Connection positioning device and medical robot

Abstract

The utility model belongs to the technical field of medical instruments, and discloses a connection positioning device and a medical robot. The connecting and positioning device comprises a connecting frame and a connecting part. One end of the connecting frame is connected with the medical robot; the connecting part is provided with a second face attached to the first face, a positioning gap is formed between the first face and the second face, and the end, away from the connecting frame, of the connecting part is fixedly connected with the clamping plate; a plurality of positioning grooves are distributed in one of the first face and the second face at intervals, and positioning parts capable of being connected with the positioning grooves in a clamped mode are arranged at the positions, corresponding to the positioning grooves, of the other one of the first face and the second face. When the positioning and connecting device is used, the corresponding connecting structure can be detached only through small force, positioning can be rapidly and simply completed during installation, it is ensured that the connecting structure can be rapidly installed, and therefore in the whole detaching and installing process, the positioning precision is effectively improved, and meanwhile the operation difficulty can be obviously reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to a connection positioning device and a medical robot. Background Art

[0002] In the field of dental implantation, with the continuous progress of medical technology, medical robots are increasingly widely used, especially showing significant advantages in the pursuit of high-precision and minimally invasive surgical operations.

[0003] In the prior art, for a medical robot used in dentistry, its robotic arm needs to be detachably connected to a splint so as to select different splints according to the oral cavity shapes of different users, and the detachable connection is achieved through the cooperation of a pin and a pin hole.

[0004] For the positioning of the cooperation between the pin and the pin hole, when in use after installation, under the influence of external forces, the two structures will produce a certain misalignment and lock the pin in the pin hole, so special tools and a large force are required to complete the disassembly. Moreover, during installation, it is also necessary to manually align multiple pin holes before the pin can be inserted, resulting in poor positioning accuracy and great operation difficulty during the entire disassembly and installation process. Content of the Utility Model

[0005] The purpose of the utility model is to provide a connection positioning device and a medical robot, which solve the problems in the prior art that during the disassembly and installation of the installation structure used in the medical robot, since special workpieces and a large force are required to complete the disassembly, and the pin needs to be inserted after manual positioning during installation, resulting in poor positioning accuracy and great operation difficulty during the entire disassembly and installation process.

[0006] To achieve the above object, the utility model adopts the following technical solutions:

[0007] In a first aspect, the present application provides a connection positioning device, which includes:

[0008] A connecting frame, one end of which is used to connect with a medical robot, and the other end has a first surface;

[0009] A connecting part, which has a second surface opposite to the first surface, there is a positioning gap between the first surface and the second surface, and the end of the connecting part away from the connecting frame is used to be fixedly connected with a splint;

[0010] Wherein, among the first surface and the second surface, one is distributed with a plurality of positioning grooves at intervals, and the other is provided with positioning parts that can be engaged with the positioning grooves at positions corresponding to each of the positioning grooves.

[0011] Optionally, connection holes are formed on both the first surface and the second surface, the two connection holes communicate with each other, a connecting member is inserted into one of the connection holes, and the connecting member is connected to the other connection hole.

[0012] Optionally, the connecting member is a connecting screw, and an internal thread for threaded connection with the connecting screw is provided on the hole wall of one of the connection holes.

[0013] Optionally, a plurality of the positioning grooves are arranged in a circumferential ring along the connection hole.

[0014] Optionally, the positioning portion is spherical and can abut against the opposite groove side walls of the positioning groove.

[0015] Optionally, a fixing portion is arranged in a circumferential ring on the side wall of the positioning portion, and the fixing portion is fixedly connected to the first surface or the second surface.

[0016] Optionally, the positioning groove is a V-shaped groove.

[0017] Optionally, the positioning portion is arranged on the first surface and integrally formed with the connecting frame;

[0018] Or, the positioning portion is arranged on the second surface and integrally formed with the connecting portion.

[0019] Optionally, one side of the connecting portion close to the connecting frame has an installation groove, the bottom wall of the installation groove is the second surface, and at least a part of the end of the connecting frame away from the medical robot is inserted into the installation groove.

[0020] In a second aspect, the present application further provides a medical robot, which includes:

[0021] A robotic arm;

[0022] A splint;

[0023] The connection and positioning device according to any one of the first aspect, with one end connected to the robotic arm and the other end connected to the splint.

[0024] Advantages of the present utility model:

[0025] In the first aspect, by making the first surface and the second surface correspond to each other to form a positioning gap, a plurality of positioning parts can be correspondingly snapped into the positioning groove, and ensure that the positioning part abuts against the groove side wall of the positioning groove to form a stable snap fit. By using the snap fit of the positioning part and the positioning groove, the connecting part and the connecting frame can be quickly positioned together, and at this time, the hole positions of the connecting part and the connecting frame are correspondingly connected, and whether it is through the installation of screws or pins, or the setting of other installation structures, the disassembly and installation of the connecting frame and the connecting part can be completed quickly and simply. In this way, when the positioning connection device is used, through the positioning gap formed by the first surface and the second surface and the snap fit of the positioning part and the positioning groove, after the corresponding structure is installed to fix the connecting frame and the connecting part, the two will not be misaligned, so no additional tools are required for disassembly, and the corresponding connecting structure can be removed only by a small force, and the positioning can be completed quickly and simply during installation, ensuring that the connecting structure can be quickly installed, thereby effectively improving the positioning accuracy during the entire disassembly and installation process, and significantly reducing the difficulty of operation.

[0026] Secondly, when the medical robot is in use, the splint and the robotic arm can be quickly installed and fixed through the connecting and positioning device. When the splint needs to be replaced, it is only necessary to quickly disassemble and install the connecting and positioning device, thereby effectively improving the installation and disassembly efficiency of the splint. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the positioning connection device in the embodiment of the utility model;

[0028] Figure 2 It is a structural schematic diagram of a connecting frame of a positioning connecting device in an embodiment of the utility model;

[0029] Figure 3 It is a structural schematic diagram of the connecting portion of the positioning connecting device in the embodiment of the utility model.

[0030] In the figure:

[0031] 1. Connecting frame; 11. First surface; 2. Connecting portion; 21. Second surface; 22. Mounting groove; 3. Positioning groove; 4. Positioning portion; 41. Fixing portion; 5. Connecting hole; 6. Connecting piece. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0033] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0034] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over", and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath", and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0035] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "left", and "right" are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0036] The embodiment of the present application discloses a connection and positioning device and a medical robot.

[0037] Refer to Figures 1 to 3 , the connection and positioning device includes a connection frame 1 and a connection part 2. One end of the connection frame 1 is used to be connected to the medical robot, and the other end has a first surface 11; the connection part 2 has a second surface 21 opposite to the first surface 11, there is a positioning gap between the first surface 11 and the second surface 21, and the end of the connection part 2 away from the connection frame 1 is used to be fixedly connected to the splint; wherein, among the first surface 11 and the second surface 21, one is distributed with a plurality of positioning grooves 3 at intervals, and the other is provided with positioning parts 4 that can be engaged with the positioning grooves 3 at the positions corresponding to each positioning groove 3.

[0038] Specifically, the connecting frame 1 can be strip-shaped, and one end of it can be bent and extended to be connected to the robotic arm of the medical robot. The two can be of an integral structure or connected by fasteners such as screws. The top wall at the other end of the connecting frame 1 serves as the first surface 11, which can correspond to the second surface 21 of the connecting portion 2, and the two form a positioning gap. The connecting portion 2 is fixedly connected to the splint. The fixing method can be that the two are of an integral structure, or they can be separately connected by means such as screw connection, snap connection or bonding. And a connecting portion 2 is fixedly corresponding to each different type of splint.

[0039] Among the first surface 11 and the second surface 21, a plurality of positioning grooves 3 are opened on one of them. The cross-section of the positioning groove 3 can be rectangular, V-shaped or other shapes, and a positioning portion 4 is provided on the other. The shape of the positioning portion 4 can be rectangular, circular or oval, etc., as long as it can be engaged with the positioning groove 3. For the convenience of processing, the positioning portion 4 can be of an integral structure with the corresponding structure, or the positioning portion 4 can be separately fixed by means of welding, bonding or snap connection. The present application does not limit this.

[0040] In this embodiment, the positioning grooves 3 are opened on the first surface 11, and the positioning portions 4 are provided on the second surface 21. The following will take this as an example to specifically illustrate this solution.

[0041] By setting the first surface 11 and the second surface 21 as planes and relatively spaced apart to form a positioning gap, the positioning portion 4 can be inserted into the positioning groove 3 and can form a stable abutment with the side wall of the positioning groove 3, so that a plurality of positioning portions 4 can be correspondingly engaged in the positioning groove 3. By using the engagement between the positioning portion 4 and the positioning groove 3, the connecting portion 2 and the connecting frame 1 can be quickly positioned together. At this time, the hole positions of the connecting portion 2 and the connecting frame 1 are already correspondingly connected. Whether it is by installing screws or pins, or by setting other installation structures, the disassembly and installation of the connecting frame 1 and the connecting portion 2 can be quickly and simply completed. Thus, when this positioning connection device is in use, through the positioning gap formed by the first surface 11 and the second surface 21 and the engagement between the positioning portion 4 and the positioning groove 3, after installing the corresponding structure to fixedly connect the connecting frame 1 and the connecting portion 2, the two will not be misaligned. Therefore, no additional tools are required for disassembly, and only a small force is needed to remove the corresponding connection structure. And during installation, positioning can also be quickly and simply completed, ensuring that the connection structure can be quickly installed. Thus, during the entire disassembly and installation process, the positioning accuracy can be effectively improved, and at the same time, the operation difficulty can be significantly reduced.

[0042] Optionally, connecting holes 5 are opened on both the first surface 11 and the second surface 21. The two connecting holes 5 are communicated, and a connecting member 6 is inserted into one of the connecting holes 5, and the connecting member 6 is connected to the other connecting hole 5.

[0043] Specifically, through holes are formed by penetrating through the corresponding parts of the connecting frame 1 and the connecting member 6 to form connecting holes 5. Two correspondingly connected connecting holes 5 form a group. According to the actual sizes of the connecting frame 1 and the connecting part 2, multiple groups of connecting holes 5 can be distributed at intervals. A connecting member 6 is inserted into each connecting hole 5. The connecting member 6 can penetrate into the connecting hole 5 from the first surface 11 and be inserted into another connecting hole 5, or can penetrate into the connecting hole 5 from the second surface 21 and be inserted into another connecting hole 5. The connection between the connecting member 6 and another connecting hole 5 can be a threaded connection, a snap connection, an adhesive connection, etc., and the present application does not limit this.

[0044] By correspondingly forming the connecting holes 5 on the first surface 11 and the second surface 21, when the connecting frame 1 and the connecting surface are positioned, the two connecting holes 5 can be correspondingly connected. Moreover, after the installation is completed, under the action of the corresponding positioning structure, the two connecting holes 5 will not be misaligned, so that it can be ensured that the connecting member 6 can be smoothly taken out from the connecting hole 5 or quickly installed into the corresponding connecting hole 5, thereby effectively reducing the difficulty of disassembly and installation.

[0045] Optionally, the connecting member 6 is a connecting screw, and the inner wall of one of the connecting holes 5 is provided with an internal thread for threaded connection with the connecting screw.

[0046] Specifically, the connecting screw penetrates into one of the connecting holes 5, and an internal thread is provided in the connecting hole 5 to form a threaded connection with the connecting screw. In this embodiment, the connecting screw penetrates into the connecting hole 5 of the connecting part 2 from the side of the connecting frame 1 away from the connecting part 2 and is threadedly connected to the connecting hole 5 to fix the connecting frame 1 and the connecting part 2 together.

[0047] Optionally, a plurality of positioning grooves 3 are circumferentially arranged around the connecting hole 5.

[0048] Specifically, in this embodiment, the connecting hole 5 is formed in the middle position of the first surface 11, the positioning grooves 3 are formed on the first surface 11, and a plurality of positioning grooves 3 are circumferentially arranged at equal angles around the connecting hole 5. For example, three positioning grooves 3 can be provided, and the three positioning grooves 3 are distributed at intervals of 20°.

[0049] By circumferentially arranging the positioning grooves 3 around the connecting hole 5, when the positioning grooves 3 cooperate with the positioning part 4, it can be ensured that the force is evenly distributed when the connecting part 2 and the connecting frame 1 are positioned, so as to ensure a good positioning effect between the two and reduce the possibility of misalignment due to external force between the two.

[0050] Optionally, the positioning part 4 is spherical and can abut against the opposite groove side walls of the positioning groove 3.

[0051] Specifically, point contacts can be formed between the spherical positioning portion 4 and the opposite groove side walls of the positioning groove 3, and the contact points on both sides are symmetrically distributed, so that the positioning portion 4 can be stably clamped in the positioning groove 3. Coupled with the clamping effect of multiple positioning grooves 3 and positioning portions 4, the positioning of the connecting portion 2 and the connecting frame 1 can be successfully formed.

[0052] Optionally, a fixing portion 41 is annularly provided on the side wall of the positioning portion 4, and the fixing portion 41 is fixedly connected to the first surface 11 or the second surface 21.

[0053] Specifically, the fixing portion 41 is annular, fixed on the side wall of the positioning portion 4, and the two can be of an integral structure, or can be fixed together by welding or bonding. And the fixing portion 41 is fixedly connected to the first surface 11 or the second surface 21, and the fixing method is welding or bonding or integral molding.

[0054] By annularly providing the fixing portion 41 on the side wall of the positioning portion 4, the contact area between the spherical positioning portion 4 and the first surface 11 or the second surface 21 can be effectively increased, so as to ensure that the positioning portion 4 can be stably fixed on the first surface 11 or the second surface 21.

[0055] Optionally, the positioning groove 3 is a V-shaped groove.

[0056] Specifically, the cross-section of the positioning groove 3 is V-shaped, so that the opposite groove side walls of the positioning groove 3 are inclined, so as to better fit the spherical positioning portion 4, thereby ensuring a better clamping effect on the positioning portion 4.

[0057] Optionally, in this embodiment, the positioning portion 4 is provided on the second surface 21 and integrally formed with the connecting portion 2. At this time, the positioning groove 3 is opened on the first surface 11. In another embodiment, the positioning portion 4 is provided on the first surface 11 and integrally formed with the connecting frame 1. At this time, the positioning groove 3 is opened on the second surface 21.

[0058] By integrally forming the positioning portion 4 on the first surface 11 or the second surface 21, the overall production difficulty can be effectively reduced, and at the same time, the connection strength between the two can be improved, ensuring that the positioning portion 4 will not be damaged during positioning.

[0059] Optionally, one side of the connecting portion 2 close to the connecting frame 1 has a mounting groove 22, the bottom wall of the mounting groove 22 is the second surface 21, and at least a part of the end of the connecting frame 1 away from the medical robot is inserted into the mounting groove 22.

[0060] Specifically, the above-mentioned installation groove 22 is formed on the bottom wall of the connecting portion 2, and one side of the installation groove 22 can be open, so that the connecting frame 1 can be smoothly inserted into the installation groove 22. The depth of the installation groove 22 can be less than or equal to the thickness of the connecting frame 1, so that at least part of the connecting frame 1 in the thickness direction is inserted into the installation groove 22, and the groove side wall of the installation groove 22 can be attached to the side wall of the connecting frame 1, thereby improving the positioning accuracy between the connecting portion 2 and the connecting frame 1.

[0061] The medical robot includes a robotic arm, a splint, and a connection positioning device as described in the above embodiment. One end of the connection positioning device is connected to the robotic arm, and the other end is connected to the splint.

[0062] When the medical robot is in use, the splint and the robotic arm can be quickly installed and fixed through the connection positioning device. When the splint needs to be replaced, only the connection positioning device needs to be quickly disassembled and installed, thereby effectively improving the installation and disassembly efficiency of the splint.

[0063] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments, and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A connection positioning device, characterized in that: include: A connecting frame (1), one end of which is used to connect to the medical robot, and the other end of which has a first surface (11); The connecting portion (2) has a second surface (21) opposite to the first surface (11), a positioning gap is provided between the first surface (11) and the second surface (21), and an end of the connecting portion (2) away from the connecting frame (1) is used for fixed connection with the clamping plate; Among them, one of the first surface (11) and the second surface (21) has a plurality of positioning grooves (3) distributed at intervals, and the other is provided with a positioning portion (4) capable of engaging with the positioning groove (3) at a position corresponding to each positioning groove (3).

2. The connection and positioning device according to claim 1, characterized in that: The first surface (11) and the second surface (21) are both provided with connection holes (5), the two connection holes (5) are connected, a connection piece (6) is passed through one of the connection holes (5), and the connection piece (6) is connected to the other connection hole (5).

3. The connection and positioning device according to claim 2, characterized in that: The connecting member (6) is a connecting screw, and a hole wall of one of the connecting holes (5) is provided with an internal thread that is threadedly connected to the connecting screw.

4. The connection and positioning device according to claim 2, characterized in that: A plurality of positioning grooves (3) are arranged along the circumference of the connecting hole (5).

5. The connection and positioning device according to any one of claims 1 to 4, characterized in that: The positioning portion (4) is spherical and can abut against the opposite groove side wall of the positioning groove (3).

6. The connection and positioning device according to claim 5, characterized in that: A fixing portion (41) is provided around the side wall of the positioning portion (4), and the fixing portion (41) is fixedly connected to the first surface (11) or the second surface (21).

7. The connection and positioning device according to claim 5, characterized in that: The positioning groove (3) is a V-shaped groove.

8. The connection and positioning device according to any one of claims 1 to 4, characterized in that: The positioning portion (4) is arranged on the first surface (11) and is integrally formed with the connecting frame (1); Alternatively, the positioning portion (4) is arranged on the second surface (21) and is formed integrally with the connecting portion (2).

9. The connection and positioning device according to any one of claims 1 to 4, characterized in that: The connecting portion (2) has a mounting groove (22) on one side close to the connecting frame (1); the bottom wall of the mounting groove (22) is a second surface (21); and the end of the connecting frame (1) away from the medical robot is at least partially inserted into the mounting groove (22).

10. A medical robot, characterized in that include: Robotic arm; Splints; The connection and positioning device according to any one of claims 1 to 9, one end of which is connected to the mechanical arm, and the other end of which is connected to the clamping plate.

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