 through the sliding groove 8, the docking groove 4 and the docking protrusion 5 are located outside the sliding groove 8, as shown in FIG. Figure 2 As shown, the docking protrusion 5 is now inserted into the docking groove 4, but the groove wall of the sliding groove 8 no longer restricts the docking protrusion 5, so the docking protrusion 5 can be separated from the docking groove 4 along the insertion direction, thereby realizing the separation of the first connecting member 1 and the second connecting member 2. This structure is simple and reliable, and can realize the rapid docking and separation of the first connecting member 1 and the second connecting member 2, without the need for electronic equipment control, and simplifies the structure of the end adapter of the surgical robot mechanical arm.

[0038] In one embodiment, a positioning ring 9 is provided on the first connecting member 1 , a switch cavity 10 is formed between the positioning ring 9 and the connecting seat 6 , and the switch member 3 is slidably disposed in the switch cavity 10 along the axial direction of the first connecting member 1 .

[0039] like Figure 1 and Figure 2As shown, the switch member 3 is slidably arranged on the first connecting member 1, so as to realize the docking and separation of the first connecting member 1 and the second connecting member 2 through different positions of the switch member 3 relative to the first connecting member 1. Specifically, a positioning ring 9 is arranged on the first connecting member 1, and the axis of the positioning ring 9 is arranged to coincide with the axis of the first connecting member 1. Further, a switch cavity 10 is formed between the positioning ring 9 and the connecting seat 6 and the docking column 7 on the first connecting member 1, so as to accommodate the switch member 3 through the switch cavity 10 and accommodate the sliding movement of the switch member 3. That is, when the switch member 3 is slidable on the first connecting member 1, it slides in the switch cavity 10, and the positioning ring 9 restricts the switch member 3 to slide in the switch cavity 10 to prevent the switch member 3 from coming off the first connecting member 1. Among them, the positioning ring 9 is connected to the first connecting member 1 by corresponding fasteners such as screws or pins.

[0040] In one embodiment, along the axial direction of the first connecting member 1, the switch member 3 forms the first position when it is located at one end close to the docking groove 4 in the switch cavity 10, and forms the second position when the switch member 3 is located at one end away from the docking groove 4 in the switch cavity 10.

[0041] The switch member 3 is restricted to slide in the switch cavity 10 by the positioning ring 9. Specifically, along the axial direction of the first connecting member 1, that is, along the sliding direction of the switch member 3, when the switch member 3 is located in the switch cavity 10 at one end close to the docking groove 4, that is, as shown in FIG. Figure 1 When the switch member 3 is at the left end of the switch cavity 10, the switch member 3 is at the first position in the switch cavity 10. At this time, the docking protrusion 5 and the docking groove 4 are both located in the groove wall of the sliding groove 8, and the first connecting member 1 is firmly connected to the second connecting member 2. When the switch member 3 is located in the switch cavity 10 at the end away from the docking groove 4, that is, Figure 2 When the switch member 3 is shown at the right end of the switch cavity 10, the position of the switch member 3 in the switch cavity 10 is the second position. At this time, the docking protrusion 5 and the docking groove 4 are both located outside the groove wall of the sliding groove 8, and the docking protrusion 5 can be separated from the docking groove 4 along the docking direction, that is, the first connecting member 1 and the second connecting member 2 are separable.

[0042] In one embodiment, a compression spring 11 is provided between the switch element 3 and the connection base 6 .

[0043] In order to improve the efficiency of the connection and separation between the first connecting member 1 and the second connecting member 2 through the connection protrusion 5 and the connection groove 4, a compression spring 11 is arranged between the switch member 3 and the connection seat 6. Therefore, the compression spring 11 is always in a state of pressing the switch member 3 against the connection seat 6. That is, the switch member 3 is always in a state of being pressed against the connection seat 6 under the action of the compression spring 11. Figure 1In the state shown, the switch member 3 is at the first position, and the elastic force of the compression spring 11 makes the docking protrusion 5 and the docking groove 4 both located in the groove wall of the sliding groove 8, and the first connecting member 1 is firmly connected with the second connecting member 2, preventing the switch member 3 from sliding to the second position under the action of external force, causing the second connecting member 2 to be detached from the first connecting member 1, thereby improving the connection stability. When the second connecting member 2 needs to be detached from the first connecting member 1, the staff only needs to slide the switch member 3 so that the switch member 3 moves away from the second connecting member 2, and the compression spring 11 is further compressed until the docking protrusion 5 and the docking groove 4 are both located outside the sliding groove 8, at which time the docking protrusion 5 can be separated from the docking groove 4, so that the second connecting member 2 is detached from the first connecting member 1.

[0044] In one embodiment, a first connecting mechanism 12 is provided on the end of the first connecting member 1 that is away from the docking groove 4, and the first connecting mechanism 12 is connected to the end of the robotic arm of the surgical robot. A second connecting mechanism 13 is provided on the end of the second connecting member 2 that is away from the docking protrusion 5, and the second connecting mechanism 13 is connected to a surgical instrument.

[0045] like Figure 3 and Figure 4 As shown, the first connecting member 1 is used to achieve connection with the mechanical arm of the surgical robot, therefore, a first connecting mechanism 12 is provided at one end of the first connecting member 1 away from the docking groove 4, so as to achieve connection between the first connecting member 1 and the mechanical arm of the surgical robot through the first connecting mechanism 12. The second connecting member 2 is used to connect the surgical instrument, therefore, a second connecting mechanism 13 is provided at one end of the second connecting member 2 away from the docking protrusion 5, so as to connect the surgical instrument to the second connecting member 2 through the second connecting mechanism 13, thereby achieving connection between the mechanical arm and the surgical instrument.

[0046] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A surgical robot arm end adapter, characterized in that: The invention comprises a first connecting member (1), a second connecting member (2) and a switch member (3); the switch member (3) is slidably arranged on the first connecting member (1); a docking groove (4) is arranged on the first connecting member (1); a docking protrusion (5) is arranged on the second connecting member (2); the switch member (3) has a first position and a second position; when the switch member (3) is located at the first position, the docking protrusion (5) is plugged into the docking groove (4), and the docking protrusion (5) is fixedly connected to the docking groove (4); when the switch member (3) is located at the second position, the docking protrusion (5) is separable relative to the docking groove (4) along the plugging direction.

2. The surgical robot arm end adapter according to claim 1, characterized in that: The sliding direction of the switch member (3) is along the axial direction of the first connecting member (1), and the plugging direction of the docking protrusion (5) along the docking groove (4) intersects with the sliding direction of the switch member (3).

3. The surgical robot arm end adapter according to claim 1, characterized in that: The width of the slot opening of the docking slot (4) is a first width, the width of the slot bottom of the docking slot (4) is a second width, and the second width is greater than the first width.

4. The surgical robot arm end adapter according to claim 3, characterized in that: The width of one end of the docking protrusion (5) that matches with the bottom of the docking groove (4) is a third width, and the width of one end of the docking protrusion (5) that matches with the notch of the docking groove (4) is a fourth width, the third width is greater than the fourth width, and the third width is greater than the first width.

5. The surgical robot arm end adapter according to claim 1, characterized in that: The first connecting member (1) comprises a connecting seat (6) and a docking post (7), wherein the connecting seat (6) is arranged at one end of the docking post (7), and the docking groove (4) is arranged at an end of the docking post (7) away from the connecting seat (6).

6. The surgical robot arm end adapter according to claim 5, characterized in that: The switch member (3) is provided with a sliding groove (8) along its axial direction, and the sliding groove (8) is sleeved on the docking column (7). When the switch member (3) is located at the first position, the docking groove (4) and the docking protrusion (5) are located inside the sliding groove (8); when the switch member (3) is located at the second position, the docking groove (4) and the docking protrusion (5) are located outside the sliding groove (8).

7. The surgical robot arm end adapter according to claim 5, characterized in that: A positioning ring (9) is provided on the first connecting member (1), a switch cavity (10) is formed between the positioning ring (9), the connecting seat (6) and the docking column (7), and the switch member (3) is slidably arranged in the switch cavity (10) along the axial direction of the first connecting member (1).

8. The surgical robot arm end adapter according to claim 7, characterized in that: Along the axial direction of the first connecting member (1), the switch member (3) forms the first position when it is located in the switch cavity (10) at one end close to the docking groove (4), and forms the second position when it is located in the switch cavity (10) at one end away from the docking groove (4).

9. The surgical robot arm end adapter according to claim 7, characterized in that: A compression spring (11) is provided between the switch element (3) and the connection seat (6).

10. The surgical robot arm end adapter according to claim 1, characterized in that: A first connecting mechanism (12) is provided on the end of the first connecting member (1) facing away from the docking groove (4), and the first connecting mechanism (12) is connected to the end of the mechanical arm of the surgical robot. A second connecting mechanism (13) is provided on the end of the second connecting member (2) facing away from the docking protrusion (5), and the second connecting mechanism (13) is connected to a surgical instrument.

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