Tool clamping device at front end of surgical robot

Abstract

The utility model relates to a surgical robot front end tool clamping device which comprises a tool installation seat and a locking bolt, one end of the tool installation seat is connected with a surgical robot, the other end of the tool installation seat forms an installation end, the installation end is provided with an installation hole used for installing surgical instruments and a side outlet groove, the installation hole is communicated with the side outlet groove, and the locking bolt is connected with the tool installation seat. A first threaded hole is formed in one side of the side outlet groove, a second threaded hole is formed in the other side of the side outlet groove, the locking bolt comprises a connecting part and a threaded part which are sequentially arranged, the connecting part is arranged in the first threaded hole in a penetrating mode, the threaded part is in threaded connection with or separated from the second threaded hole, and when the threaded part is separated from the second threaded hole, the locking bolt is locked. And a side-out space for side-out of the surgical instrument is formed between the end part of the threaded part and the inner wall surface, close to the second threaded hole, of the side-out groove. The front-end tool clamping device of the surgical robot can improve the withdrawing efficiency of surgical instruments.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to a front-end tool clamping device for a surgical robot. Background Art

[0002] At present, a spinal surgical robot is an indispensable medical tool for doctors to perform spinal surgeries. Through the spinal surgical robot, functions such as precise positioning of surgical instruments can be achieved. A front-end tool is connected to the robotic arm of the spinal surgical robot, and the front-end tool is used to install surgical instruments to perform spinal surgeries through the spinal robot and the surgical instruments.

[0003] In the prior art, a clamping mechanism is provided on the front-end tool to clamp the surgical instrument. When the surgical instrument is withdrawn after the surgery, the surgical instrument needs to be withdrawn along the axis direction of the clamping mechanism, and the withdrawal distance is the self-length of the surgical instrument, resulting in low withdrawal efficiency and affecting the surgical efficiency. Summary of the Utility Model

[0004] In order to solve the above technical problems, the utility model provides a front-end tool clamping device for a surgical robot, which can improve the withdrawal efficiency of the surgical instrument.

[0005] To achieve the above object, the utility model provides a front-end tool clamping device for a surgical robot, which is connected to the surgical robot and includes a tool mounting seat and a locking bolt. One end of the tool mounting seat is connected to the surgical robot, and the other end of the tool mounting seat forms a mounting end. An installation hole for installing a surgical instrument and a side outlet groove are provided on the mounting end. The installation hole is communicated with the side outlet groove. A first threaded hole is provided on one side of the side outlet groove, and a second threaded hole is provided on the other side of the side outlet groove. The locking bolt includes a connecting portion and a threaded portion arranged in sequence. The connecting portion is inserted into the first threaded hole, and the threaded portion is threadedly connected or separated from the second threaded hole. When the threaded portion is separated from the second threaded hole, a side outlet space for laterally withdrawing the surgical instrument is formed between the end of the threaded portion and the inner wall surface of the side outlet groove close to the second threaded hole.

[0006] In an embodiment of the utility model, first and second side plates are formed on both sides of the side outlet groove on the mounting end. The first threaded hole is provided on the first side plate, and the second threaded hole is provided on the second side plate. A side outlet space for laterally withdrawing the surgical instrument is formed between the end of the threaded portion and the inner wall surface of the second side plate.

[0007] In one embodiment of the utility model, the mounting hole is a through hole along its axial direction, the axis of the mounting hole intersects with the axis of the tool mounting seat, the direction in which the mounting end is away from the tool mounting seat is a first direction, and the side groove is a through groove extending from the axis of the mounting hole toward the first direction and is a through groove along the axial direction of the mounting hole.

[0008] In one embodiment of the present invention, the surgical instrument is a Kirschner wire, and the width of the side outlet groove is greater than the diameter of the Kirschner wire.

[0009] In an embodiment of the present invention, an escape groove for accommodating the threaded portion is provided on the inner wall of the first side plate, and the depth of the escape groove is greater than the length of the threaded portion.

[0010] In one embodiment of the utility model, it also includes a connecting base, one end of which is connected to the surgical robot, and the other end of the connecting base is provided with a first adapter component and a second adapter component, the first adapter component and / or the second adapter component can be slidably arranged on the connecting base, the first adapter component and the second adapter component can be rotatably provided with the tool mounting seat, the first adapter component is relatively close to or far away from the second adapter component, and the axis of the mounting hole on the first adapter component intersects or coincides with the axis of the mounting hole on the second adapter component.

[0011] In one embodiment of the utility model, the axis of the mounting hole on the first adapter component is arranged to coincide with the axis of the mounting hole on the second adapter component, a drainage sleeve is installed in the mounting hole on the first adapter component, and an endoscope is installed in the mounting hole on the second adapter component, the endoscope is inserted into the drainage sleeve, and a drainage cavity is formed between the inner wall of the drainage sleeve and the outer wall of the endoscope, and a drainage pipe is arranged on the drainage sleeve along its radial direction, and the drainage pipe is communicated with the drainage cavity.

[0012] In one embodiment of the present invention, the width of the side outlet groove is greater than the outer diameter of the drain pipe, and the maximum outer diameter of the drain sleeve is smaller than the diameter of the mounting hole.

[0013] In one embodiment of the utility model, the drainage sleeve includes a fixed body, a sleeve body and a silicone body, the sleeve body is arranged at one end of the fixed body, the silicone body is arranged at the other end of the fixed body, the interiors of the fixed body, the sleeve body and the silicone body are connected to form a cylindrical cavity, the endoscope is inserted into the cylindrical cavity, the drainage pipe is arranged on the fixed body, and the fixed body is arranged in the mounting hole.

[0014] In an embodiment of the present utility model, chamfers are provided on both ends of the inner wall of the silicone body.

[0015] The above technical solution of the present utility model has the following advantages compared with the prior art:

[0016] (1) When the threaded portion is separated from the second threaded hole, a side-out space for side-out of the surgical instrument is formed between the end of the threaded portion and the inner wall surface of the side-out groove near the second threaded hole, so as to realize the side-out of the surgical instrument through the side-out space, rather than exiting along the axis direction of the mounting hole, improving the exiting efficiency of the surgical instrument.

[0017] (2) The connecting portion of the locking bolt of the present application is disposed in the first threaded hole. Since the major diameter of the threaded portion of the locking bolt is greater than the minor diameter of the first threaded hole, it can be ensured that the locking bolt will not come out of the first threaded hole without rotation. And when it is necessary to side-out the surgical instrument, the locking bolt of the present application only needs to screw out the threaded portion from the second threaded hole, without screwing out the entire locking bolt, greatly improving the side-out efficiency of the surgical instrument.

[0018] (3) When the axis of the mounting hole on the first adapter assembly intersects with the axis of the mounting hole on the second adapter assembly, a dual-channel surgical method is realized. When the axis of the mounting hole on the first adapter assembly coincides with the axis of the mounting hole on the second adapter assembly, a single-channel surgical method is realized, so as to meet the switching of various surgical method operations in different surgical situations.

[0019] (4) When the axes of the mounting holes of the first adapter assembly and the second adapter assembly are coincidentally arranged, the drainage sleeve can be withdrawn from the mounting hole of the first adapter assembly along the axis direction, then the front-end tool clamping device can be withdrawn from the mounting hole of the second adapter assembly. The width of the side-out groove is greater than the outer diameter of the drainage pipe, so that the drainage sleeve can be withdrawn from the mounting hole of the first adapter assembly to the mounting hole of the second adapter assembly without obstruction, ensuring that the drainage sleeve will not deviate when the front-end tool clamping device is withdrawn, and avoiding secondary injury to the patient. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic structural view of the front-end tool clamping device of the surgical robot of the present utility model clamping the drainage sleeve;

[0022] Figure 2 is a top view of the free state of the front-end tool clamping device of the surgical robot of the present utility model;

[0023] Figure 3 is a front view of the front-end tool clamping device of the surgical robot of the present utility model;

[0024] Figure 4 is a schematic structural view of the locking bolt of the front-end tool clamping device of the surgical robot of the present utility model;

[0025] Figure 5 is a sectional view of the drainage sleeve of the present utility model;

[0026] Figure 6 is a schematic structural view of the combined application of the front-end tool clamping device of the surgical robot of the present utility model;

[0027] Figure 7 is Figure 6 a sectional view at position A in

[0028] Explanation of the reference numerals in the drawings of the specification:

[0029] 1. Tool mounting base; 2. Locking bolt; 3. Mounting end; 4. Mounting hole; 5. Side outlet groove; 6. First threaded hole; 7. Second threaded hole; 8. Handle part; 9. Connecting part; 10. Threaded part; 11. First side plate; 12. Second side plate; 13. Avoidance groove; 14. Connecting base; 15. First adapter assembly; 16. Second adapter assembly; 17. Drainage sleeve; 18. Endoscope; 19. Drainage cavity; 20. Drain pipe; 21. Fixed body; 22. Sleeve body; 23. Silicone body; 24. Cylindrical cavity; 25. Chamfer. Detailed implementation manners

[0030] To make the objectives, technical solutions and advantages of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are only a part rather than all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0031] Refer to Figures 1 to 7As shown in the figure, the front-end clamping device of the surgical robot provided by the present utility model includes a tool mounting base 1 and a locking bolt 2. One end of the tool mounting base 1 is connected to the surgical robot, and the other end of the tool mounting base 1 forms a mounting end 3. An installation hole 4 for installing surgical instruments and a side outlet groove 5 are provided on the mounting end 3. The installation hole 4 is communicated with the side outlet groove 5. A first threaded hole 6 is provided on one side of the side outlet groove 5, and a second threaded hole 7 is provided on the other side of the side outlet groove 5. The locking bolt 2 includes a connecting portion 9 and a threaded portion 10 arranged in sequence. The connecting portion 9 is inserted into the first threaded hole 6, and the threaded portion 10 is threadedly connected or separated from the second threaded hole 7. When the threaded portion 10 is separated from the second threaded hole 7, a side outlet space for side-out surgical instruments is formed between the end of the threaded portion 10 and the inner wall surface of the side outlet groove 5 near the second threaded hole 7.

[0032] The front-end tool clamping device of the surgical robot of the present application includes a tool mounting base 1 and a locking bolt 2. One end of the tool mounting base 1 is connected to the surgical robot, and the locking bolt 2 is provided at the other end of the tool mounting base 1. The clamping of the surgical instrument is achieved by tightening the locking bolt 2. Among them, one end of the tool mounting base 1 for clamping the surgical instrument forms a mounting end 3. An installation hole 4 for installing the surgical instrument and a side outlet groove 5 are provided on the mounting end 3. The installation hole 4 communicates with the side outlet groove 5, and the locking bolt 2 passes through the side outlet groove 5. By tightening the locking bolt 2, the mounting end 3 undergoes slight deformation, the groove spacing of the side outlet groove 5 shortens, and at the same time the space of the installation hole 4 shrinks, resulting in an increase in the lateral pressure of the mounting end 3 on the surgical instrument, thereby achieving the clamping of the surgical instrument. Specifically, a first threaded hole 6 is provided on one side of the side outlet groove 5, and a second threaded hole 7 is provided on the other side of the side outlet groove 5. The thread parameters of the first threaded hole 6 and the second threaded hole 7 are the same, that is, the threaded portion 10 of the locking bolt 2 can be threadedly connected to the first threaded hole 6 or the second threaded hole 7. In addition, the first threaded hole 6 and the second threaded hole 7 are coaxially arranged, so that when the connecting portion 9 of the locking bolt 2 is inserted into the first threaded hole 6, the threaded portion 10 can be synchronously threadedly connected to the second threaded hole 7. Further, the locking bolt 2 includes a handle portion 8, a connecting portion 9 and a threaded portion 10 which are sequentially connected. The connecting portion 9 is inserted into the first threaded hole 6, and the connecting portion 9 can reciprocally move in the first threaded hole 6 along the extending direction of the first threaded hole 6. The threaded portion 10 is threadedly connected to or separated from the second threaded hole 7. When the threaded portion 10 is threadedly connected to the second threaded hole 7, the clamping of the surgical instrument in the installation hole 4 is achieved; when the threaded portion 10 is separated from the second threaded hole 7, a side outlet space for side-out of the surgical instrument is formed between the end of the threaded portion 10 and the inner wall surface of the side outlet groove 5 close to the second threaded hole 7, so as to realize the side-out of the surgical instrument through the side outlet space, rather than exiting along the axis direction of the installation hole 4, improving the exiting efficiency of the surgical instrument; when locking the surgical instrument in the installation hole 4 by the locking bolt 2, first apply an external force pointing to the second threaded hole 7 to the handle portion 8, so that the whole locking bolt 2 moves towards the second threaded hole 7 until the threaded portion 10 is threadedly connected to the second threaded hole 7, and then tighten the locking bolt 2 by rotating the handle portion 8; when the locking bolt 2 is removed, first loosen the locking bolt 2 by rotating the handle portion 8, so that the whole locking bolt 2 moves towards the first threaded hole 6 until the threaded portion 10 is separated from the second threaded hole 7. At this time, a side outlet space is formed between the end of the threaded portion 10 and the inner wall surface of the second threaded hole 7 to realize the side-out of the surgical instrument through the side outlet space.In addition, the connecting portion 9 of the locking bolt 2 of the present application is inserted into the first threaded hole 6. Since the major diameter of the threaded portion 10 of the locking bolt 2 is greater than the minor diameter of the first threaded hole 6, it can be ensured that the locking bolt 2 will not come out of the first threaded hole 6 without rotation. And when it is necessary to laterally remove the surgical instrument, the locking bolt 2 of the present application only needs to screw the threaded portion 10 out of the second threaded hole 7, without having to screw out the entire locking bolt 2, greatly improving the lateral removal efficiency of the surgical instrument.

[0033] The front-end tool clamping device of the surgical robot of the present application realizes the clamping and lateral removal of the surgical instrument through the cooperation of the locking bolt 2 and the lateral outlet groove 5 of the mounting end 3. That is, the lateral outlet groove 5 provided on the mounting end 3 provides space for the deformation of the mounting hole 4. After the threaded portion 10 of the locking bolt 2 is screwed into the second threaded hole 7, the distance between the two sides of the lateral outlet groove 5 is reduced, and then the space of the mounting hole 4 on the mounting end 3 is reduced. At this time, the locking bolt 2 is horizontally placed in the lateral outlet groove 5 to prevent the surgical instrument from sliding out of the lateral outlet groove 5. This clamping method makes the corresponding surgical instrument more evenly stressed when being clamped, and the clamping of the surgical instrument is more stable and reliable. In addition, the design of the lateral outlet groove 5 facilitates the addition or lateral removal of the surgical instrument, improving the removal efficiency of the surgical instrument. At the same time, the surgical instrument does not need to be withdrawn along the axis direction of the mounting hole 4, which can avoid unnecessary damage to the patient when the surgical instrument is added or withdrawn during the operation.

[0034] In one embodiment, a first side plate 11 and a second side plate 12 are formed on both sides of the lateral outlet groove 5 on the mounting end 3. The first threaded hole 6 is provided on the first side plate 11, and the second threaded hole 7 is provided on the second side plate 12. A lateral outlet space for laterally removing the surgical instrument is formed between the end of the threaded portion 10 and the inner wall surface of the second side plate 12.

[0035] As Figure 1As shown, in the surgical robot front-end tool clamping device of the present application, a first side plate 11 and a second side plate 12 are formed on both sides of the side outlet groove 5 on the mounting end 3, and the connecting portion 9 of the locking bolt 2 is passed through the first side plate 11, and a side outlet space for the side outlet of the surgical instrument is formed between the end of the threaded portion 10 on the locking bolt 2 and the second side plate 12. Specifically, the first side plate 11 and the second side plate 12 are arranged relative to each other. Preferably, the first side plate 11 and the second side plate 12 are arranged parallel to each other. The first threaded hole 6 is arranged on the first side plate 11. The threaded portion 10 of the locking bolt 2 is matched with the thread in the first threaded hole 6 and the second threaded hole 7. The locking bolt 2 is rotated until the threaded portion 10 passes through the first threaded hole 6. At this time, the connecting portion 9 of the locking bolt 2 is penetrated in the first threaded hole 6. The connecting portion 9 can move back and forth in the first threaded hole 6 without hindrance along the extension direction of the first threaded hole 6. The second threaded hole 7 is arranged on the second side plate 12. A side exit space for side exit surgical instruments is formed between the end of the threaded portion 10 and the inner wall surface of the second side plate 12. Further, the extension direction of the first threaded hole 6 and the second threaded hole 7 is not parallel to the extension direction of the side exit groove 5. Preferably, the first threaded hole 6 is vertically arranged on the first side plate 11, and the second threaded hole 7 is vertically arranged on the second side plate 12, so that the operator can tighten the locking bolt 2.

[0036] In one embodiment, the mounting hole 4 is a through hole along its axial direction, the axis of the mounting hole 4 intersects with the axis of the tool mounting base 1, the direction in which the mounting end 3 is away from the tool mounting base 1 is a first direction, and the side groove 5 is a through groove extending from the axis of the mounting hole 4 toward the first direction and is a through groove along the axial direction of the mounting hole 4.

[0037] like Figure 1 As shown, the mounting hole 4 of the front-end tool clamping device in the present application is a through hole along its axial direction, and the axis of the mounting hole 4 intersects with the axis of the tool mounting seat 1. Preferably, the axis of the mounting hole 4 is perpendicular to the axis of the tool mounting seat 1. Specifically, the surgical instrument installed in the mounting hole 4 can change its direction in space as the tool mounting seat 1 rotates, so as to adjust the operating angle of the surgical instrument at any time during the operation. Among them, the direction in which the mounting end 3 deviates from the tool mounting seat 1 is the first direction, and the side outlet groove 5 is a through groove from the axis of the mounting hole 4 toward the first direction, and the side outlet groove 5 is connected with the mounting hole 4. Further, the side outlet groove 5 is a through groove along the axial direction of the mounting hole 4. Therefore, the side outlet groove 5 is a through groove from the axis of the mounting hole 4 toward the first direction and is a through groove along the axial direction of the mounting hole 4, so that the surgical instrument inserted in the mounting hole 4 can smoothly be sideways from the mounting hole 4 of the mounting end 3.

[0038] In one embodiment, the surgical instrument is a Kirschner wire, and the width of the side outlet groove 5 is greater than the diameter of the Kirschner wire.

[0039] The Kirschner wire is a tool for implanting into the patient's bone to achieve fixation of the patient's bone. When the surgical instrument is a Kirschner wire, the front clamping device is used to provide guiding and clamping assistance for the operator to the Kirschner wire. The surgical instrument clamped and applied by the front clamping device of the present application can be a Kirschner wire. The width of the side outlet groove 5 is greater than the diameter of the Kirschner wire, so that the Kirschner wire can directly side out from the side outlet groove 5 of the front clamping device, avoiding the front device driving and pulling the Kirschner wire when disengaging along the axial direction of the Kirschner wire, affecting the effect of fixing the patient's bone, and preventing secondary damage to the wound of the patient. In addition, the Kirschner wire can directly side out from the side outlet groove 5, improving the withdrawal efficiency of the Kirschner wire. Specifically, when the threaded portion 10 of the locking bolt 2 is in a separated state from the second threaded hole 7, move the locking bolt 2 until the end surface of the threaded portion 10 close to the connecting portion 9 abuts against the first threaded hole 6. At this time, a side outlet space for the Kirschner wire to side out is formed between the end of the threaded portion 10 on the locking bolt 2 and the inner wall surface of the second side plate 12. The width of the side outlet space is greater than the diameter of the Kirschner wire, so that the Kirschner wire as a surgical instrument can freely and directly side out from the side outlet space in the side outlet groove 5, avoiding the front device driving and pulling the Kirschner wire when disengaging along the axial direction of the Kirschner wire, affecting the effect of fixing the patient's bone, and at the same time preventing secondary damage to the wound of the patient.

[0040] In one of the embodiments, an avoidance groove 13 for accommodating the threaded portion 10 is provided on the inner wall of the first side plate 11, and the depth of the avoidance groove 13 is greater than the length of the threaded portion 10.

[0041] As Figure 3 shown, the front clamping device of the present application further includes an avoidance groove 13. The avoidance groove 13 is provided on the first side plate 11 to prevent the threaded portion 10 of the locking bolt 2 from blocking the side-out of the Kirschner wire when the Kirschner wire side-outs from the side-out space, affecting the effect of fixing the patient's bone. Specifically, the avoidance groove 13 is provided on the inner wall of the first side plate 11, and the avoidance groove 13 can accommodate the threaded portion 10. The depth of the avoidance groove 13 is greater than the length of the threaded portion 10, so that when the threaded portion 10 of the locking bolt 2 close to the connecting portion 9 abuts against the first threaded hole 6, the threaded portion 10 of the locking bolt 2 will not appear in the side outlet groove 5. At this time, the surgical instrument can pass through the side outlet groove 5 freely without being blocked by the locking bolt 2. When the whole threaded portion 10 is located in the avoidance groove 13, the entire width of the side outlet groove 5 forms a side-out space.

[0042] In one embodiment, it further includes a connecting base 14. One end of the connecting base 14 is connected to the surgical robot. The other end of the connecting base 14 is provided with a first adapter assembly 15 and a second adapter assembly 16. The first adapter assembly 15 and / or the second adapter assembly 16 is / are slidably arranged on the connecting base 14. A tool mounting seat 1 is rotatably arranged on both the first adapter assembly 15 and the second adapter assembly 16. The first adapter assembly 15 is relatively close to or far from the second adapter assembly 16. The axis of the mounting hole 4 on the first adapter assembly 15 intersects or coincides with the axis of the mounting hole 4 on the second adapter assembly 16.

[0043] As Figure 6 shown, the front-end tool clamping device of the present application can adapt to the mutual cooperation with the connecting base 14, the first adapter assembly 15 and the second adapter assembly 16. Specifically, one end of the connecting base 14 is connected to the surgical robot. The other end of the connecting base 14 is provided with a first adapter assembly 15 and a second adapter assembly 16. The first adapter assembly 15 and / or the second adapter assembly 16 is / are slidably arranged on the connecting base 14. Preferably, the first adapter assembly 15 is fixedly arranged on the connecting base 14, and the second adapter assembly 16 is slidably arranged on the connecting base 14. The tool mounting seat 1 of the front-end tool clamping device is rotatably arranged on the first adapter assembly 15 and the second adapter assembly 16, so that the surgical robot can clamp and cooperate with two surgical instruments on one connecting base 14. Among them, the first adapter assembly 15 is relatively close to or far from the second adapter assembly 16. The axis of the mounting hole 4 on the first adapter assembly 15 intersects or coincides with the axis of the mounting hole 4 on the second adapter assembly 16, so that the surgical robot can realize the operation control of two surgical instruments. When the axis of the mounting hole 4 on the first adapter assembly 15 intersects the axis of the mounting hole 4 on the second adapter assembly 16, a two-channel surgical method is realized. When the axis of the mounting hole 4 on the first adapter assembly 15 coincides with the axis of the mounting hole 4 on the second adapter assembly 16, a single-channel surgical method is realized to meet the switching of various surgical operations in different surgical situations.

[0044] In one embodiment, the axis of the mounting hole 4 on the first adapter assembly 15 coincides with the axis of the mounting hole 4 on the second adapter assembly 16. A drainage sleeve 17 is installed in the mounting hole 4 on the first adapter assembly 15. An endoscope 18 is installed in the mounting hole 4 on the second adapter assembly 16. The endoscope 18 is inserted into the drainage sleeve 17. A drainage cavity 19 is formed between the inner wall of the drainage sleeve 17 and the outer wall of the endoscope 18. A drain pipe 20 is arranged on the drainage sleeve 17 along its radial direction. The drain pipe 20 is communicated with the drainage cavity 19.

[0045] As Figure 7As shown, the axis of the mounting hole 4 of the first adapter assembly 15 coincides with the axis of the mounting hole 4 on the second adapter assembly 16. At this time, the surgical instrument is in the single-channel mode, that is, the surgical instrument in the mounting hole 4 of the first adapter assembly 15 can be sleeved outside the surgical instrument in the mounting hole 4 of the second adapter assembly 16. Specifically, a drainage cannula 17 is installed in the mounting hole 4 of the first adapter assembly 15, and an endoscope 18 is installed in the mounting hole 4 of the second adapter assembly 16. The endoscope 18 is inserted into the drainage cannula 17, so that the endoscope 18 is further guided and assisted through the drainage cannula 17. During the operation of the spinal endoscope 18, the endoscope 18 needs to work in a water medium environment. A drainage cavity 19 is formed between the inner wall of the drainage cannula 17 and the outer wall of the endoscope 18. A drainage pipe 20 is provided on the drainage cannula 17 along its radial direction, and the drainage pipe 20 is communicated with the drainage cavity 19, so that the excess water filling around the endoscope 18 can be discharged through the drainage cavity 19 and the drainage pipe 20.

[0046] In one embodiment, the width of the side outlet groove 5 is greater than the outer diameter of the drainage pipe 20, and the maximum outer diameter of the drainage cannula 17 is less than the diameter of the mounting hole 4.

[0047] As Figure 1 、 Figure 2 and Figure 3As shown in the figure, for the front-end tool clamping device of the present application, the drainage sleeve 17 has a relatively large diameter, so it cannot exit from the side outlet groove 5 but directly exits outward along the axial direction (the axial direction of the mounting hole 4) through the mounting hole 4. The distance between the mounting hole 4 on the first adapter assembly 15 and the mounting hole 4 on the second adapter assembly 16 is defined as the first distance. When the length of the drainage sleeve 17 is less than the first distance, after the drainage sleeve 17 exits outward along the axial direction from the mounting hole 4 on the first adapter assembly 15, the drainage sleeve 17 can be taken out from the side between the mounting hole 4 on the first adapter assembly 15 and the mounting hole 4 on the second adapter assembly 16; when the length of the drainage sleeve 17 is greater than or equal to the first distance, the drainage sleeve 17 needs to move outward along the axial direction from the mounting hole 4 on the first adapter assembly 15 until the drainage sleeve 17 completely exits outward along the axial direction from the mounting hole 4 on the second adapter assembly 16. When the length of the drainage sleeve 17 is greater than or equal to the first distance, in the state where the drainage sleeve 17 is not clamped, the drainage sleeve 17 can pass through the mounting hole 4 without obstruction. At the same time, the drain pipe 20 can pass through the side outlet groove 5 without obstruction. Specifically, the maximum outer diameter of the drainage sleeve 17 is smaller than the diameter of the mounting hole 4, so that when the axes of the mounting hole 4 on the first adapter assembly 15 and the mounting hole 4 on the second adapter assembly 16 are coaxially arranged, the drainage sleeve 17 can be withdrawn from the mounting hole 4 on the first adapter assembly 15 along the axial direction into the mounting hole 4 on the second adapter assembly 16, and then exit the front-end tool clamping device from the mounting hole 4 on the second adapter assembly 16. The width of the side outlet groove 5 is greater than the outer diameter of the drain pipe 20, so that the drainage sleeve 17 can unobstructedly retreat from the mounting hole 4 on the first adapter assembly 15 to the mounting hole 4 on the second adapter assembly 16 to ensure that the drainage sleeve 17 will not deviate when exiting the front-end tool clamping device, avoiding secondary injury to the patient.

[0048] In one of the embodiments, the drainage sleeve 17 includes a fixed body 21, a sleeve body 22 and a silica gel body 23. The sleeve body 22 is arranged at one end of the fixed body 21, and the silica gel body 23 is arranged at the other end of the fixed body 21. The interiors of the fixed body 21, the sleeve body 22 and the silica gel body 23 are connected and communicated to form a cylindrical cavity 24. The endoscope 18 is inserted into the cylindrical cavity 24, the drain pipe 20 is arranged on the fixed body 21, and the fixed body 21 is arranged in the mounting hole 4.

[0049] As Figure 5 and Figure 7As shown, the drainage sleeve 17 includes a fixed body 21, a sleeve body 22, and a silica gel body 23. The fixed body 21 is clamped in the mounting hole 4 by a locking bolt 2. The silica gel body 23 is used for guiding and assisting the insertion of the endoscope 18 into the drainage sleeve 17, and can reduce the hard collision between the endoscope 18 and the drainage sleeve 17 to prevent damage to the endoscope 18. Specifically, the sleeve body 22 is arranged at one end of the fixed body 21, and the silica gel body 23 is arranged at the other end of the fixed body 21. The axes of the sleeve body 22, the silica gel body 23, and the fixed body 21 coincide. The interiors of the fixed body 21, the sleeve body 22, and the silica gel body 23 are connected to form a cylindrical cavity 24, so that the endoscope 18 can pass through the cylindrical cavity 24 unobstructed. The drain pipe 20 is arranged on the fixed body 21, and the drainage channel of the drain pipe 20 is connected to the inner cavity of the fixed body 21 to realize the collection and discharge of excess water. The fixed body 21 is arranged in the mounting hole 4, and the outer diameter of the fixed body 21 is larger than the outer diameter of the sleeve body 22, so that the mounting hole 4 can stably clamp the drainage sleeve 17 with less deformation when contracting.

[0050] In one embodiment, chamfers 25 are provided on both ends of the inner wall of the silica gel body 23.

[0051] As Figure 5 and Figure 7 shown, by providing chamfers 25 on both ends of the inner part of the silica gel body 23, the resistance encountered by the endoscope 18 when inserting into the drainage sleeve 17 is smaller, making the assembly process smoother.

[0052] Note that the above is only the preferred embodiment of the present invention and the applied technical principle. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A surgical robot front-end tool clamping device, characterized in that: The tool mounting seat (1) comprises a tool mounting seat (1) and a locking bolt (2), wherein one end of the tool mounting seat (1) is connected to the surgical robot, and the other end of the tool mounting seat (1) forms a mounting end (3), and the mounting end (3) is provided with a mounting hole (4) and a side outlet groove (5) for mounting a surgical instrument, and the mounting hole (4) is connected to the side outlet groove (5), one side of the side outlet groove (5) is provided with a first threaded hole (6), and the other side of the side outlet groove (5) is provided with a second threaded hole (7), the locking bolt (2) includes a connecting portion (9) and a threaded portion (10) which are arranged in sequence, the connecting portion (9) is inserted into the first threaded hole (6), the threaded portion (10) is threadedly connected to or separated from the second threaded hole (7), and when the threaded portion (10) is separated from the second threaded hole (7), a side exit space for side exit surgical instruments is formed between the end of the threaded portion (10) and the inner wall surface of the side exit groove (5) close to the second threaded hole (7).

2. The surgical robot front-end tool clamping device according to claim 1, characterized in that: A first side plate (11) and a second side plate (12) are formed on both sides of the side exit groove (5) on the mounting end (3); the first threaded hole (6) is arranged on the first side plate (11); the second threaded hole (7) is arranged on the second side plate (12); and a side exit space for side exiting surgical instruments is formed between the end of the threaded portion (10) and the inner wall surface of the second side plate (12).

3. The surgical robot front-end tool clamping device according to claim 1, characterized in that: The mounting hole (4) is a through hole along its axial direction, the axis of the mounting hole (4) intersects with the axis of the tool mounting seat (1), the direction in which the mounting end (3) deviates from the tool mounting seat (1) is a first direction, and the side groove (5) is a through groove extending from the axis of the mounting hole (4) toward the first direction and is a through groove along the axial direction of the mounting hole (4).

4. The surgical robot front-end tool clamping device according to claim 1, characterized in that: The surgical instrument is a Kirschner wire, and the width of the side outlet groove (5) is greater than the diameter of the Kirschner wire.

5. The surgical robot front-end tool clamping device according to claim 2, characterized in that: An escape groove (13) for accommodating the threaded portion (10) is provided on the inner wall of the first side plate (11), and the depth of the escape groove (13) is greater than the length of the threaded portion (10).

6. The surgical robot front-end tool clamping device according to claim 1, characterized in that: The invention also comprises a connecting base (14), one end of which is connected to the surgical robot, and the other end of which is provided with a first adapter component (15) and a second adapter component (16); the first adapter component (15) and / or the second adapter component (16) are slidably arranged on the connecting base (14); the tool mounting seat (1) is rotatably arranged on both the first adapter component (15) and the second adapter component (16); the first adapter component (15) is relatively close to or far away from the second adapter component (16); the axis of the mounting hole (4) on the first adapter component (15) intersects or coincides with the axis of the mounting hole (4) on the second adapter component (16).

7. The surgical robot front-end tool clamping device according to claim 6, characterized in that: The axis of the mounting hole (4) on the first adapter component (15) is arranged to coincide with the axis of the mounting hole (4) on the second adapter component (16); a drainage sleeve (17) is installed in the mounting hole (4) on the first adapter component (15); an inner mirror (18) is installed in the mounting hole (4) on the second adapter component (16); the inner mirror (18) is inserted into the drainage sleeve (17); a drainage cavity (19) is formed between the inner wall of the drainage sleeve (17) and the outer wall of the inner mirror (18); a drainage pipe (20) is arranged on the drainage sleeve (17) along its radial direction; the drainage pipe (20) is connected to the drainage cavity (19).

8. The surgical robot front-end tool clamping device according to claim 7, characterized in that: The width of the side outlet groove (5) is greater than the outer diameter of the drainage pipe (20), and the maximum outer diameter of the drainage sleeve (17) is smaller than the diameter of the mounting hole (4).

9. The surgical robot front-end tool clamping device according to claim 7, characterized in that: The drainage sleeve (17) comprises a fixed body (21), a sleeve body (22) and a silicone body (23); the sleeve body (22) is arranged at one end of the fixed body (21), and the silicone body (23) is arranged at the other end of the fixed body (21); the interiors of the fixed body (21), the sleeve body (22) and the silicone body (23) are connected to form a cylindrical cavity (24); the endoscope (18) is inserted into the cylindrical cavity (24); the drainage pipe (20) is arranged on the fixed body (21), and the fixed body (21) is arranged in the mounting hole (4).

10. The surgical robot front-end tool clamping device according to claim 9, characterized in that: Chamfers (25) are provided on the steps at both ends of the inner wall of the silica gel body (23).

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