Tail end guide device for surgical robot

Abstract

The utility model relates to the technical field of medical equipment, and provides a tail end guide device for a surgical robot, which comprises a guide mechanism and a guide sleeve, the guide mechanism has a guide part; the guide sleeve penetrates through the guide part, the outer side wall of the guide sleeve is sunken inwards to form a first groove, the guide sleeve is provided with a first guide hole, and the first guide hole is used for guiding an operation executing device. According to the tail end guiding device for the surgical robot, the first groove is formed in the outer side wall of the guiding sleeve, when blood is splashed to the position between the guiding sleeve and the guiding part, the blood flows out along the first groove, and the situation that the blood is solidified on the surface of the guiding sleeve, and consequently the guiding sleeve and the guiding part adhere is avoided; the guide sleeve and the guide part cannot be separated. In addition, the first groove can reduce the contact area between the guide sleeve and the guide part, so that the friction force between the guide sleeve and the guide part is reduced, and the guide sleeve can be conveniently moved out of the guide part.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to a terminal guiding device for a surgical robot. Background Art

[0002] Compared with traditional orthopedic surgeries, using a surgical robot to assist doctors in orthopedic surgeries has advantages such as precise positioning to reduce errors, saving the physical consumption of doctors, reducing the blood loss of patients, and accelerating the recovery speed of patients.

[0003] In the prior art, surgical instruments are generally positioned and oriented through a guiding tool installed at the end of a robotic arm, and a sleeve assembled on the guiding tool is used to install actuators such as bone needles. However, it is found in actual surgeries that: the surface of the sleeve is prone to adhering to the patient's blood, and after the blood coagulates, a thin film is easily formed on the surface of the sleeve, resulting in the inability to separate the sleeve from the guiding tool and causing the surgery to be interrupted. Summary of the Utility Model

[0004] The utility model provides a terminal guiding device for a surgical robot to solve the defect that the sleeve and the guiding tool cannot be separated in the prior art.

[0005] The utility model provides a terminal guiding device for a surgical robot, including a guiding mechanism and a guiding sleeve; the guiding mechanism has a guiding part; the guiding sleeve is inserted through the guiding part, an inner side wall of the guiding sleeve is recessed inward to form a first groove, the guiding sleeve has a first guiding hole, and the first guiding hole is used for guiding surgical actuators.

[0006] According to the terminal guiding device for a surgical robot provided by the utility model, a first positioning part is arranged at the end of the guiding sleeve, and the first positioning part is used for connecting the area to be treated.

[0007] According to the terminal guiding device for a surgical robot provided by the utility model, the guiding part includes a second guiding hole, and a notch is formed in a side wall of the second guiding hole.

[0008] According to the terminal guiding device for a surgical robot provided by the utility model, the guiding mechanism includes a main body base and a tracer; a first connecting component is connected to a first end of the main body base, and the first connecting component is used for connecting to the end of the surgical robot, and the guiding part is arranged at a second end of the main body base; the tracer is detachably connected to the main body base through a second connecting component.

[0009] According to an end guiding device for a surgical robot provided by the present utility model, the main body base is provided with a first mounting hole, and the first connection assembly includes an insulating member and at least one connecting member; the insulating member is used for connecting to the end of the surgical robot; the insulating member is provided with a second mounting hole; the connecting member includes an elastic member and a first connecting member, and the first connecting member sequentially passes through the elastic member and the first mounting hole and is connected to the second mounting hole.

[0010] According to an end guiding device for a surgical robot provided by the present utility model, the first mounting hole and the second mounting hole are inclined holes, and one end of the first mounting hole and the second mounting hole close to the guiding portion faces outward; the main body base has a positioning inclined surface that cooperates with the first connecting member.

[0011] According to an end guiding device for a surgical robot provided by the present utility model, a sterile cover is provided between the main body base and the insulating member, and the end of the first connecting member has a conical portion that penetrates through the sterile cover.

[0012] According to an end guiding device for a surgical robot provided by the present utility model, a second groove is provided on the surface of the insulating member close to the main body base, a press-fit adapter plate is provided in the second groove, and the press-fit adapter plate has a second positioning portion;

[0013] The main body base has a third positioning portion that cooperates with the second positioning portion.

[0014] According to an end guiding device for a surgical robot provided by the present utility model, a third mounting hole and a fourth mounting hole that are perpendicular to each other are provided on the main body base, the tracer has a connecting rod that penetrates through the third mounting hole, and the second connection assembly includes:

[0015] A second connecting member, the second connecting member is threadedly connected to the fourth mounting hole, and the second connecting member is used for locking the connecting rod.

[0016] According to an end guiding device for a surgical robot provided by the present utility model, the side wall of the connecting rod has a first positioning plane, the side wall of the third mounting hole has a second positioning plane that cooperates with the first positioning plane, and / or, the end of the connecting rod has a fourth positioning portion, and the bottom wall of the third mounting hole has a fifth positioning portion that cooperates with the fourth positioning portion.

[0017] The end guiding device for a surgical robot provided by an embodiment of the present utility model has a first groove provided on the outer side wall of the guiding sleeve. When blood splashes between the guiding sleeve and the guiding part, the blood flows out along the first groove, preventing the blood from solidifying on the surface of the guiding sleeve and causing adhesion between the guiding sleeve and the guiding part, and solving the problem that the guiding sleeve cannot be separated from the guiding part. In addition, the first groove can reduce the contact area between the guiding sleeve and the guiding part, thereby reducing the friction force between the two and facilitating the removal of the guiding sleeve from the guiding part. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 FIG. 1 is one of the schematic structural diagrams of the end guiding device for a surgical robot provided by the present utility model.

[0020] Figure 2 FIG. 2 is another schematic structural diagram of the end guiding device for a surgical robot provided by the present utility model.

[0021] Figure 3 FIG. 3 is yet another schematic structural diagram of the end guiding device for a surgical robot provided by the present utility model.

[0022] Figure 4 FIG. 4 is one of the schematic structural diagrams of the guiding sleeve provided by the present utility model.

[0023] Figure 5 FIG. 5 is another schematic structural diagram of the guiding sleeve provided by the present utility model.

[0024] Figure 6 FIG. 6 is the exploded schematic structural diagram of the end guiding device for a surgical robot provided by the present utility model.

[0025] Figure 7 FIG. 7 is the sectional schematic diagram of the end guiding device for a surgical robot provided by the present utility model.

[0026] Figure 8 FIG. Figure 7 is the partial enlarged schematic structural diagram at A in FIG.

[0027] Figure 9 FIG. 8 is the schematic structural diagram of the first connecting member provided by the present utility model.

[0028] Figure 10 FIG. 9 is the schematic structural diagram of the main body base provided by the present utility model.

[0029] Figure 11 It is a schematic cross-sectional view of the insulating part provided by the present utility model.

[0030] Figure 12 It is one of the schematic structural views of the insulating part provided by the present utility model.

[0031] Figure 13 It is the second schematic structural view of the insulating part provided by the present utility model.

[0032] Figure 14 It is the schematic structural view of the guiding mechanism provided by the present utility model.

[0033] Figure 15 It is the schematic cross-sectional view of the guiding mechanism provided by the present utility model.

[0034] Reference numerals:

[0035] 1. Guiding mechanism;

[0036] 11. Main body base; 111. Guiding part; 1111. Notch; 112. First mounting hole; 113. Third positioning part; 114. Third mounting hole; 115. Fourth mounting hole; 116. Positioning inclined plane;

[0037] 12. Tracer; 121. Connecting rod; 122. Fourth positioning part;

[0038] 13. First connection assembly; 131. Insulating part; 1311. Second mounting hole; 1312. Sixth positioning part; 132. Elastic part; 133. First connecting part; 134. Press-fitting adapter plate; 1341. Second positioning part; 135. Third connecting part; 136. Spring sleeve;

[0039] 14. Second connection assembly; 141. Second connecting part; 142. Gasket; 143. Rotating part; 144. Pan head screw;

[0040] 2. Guide sleeve; 21. First groove; 22. First guide hole; 23. First positioning part;

[0041] 3. Sterile cover;

[0042] 4. Surgical execution device. Detailed implementation manners

[0043] The following further describes in detail the implementation manners of the present utility model in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0044] In the description of the embodiments of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present utility model and simplifying the description, 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. Therefore, it should not be construed as a limitation to the embodiments of the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0045] In the description of the embodiments of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific situations.

[0046] In the embodiments of the present utility model, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0047] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0048] The following combines Figures 1 - 15 Describe the end guiding device for a surgical robot in the embodiments of the present utility model.

[0049] An embodiment of the present utility model provides an end guiding device for a surgical robot, such as Figures 1 to 3 shown. The end guiding device includes a guiding mechanism 1 and a guiding sleeve 2. The guiding mechanism 1 has a guiding portion 111, and the guiding sleeve 2 is inserted through the guiding portion 111.

[0050] As Figure 4 and Figure 5 shown, an outer side wall of the guiding sleeve 2 is recessed inward to form a first groove 21. The guiding sleeve 2 has a first guiding hole 22, and the first guiding hole 22 is used for guiding a surgical execution device 4.

[0051] It can be understood that the guiding sleeve 2 is inserted into the guiding portion 111, and the surgical execution device 4 is inserted through the first guiding hole 22 of the guiding sleeve 2. Through the guiding function of the guiding sleeve 2 on the surgical execution device 4, the surgical execution device 4 is placed into the area to be treated. After the surgical execution device 4 is placed into the area to be treated, the guiding sleeve 2 is removed from the guiding portion 111 to complete the placement of the surgical execution device 4.

[0052] The outer side wall of the guiding sleeve 2 is provided with the first groove 21. When blood splashes between the guiding sleeve 2 and the guiding portion 111 during the operation, the blood can flow out along the first groove 21, preventing the blood from solidifying on the surface of the guiding sleeve 2 and causing adhesion between the guiding sleeve 2 and the guiding portion 111, and further preventing the separation of the guiding sleeve 2 from the guiding portion 111.

[0053] For the end guiding device for a surgical robot provided by the embodiment of the present utility model, by providing the first groove 21 on the outer side wall of the guiding sleeve 2, when blood splashes between the guiding sleeve 2 and the guiding portion 111, the blood flows out along the first groove 21, preventing the blood from solidifying on the surface of the guiding sleeve 2 and causing adhesion between the guiding sleeve 2 and the guiding portion 111, and solving the problem that the guiding sleeve 2 cannot be separated from the guiding portion 111; in addition, the first groove 21 can reduce the contact area between the guiding sleeve 2 and the guiding portion 111, and further reduce the frictional force therebetween, facilitating the removal of the guiding sleeve 2 from the guiding portion 111.

[0054] In an embodiment of the present utility model, as Figure 4 and Figure 5 shown, the first groove 21 is a groove axially opened along the outer circumference of the guiding sleeve 2. The first groove 21 can be multiple arranged circumferentially. Preferably, the multiple first grooves 21 are evenly distributed circumferentially, and a cross section of the first groove 21 is arc-shaped.

[0055] In an embodiment of the present utility model, as Figure 4 shown, a terminal end of the guiding sleeve 2 has a first positioning portion 23, and the first positioning portion 23 is used for connecting to the area to be treated.

[0056] Optionally, the first positioning portion 23 may be positioning teeth provided at the end of the guiding sleeve 2. The positioning teeth are in a peak shape. During the operation, the positioning teeth can pierce and connect to the area to be treated, so as to position the guiding sleeve 2 and prevent the guiding sleeve 2 from sliding randomly in the area to be treated. It should be noted here that the end of the guiding sleeve 2 is the end of the guiding sleeve 2 close to the area to be treated.

[0057] In this embodiment, the surgical execution device 4 is a bone needle. During the operation, the positioning teeth at the end of the guiding sleeve 2 can pierce the periosteum to position the guiding sleeve 2 and prevent the guiding sleeve 2 from sliding randomly on the bone.

[0058] In a preferred embodiment of the present utility model, as Figure 2 shown, the guiding portion 111 includes a second guiding hole, and a notch 1111 is provided on the side wall of the second guiding hole.

[0059] It can be understood that the guiding portion 111 is a through hole provided at the end of the guiding mechanism 1. This through hole is denoted as the second guiding hole, and a notch 1111 is provided in the guiding portion 111. Then, after the surgical execution device 4 is placed into the area to be treated and the guiding sleeve 2 is removed from the guiding portion 111, and then the robotic arm of the surgical robot is moved, the surgical execution device 4 can be completely separated from the robotic arm through the notch 1111 of the guiding portion 111, which is convenient for the separation of the surgical execution device 4 from the guiding mechanism 1.

[0060] Preferably, a notch 1111 is provided at the bottom of the guiding portion 111. For example, the surgical execution device 4 is a bone needle. During the needle placement operation in orthopedic surgery, after the bone needle is placed, the guiding sleeve 2 is pulled out from the guiding portion 111. The robotic arm of the surgical robot uses the notch 1111 at the bottom of the guiding portion 111 in the end guiding device, and the bone needle can directly move out from the notch 1111 at the bottom of the guiding portion 111, realizing the complete separation of the robotic arm from the bone needle and increasing the convenience of the operation.

[0061] In an embodiment of the present utility model, as Figure 6 shown, the guiding mechanism 1 includes a main body base 11 and a tracer 12 connected to the main body base 11.

[0062] As Figure 1 , Figure 6 , Figure 7 , Figure 8 and Figure 10 shown, a first connection component 13 is connected to the first end of the main body base 11. The first connection component 13 is used to connect to the end of the surgical robot. Then, the first end of the main body base 11 is connected to the end of the surgical robot through the first connection component 13, and the second end of the main body base 11 has a guiding portion 111.

[0063] Optionally, the first connection component 13 includes an insulating member 131 and at least one connection member. The insulating member 131 is used to connect to the end of the surgical robot. The main body base 11 is provided with a first mounting hole 112, the insulating member 131 is provided with a second mounting hole 1311, and the connection member is connected to the first mounting hole 112 and the second mounting hole 1311. It should be noted here that the number of the connection members, the first mounting holes 112, and the second mounting holes 1311 is equal, and they are connected in one-to-one correspondence.

[0064] In this embodiment, the connection member includes an elastic member 132 and a first connection member 133. The first connection member 133 sequentially passes through the elastic member 132 and the first mounting hole 112 and is connected to the second mounting hole 1311 to realize the connection between the main body base 11 and the insulating member 131.

[0065] It can be understood that the insulating member 131 is fixedly connected to the end of the surgical robot, and the detachable connection between the insulating member 131 and the main body base 11 can be realized through the connection member. Thus, according to the surgical needs, the main body base 11 with different specifications or functions can be replaced to perform different treatment surgeries.

[0066] Furthermore, the first mounting hole 112 and the second mounting hole 1311 are inclined holes. One end of the first mounting hole 112 close to the guiding portion 111 faces outward, and one end of the second mounting hole 1311 close to the guiding portion 111 faces outward. In order to facilitate the operation of the first connection member 133, the mating surface of the first end of the main body base 11 and the first connection member 133 is designed as a positioning inclined surface 116, so that the connection member is arranged obliquely outward to avoid position interference between the connection member and the tracer 12 on the main body base 11 during assembly.

[0067] As Figure 6 shown, the tracer 12 is arranged above the main body base 11, and there are two connection members, and the two connection members are respectively located on both sides of the main body base 11.

[0068] As Figure 7 and Figure 8 shown, the connection member further includes a spring sleeve 136 sleeved outside the elastic member 132. The elastic member 132 is a spring, the first connection member 133 is a locking screw, and the spring sleeve 136 is limited by the positioning inclined surface 116 and the end of the locking screw. The main body base 11 is installed on the insulating member 131, and then fixed by using the spring, the spring sleeve 136 and the locking screw; wherein the spring is installed in the spring sleeve 136 to give a normal force to the locking screw, playing a role in preventing loosening.

[0069] In an embodiment of the present utility model, as Figure 7 、 Figure 11 and Figure 12As shown, the surface of the insulating part 131 close to the main body base 11 is provided with a second groove, and a press-fit adapter plate 134 is arranged in the second groove. The press-fit adapter plate 134 has a second positioning part 1341, and the first end of the main body base 11 has a third positioning part 113 that cooperates with the second positioning part 1341.

[0070] It can be understood that the press-fit adapter plate 134 is arranged in the second groove of the insulating part 131, and the fixing of the press-fit adapter plate 134 and the insulating part 131 is realized through a third connecting part 135. The third connecting part 135 can be a connecting pin connecting the press-fit adapter plate 134 and the insulating part 131, and is integrally installed at the end of the surgical robot.

[0071] The press-fit adapter plate 134 connected to the insulating part 131 has a second positioning part 1341, and the main body base 11 has a third positioning part 113. Through the positioning cooperation of the second positioning part 1341 and the third positioning part 113, the accurate positioning between the main body base 11 and the insulating part 131 is ensured.

[0072] It should be noted that, in order to ensure the safety of patients, the insulating part 131 is made of insulating material. For example, the insulating part 131 is made of POM plastic; in order to ensure the connection strength between the insulating part 131 and the main body base 11, a second groove is designed on the insulating part 131, and the press-fit adapter plate 134 made of metal material is embedded in the second groove of the insulating part 131.

[0073] It should be noted that the main body base 11 is made of metal material. When the insulating part 131 and the main body base 11 are disassembled and assembled repeatedly, during the positioning and assembly of the metal main body base 11 and the plastic insulating part 131, the insulating part 131 will be worn. In this embodiment, the press-fit adapter plate 134 is arranged on the insulating part 131. The press-fit adapter plate 134 is made of metal material. Then, the connection and positioning between the insulating part 131 and the main body base 11 are positioned through the metal press-fit adapter plate 134 embedded in the insulating part 131, thereby avoiding the wear of the insulating part 131.

[0074] For example, the second positioning part 1341 can be a positioning groove opened on the press-fit adapter plate 134, and the third positioning part 113 can be a positioning convex block arranged at the first end of the main body base 11. Through the cooperation of the positioning groove and the positioning convex block, the positioning of the main body base 11 and the press-fit adapter plate 134 on the insulating part 131 is realized. It should be noted here that a third connecting part 135 is connected to the press-fit adapter plate 134, and the end of the third connecting part 135 extends out of the press-fit adapter plate 134. Then, the first end of the main body base 11 also has a receiving groove for receiving the end of the third connecting part 135.

[0075] In another embodiment of the present utility model, a connection hole is provided on the insulating member 131. After a connection bolt passes through the connection hole, it is connected to the end of the surgical robot to realize the connection between the insulating member 131 and the connection hole at the end of the surgical robot. For example, there are multiple connection holes, and the connection holes are waist-shaped holes. Further, as Figure 13 shown, a sixth positioning portion 1312 is provided on the surface of the insulating member 131 facing away from the main body base 11. The sixth positioning portion 1312 can be a cylindrical boss to ensure the installation accuracy between the insulating member 131 and the end flange of the surgical robot.

[0076] In another embodiment of the present utility model, as Figures 7 to 9 shown, a sterile cover 3 is provided between the main body base 11 and the insulating member 131. The sterile cover 3 covers the outside of the insulating member 131, and the end of the first connecting member 133 has a conical portion that penetrates through the sterile cover 3.

[0077] It can be understood that the main body base 11 and the devices provided thereon are the disinfected areas, and the insulating member 131 and the press-fit adapter plate 134 thereon are the non-disinfected areas. By providing a sterile cover 3 between the main body base 11 and the insulating member 131, sterile isolation between the disinfected area and the non-disinfected area is achieved.

[0078] The end of the locking screw is designed with a conical structure so that a conical portion is formed at the end of the first connecting member 133. When a sterile cover 3 is provided between the main body base 11 and the insulating member 131, the conical structure at the end of the locking screw can easily pierce the sterile cover 3 without affecting the locking function of the locking screw.

[0079] Further, as Figure 6 、 Figure 14 and Figure 15 shown, the tracer 12 is detachably connected to the main body base 11 through the second connection assembly 14, so that during transportation or after surgery, the tracer 12 can be detached from the main body base 11 for easy transportation and disinfection.

[0080] Specifically, the second connection assembly 14 adopts a quick-release structure to realize the quick disassembly and assembly of the tracer 12 on the main body base 11. The second connection assembly 14 includes a second connecting member 141. The main body base 11 is provided with a third installation hole 114 and a fourth installation hole 115 that are perpendicular to each other. The tracer 12 has a connecting rod 121 that passes through the third installation hole 114. The second connecting member 141 is threadedly connected to the fourth installation hole 115 and abuts against the connecting rod 121 to lock the connecting rod 121.

[0081] Exemplarily, the third mounting hole 114 is a blind hole opened vertically, and the fourth mounting hole 115 is a through hole opened on the side wall of the third mounting hole 114 in the horizontal direction. The fourth mounting hole 115 is a threaded hole. The tracer 12 with the connecting rod 121 is inserted into the third mounting hole 114 of the main body base 11. To ensure the uniqueness of the mounting position of the tracer 12, the side wall of the connecting rod 121 has a first positioning plane, and the side wall of the third mounting hole 114 has a second positioning plane. Through the cooperation of the first positioning plane and the second positioning plane, the positioning of the mounting position of the tracer 12 is achieved.

[0082] Furthermore, the end of the connecting rod 121 has a fourth positioning portion 122, and the bottom wall of the third mounting hole 114 has a fifth positioning portion that cooperates with the fourth positioning portion 122. Exemplarily, the end of the connecting rod 121 has a positioning cylinder, and the bottom wall of the third mounting hole 114 has a positioning groove. Through the cooperation of the positioning cylinder and the positioning groove, the accuracy of the position of the tracer 12 is further ensured.

[0083] In this embodiment, the second connecting member 141 is a connecting screw. The second connecting assembly 14 further includes a gasket 142 and a rotating member 143. One end of the connecting screw is used for threaded connection to the fourth mounting hole 115. The rotating member 143 is fixedly sleeved on the other end of the connecting screw. The gasket 142 is sleeved on the connecting screw and is located between the main body base 11 and the rotating member 143. Exemplarily, the rotating member 143 is a handle sleeved on the connecting screw, and through a pan head screw 144 connected to the end of the connecting screw, the fixed connection between the handle and the connecting screw is achieved. By rotating the handle to press the connecting screw against the connecting rod 121, the locking of the tracer 12 to the main body base 11 is achieved; the gasket 142 can be a corrugated gasket 142, which not only plays a role in preventing loosening but also plays a role in adjusting the locking force.

[0084] The following combines Figures 1 to 15 Describe a specific embodiment of the present invention. The specific implementation process of the end guiding device for a surgical robot is as follows.

[0085] The first step is as Figures 11 to 13 shown. The insulating member 131 and the press-fit adapter plate 134 are fixedly connected together through the third connecting member 135. Then the whole is installed on the end flange of the surgical robot.

[0086] The second step is as Figure 14 and Figure 15 shown. The tracer 12 with the connecting rod 121 is inserted into the third mounting hole 114 on the main body base 11; as Figure 6 and Figure 9As shown in the figure, rotate it so that the second connecting piece 141 is connected to the fourth mounting hole 115 on the main body base 11 and presses the connecting rod 121. A gasket 142 is provided on the second connecting piece 141. The gasket 142 not only plays a role in preventing loosening but also plays a role in adjusting the locking force.

[0087] In the third step, install the main body base 11 on the insulating piece 131. Then, use the first connecting piece 133 to pass through the spring and the first mounting hole 112 of the main body base 11, and then connect it to the second mounting hole 1311 of the insulating piece 131 to fix the main body base 11 and the insulating piece 131. Among them, the first connecting piece 133 uses a locking screw, and the spring is installed in the spring sleeve 136 to give the locking screw a normal force, playing a role in preventing loosening.

[0088] In the fourth step, as Figure 2 shown in the figure, insert the guiding sleeve 2 into the guiding part 111 of the main body base 11. Among them, a notch 1111 is designed at the bottom of the guiding part 111. For example, during the operation of inserting a nail in orthopedic surgery, the doctor uses a power tool to hold the surgical execution device 4 and accurately drill the surgical execution device 4 into the bone through the guiding of the guiding sleeve 2; when the bone needle is inserted, the surgical execution device 4 will remain in the bone. Subsequently, the doctor removes the power tool, pulls out the guiding sleeve 2 from the guiding part 111, and moves the robotic arm of the surgical robot so that the main body base 11 and the bone needle are separated through the notch 1111 of the guiding part 111, as Figure 3 shown in the figure.

[0089] For the end guiding device for a surgical robot provided by the embodiment of the present invention, by providing the first groove 21 on the guiding sleeve 2, it prevents blood from coagulating on the surface of the guiding sleeve 2, resulting in the adhesion of the guiding sleeve 2 and the guiding part 111, and further preventing the problem that the guiding sleeve 2 cannot be removed. Moreover, positioning teeth are designed at the end of the guiding sleeve 2 to realize the positioning of the position of the guiding sleeve 2 and prevent the guiding sleeve 2 from sliding on the bone; in addition, the first end of the main body base 11 is connected to the end of the surgical robot through the first connection assembly 13, increasing the reliability of the connection; and the tracer 12 is designed as a detachable structure, which is convenient for disinfection and cost saving; a notch 1111 is cut at the bottom of the guiding part 111, which is convenient for the surgical execution device 4 to directly move out from the notch 1111 at the bottom of the guiding part 111, increasing the convenience of the operation.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An end guiding device for a surgical robot, characterized in that, Comprising: A guiding mechanism (1), the guiding mechanism (1) having a guiding portion (111); A guiding sleeve (2), the guiding sleeve (2) being disposed through the guiding portion (111), an outer sidewall of the guiding sleeve (2) being recessed inwardly to form a first groove (21), the guiding sleeve (2) having a first guiding hole (22), the first guiding hole (22) being used for guiding a surgical execution device (4).

2. The end guiding device for a surgical robot according to claim 1, characterized in that, A first positioning portion (23) is provided at a terminal end of the guiding sleeve (2), the first positioning portion (23) being used for connecting to a treatment area to be treated.

3. The end guiding device for a surgical robot according to claim 2, characterized in that, The guiding portion (111) includes a second guiding hole, and a notch (1111) is formed in a sidewall of the second guiding hole.

4. The end guiding device for a surgical robot according to any one of claims 1 to 3, characterized in that, The guiding mechanism (1) includes: A main body base (11), a first end of the main body base (11) being connected to a first connection assembly (13), the first connection assembly (13) being used for connecting to a terminal end of a surgical robot, a second end of the main body base (11) having the guiding portion (111); A tracer (12), the tracer (12) being detachably connected to the main body base (11) through a second connection assembly (14).

5. The end guiding device for a surgical robot according to claim 4, wherein The main body base (11) is provided with a first mounting hole (112), and the first connection assembly (13) includes: An insulating member (131), the insulating member (131) being used for connecting to the terminal end of the surgical robot; the insulating member (131) is provided with a second mounting hole (1311); At least one connecting member, the connecting member including an elastic member (132) and a first connecting member (133), the first connecting member (133) being sequentially disposed through the elastic member (132) and the first mounting hole (112), and being connected to the second mounting hole (1311).

6. The end guiding device for a surgical robot according to claim 5, characterized in that, The first mounting hole (112) and the second mounting hole (1311) are inclined holes, and one end of the first mounting hole (112) and the second mounting hole (1311) close to the guiding portion (111) faces outward; The main body base (11) has a positioning inclined surface (116) that cooperates with the first connecting member (133).

7. The end effector guiding device for a surgical robot according to claim 5, wherein, A sterile cover (3) is disposed between the main body base (11) and the insulating member (131), and a conical portion of the first connecting member (133) penetrates through the sterile cover (3) at a terminal end thereof.

8. The end guiding device for a surgical robot according to claim 5, characterized in that, A second groove is formed on a surface of the insulating member (131) close to the main body base (11), and a press-fit adapter plate (134) is disposed in the second groove, the press-fit adapter plate (134) having a second positioning portion (1341); The main body base (11) has a third positioning portion (113) that cooperates with the second positioning portion (1341).

9. The end guiding device for a surgical robot according to claim 4, characterized in that, The main body base (11) is provided with a third mounting hole (114) and a fourth mounting hole (115) that are perpendicular to each other, the tracer (12) having a connecting rod (121) disposed through the third mounting hole (114), and the second connection assembly (14) includes: The second connecting member (141), the second connecting member (141) is threadedly connected to the fourth mounting hole (115), and the second connecting member (141) is used to lock the connecting rod (121).

10. The end guiding device for a surgical robot according to claim 9, characterized in that, The side wall of the connecting rod (121) has a first positioning plane, and the side wall of the third mounting hole (114) has a second positioning plane that cooperates with the first positioning plane, and / or, The end of the connecting rod (121) has a fourth positioning portion (122), and the bottom wall of the third mounting hole (114) has a fifth positioning portion that cooperates with the fourth positioning portion (122).

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