Connecting device

Abstract

The utility model provides a connecting device which comprises a fastening piece, a tail end connecting piece and a safety structure, and the fastening piece is detachably connected with the tail end connecting piece; the safety structure comprises a threaded rod and a locking nut, the threaded rod is connected with the fastener, the locking nut is connected with the locking rod through internal and external threads, and the locking nut is used for restraining the fastener to be in a connected state. According to the connecting device, the locking piece is locked through the safety structure, the connecting device can be switched between the connecting state and the non-connecting state, the mechanical arm and the surgical instrument can be firmly and stably connected together through the connecting device, mounting and dismounting operation is easy and convenient, a sterile membrane cannot be damaged, and the sterile environment near a surgical site cannot be damaged.

Description

Technical Field

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

[0002] With the continuous improvement of people's attention to their own health problems, the demand for using robotic technology to assist surgeries in specific scenarios is increasing day by day. During the use of surgical robots, robotic arms or other medical devices and surgical instruments need to cooperate with each other to help doctors complete surgeries. For example, in orthopedic surgeries, a guide is provided at the end of the robotic arm of the surgical robot. The surgical robot can complete precise positioning and guide the doctor to set a guide pin at a predetermined position. When performing a surgery using a surgical robot, a surgical instrument needs to be installed on the robotic arm of the surgical robot, and a sterile membrane needs to be installed between the surgical instrument and the robotic arm of the surgical robot to achieve sterile isolation of the surgical robot. Currently, in the prior art, generally, an interference fit connection is used between the snap ring of the surgical instrument and the sterile membrane, and the surgical tool and the robotic arm are fixedly connected by screws. The installation is relatively cumbersome, and the connection is prone to looseness, resulting in instability of the surgical instrument and affecting the normal progress of the surgery.

[0003] In addition, some surgical instruments cannot be sleeved in a sterile cover. For example, in orthopedic surgeries, for the guide, other instruments need to be inserted into the channel of the guide, and the guide should not be sleeved in the sterile cover. This requires the guide to be able to quickly connect to the robotic arm while not destroying its sterile environment. Summary of the Utility Model

[0004] Aiming at the defects in the prior art, the purpose of the utility model is to provide a connecting device that can quickly connect a robotic arm to other surgical instruments, and has a firm connection and high stability.

[0005] The utility model provides a connecting device, including: a fastener, a terminal connector, and an insurance structure. The fastener is detachably connected to the terminal connector; the insurance structure includes a threaded rod and a locking nut. The threaded rod is connected to the fastener, and the locking nut is connected to the threaded rod through internal and external threads, and the locking nut is used to restrict the fastener in a connected state.

[0006] In one embodiment, the fastener is a hoop structure.

[0007] In one embodiment, the hoop structure has a connected state and a non-connected state. The hoop structure includes a hoop structure main body and a hoop structure operation part that are connected to each other. The hoop structure operation part is used to control the switching of the hoop structure between the connected state and the non-connected state.

[0008] In one embodiment, the locking nut is used to limit the position of the hoop structure operation part.

[0009] In one embodiment, the threaded rod has a threaded rod connection end and a threaded rod adjustment end. The threaded rod connection end is connected to the main body of the hoop structure, and the other end opposite to the threaded rod connection end is the threaded rod adjustment end.

[0010] In one embodiment, an anti-detachment retaining piece is provided at the threaded rod adjustment end.

[0011] In one embodiment, the locking nut is connected at a position close to the threaded rod adjustment end.

[0012] In one embodiment, a through hole is provided on the operating portion of the hoop structure. The threaded rod passes through the through hole, and the operating portion of the hoop structure is located between the threaded rod connection end and the threaded rod adjustment end.

[0013] In one embodiment, in the connected state, the locking nut abuts against the operating portion of the hoop structure.

[0014] In one embodiment, the connecting device further includes a positioning member configured to restrict the rotation of the end connecting member relative to the main body portion of the hoop structure.

[0015] In one embodiment, the hoop structure further includes a locking structure. A hoop connection portion is provided on the main body portion of the hoop structure, and the locking structure is hingedly connected to the hoop connection portion.

[0016] In one embodiment, the locking connection structure includes a first movable clamping plate, a second movable clamping plate, a connecting plate, and a clamping plate. One end of the first movable clamping plate is hingedly connected to the connecting plate, and the other end is hingedly connected to the hoop connection portion; one end of the second movable clamping plate is hingedly connected to the clamping plate, and the other end is hingedly connected to the hoop connection portion; the connecting plate is hingedly connected to the clamping plate.

[0017] In one embodiment, the first movable clamping plate is connected to the hoop connection portion through a first pin shaft, the first movable clamping plate is connected to the connecting plate through a second pin shaft, the second movable clamping plate is connected to the hoop connection portion through a third pin shaft, and the second movable clamping plate is connected to the clamping plate through a fourth pin shaft.

[0018] In one embodiment, the clamping plate and the connecting plate are connected through a fifth pin shaft.

[0019] In one embodiment, in the connected state, the projections of the first pin shaft, the second pin shaft, the third pin shaft, the fourth pin shaft, and the fifth pin shaft on a plane perpendicular to the axis of the end connecting member are on the same circle.

[0020] In one embodiment, a buckle cavity is provided in the buckle plate, and at least a part of the connecting plate is located in the buckle cavity.

[0021] In one embodiment, a buckle operation part is provided on the buckle plate, and is used to move the buckle plate closer to or farther away from the axis of the end connecting part.

[0022] In one embodiment, in the non-connected state, the projections of the first pin shaft, the second pin shaft, the third pin shaft, and the fourth pin shaft on a plane perpendicular to the axis of the end connecting part are on the same circumference.

[0023] In one embodiment, in the non-connected state, the distance from the fifth pin shaft to the axis of the main body part of the hoop structure is greater than the distance from the first pin shaft and / or the second pin shaft to the axis of the main body part of the hoop structure.

[0024] In one embodiment, the connecting plate is arc-shaped, and in the connected state, the center of the circle of the connecting plate is on the axis of the end connecting part.

[0025] In one embodiment, a convex part is provided on one side of the movable clamping plate facing the axis of the main body part of the hoop structure, a locking inclined surface is provided on the convex part, an end connecting inclined surface is provided on the end connecting part, and in the connected state, the locking inclined surface abuts against the end connecting inclined surface.

[0026] In one embodiment, the positioning part is a positioning pin, a positioning hole is provided on the end connecting part, and at least a part of the positioning pin is arranged in the positioning hole.

[0027] In one embodiment, the end of the positioning pin is a hemisphere.

[0028] In one embodiment, there are at least two positioning pins.

[0029] Compared with the prior art, the connecting device provided by the present utility model uses an insurance structure to lock the locking part, and can be switched between the connected state and the non-connected state. This connecting device can firmly and stably connect the robotic arm and the surgical instrument together, and the installation and disassembly operations are simple and convenient. Moreover, it will not damage the sterile film and will not destroy the sterile environment near the surgical site. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objects, and advantages of the present utility model will become more apparent:

[0031] Figure 1 FIG. is a schematic structural diagram of the hoop structure and the insurance structure shown in an embodiment of the present utility model;

[0032] Figure 2 Structural schematic diagram of the hoop structure and the insurance structure shown in an embodiment of the present utility model;

[0033] Figure 3 Structural schematic diagram of the hoop structure shown in an embodiment of the present utility model;

[0034] Figure 4 Structural schematic diagram of the first movable clamping plate and the second movable clamping plate shown in an embodiment of the present utility model;

[0035] Figure 5 Structural schematic diagram of the end connecting member shown in an embodiment of the present utility model.

[0036] Reference numerals:

[0037] 100, hoop structure; 80, insurance structure; 81, threaded rod; 82, locking nut; 83, threaded rod connection end; 84, threaded rod adjustment end; 85, anti - detachment retaining piece; 12, positioning pin; 89, guiding locking nut; 1, main body part of the hoop structure; 2, buckle plate; 21, operating part of the hoop structure; 22, cavity of the buckle plate; 3, connecting plate; 4, second movable plate, 41, second convex part; 42, second locking inclined surface; 5, first movable plate; 51, first convex part; 52, first locking inclined surface; 61, first pin shaft; 62, second pin shaft; 63, third pin shaft; 64, fourth pin shaft; 65, fifth pin shaft; 7, tracer; 8, guiding device; 9, end connecting member; 90, end connection fixing plate; 91, end connection inclined surface; 93, positioning hole. Detailed implementation manners

[0038] To make the objectives, advantages and features of the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, only for conveniently and clearly assisting in explaining the objectives of the embodiments of the present utility model. In addition, the structures shown in the drawings are often part of the actual structures. In particular, the emphases that each drawing needs to show are different, and sometimes different scales are adopted.

[0039] As used in the present utility model, the singular forms "a", "an" and "the" include plural referents. The term "or" is generally used in the sense of including "and / or". The term "several" is generally used in the sense of including "at least one". The term "at least two" is generally used in the sense of including "two or more". In addition, the terms "first", "second", "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third" may explicitly or implicitly include one or at least two of such features. The term "proximal end" generally refers to the end close to the operator, and the term "distal end" generally refers to the end close to the patient. "One end" and "the other end", as well as "proximal end" and "distal end", generally refer to two corresponding parts, which include not only the endpoints. The terms "mounted", "connected", "coupled" should 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. In addition, as used in the present utility model, when an element is disposed on another element, it generally only indicates that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the two elements may be directly or indirectly connected, coupled, cooperated or transmitted through an intermediate element, and should not be construed as indicating or implying the spatial position relationship between the two elements, that is, an element may be inside, outside, above, below or on one side of another element in any orientation, unless otherwise expressly specified in the context. 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.

[0040] The core idea of the present utility model is to provide a connection device with stable connection, capable of quick installation and disassembly, which can stably and firmly connect a robotic arm or other structural medical devices to surgical instruments.

[0041] Refer to Figures 1 to 5, this embodiment provides a connecting device, including a hoop structure 100, a safety structure 80 and a terminal connector 9. The hoop structure 100 is fixedly connected to the surgical instrument, and the terminal connector is fixedly connected to the end of the robotic arm. Of course, the hoop structure 100 can also be connected to the end of the robotic arm, and the terminal connector can be connected to the surgical instrument. The safety structure 80 includes a threaded rod 81, a locking nut 82 and an anti-detachment tab 85. The threaded rod 81 has a threaded rod connection end 83 and a threaded rod adjustment end 84, and the threaded rod connection end 83 is fixedly connected to the hoop structure 80. The threaded rod 81 passes through the through hole in the middle of the threaded nut 82. The locking nut 82 is located near the threaded rod adjustment end 84. The locking nut 82 is connected to the threaded rod 81 through internal and external threads, and the locking nut 82 can move along the axial direction of the threaded rod 81. An anti-detachment tab 85 is provided on the threaded rod adjustment end 84. The diameter of the anti-detachment tab 85 is larger than the inner diameter of the locking nut 82, which is used to prevent the locking nut 82 from detaching from the threaded rod 81. The hoop structure 100 includes a hoop structure main body 1 and a hoop structure operation part 21. A through hole is provided on the hoop structure operation part 21, and the threaded rod 81 passes through this through hole. The hoop structure operation part 21 is located between the threaded rod connection part 83 and the locking nut 82, and the hoop structure main body 1 is fixedly connected to the threaded rod connection part 83. The hoop structure 100 has a connected state and a non-connected state, and the two states can be switched by adjusting the hoop structure operation part 21.

[0042] Refer to Figure 1 , Figure 3 and Figure 4, the main body part 1 of the hoop structure includes a hoop connection part 11, a buckle plate 2, a connecting plate 3, a first movable clamping plate 5, and a second movable clamping plate 4. The two ends of the hoop connection part 11 are respectively hinged to the first movable clamping plate 4 and the second movable clamping plate 5. One end of the hoop connection part 11 is connected to one end of the first movable clamping plate 5 through a first pin shaft 61, and the other end of the hoop connection part 11 is connected to one end of the second movable clamping plate 4 through a third pin shaft 63. The other end of the first movable clamping plate 5 is hinged to the connecting plate 3 through a second pin shaft 62, and the other end of the second movable clamping plate 4 is hinged to one end of the buckle plate 2 through a fourth pin shaft 64. The other end of the buckle plate 2 is hinged to the other end of the connecting plate 3, and a buckle cavity 22 is provided in the buckle plate 2. One end of the buckle plate 2 connected to the connecting plate 3 is the operation end 21 of the hoop structure. In the connected state, the connecting plate 3 is located inside the buckle cavity 22, and the sides of the hoop connection part 11, the first movable clamping plate 5, the second movable clamping plate 4, and the buckle plate 2 form a cylindrical shape, which is coaxial with the cylinder of the main body part 1 of the hoop structure, and the projection of this cylinder on the plane perpendicular to its common axis with the main body part 1 of the hoop structure coincides with the projection of the main body part 1 of the hoop structure on its axis. In the connected state, the projections of the first pin shaft 61, the second pin shaft 62, the third pin shaft 63, the fourth pin shaft 64, and the fifth pin shaft 65 on the plane perpendicular to the axis of the main body part 1 of the hoop structure are on the same circumference. At this time, when the locking structure is only subjected to the internal force, its state remains stable.

[0043] In the non-connected state, the connecting plate 3 leaves the buckle cavity 22. At this time, the projections of the fifth pin shaft 65, the first pin shaft 61, the second pin shaft 62, the third pin shaft 63, and the fourth pin shaft 64 on the plane perpendicular to the axis of the main body part 1 of the hoop structure are not on the same circumference, and the distance from the fifth pin shaft 65 to the axis of the main body part 1 of the hoop structure is greater than the distances from the first pin shaft 61, the second pin shaft 62, the third pin shaft 63, and the fourth pin shaft 64 to the axis of the main body part 1 of the hoop structure.

[0044] A first convex part 51 is provided on the side of the first movable clamping plate 5 facing the axis direction of the main body part 1 of the hoop structure, and a first locking inclined surface is provided on the first convex part 51. A second convex part 41 is provided on the side of the second movable clamping plate 4 facing the axis direction of the main body part 1 of the hoop structure, and a second locking inclined surface is provided on the second convex part 41.

[0045] Refer to Figure 5, the end connector 9 includes a fixedly connected end connection fixing plate 90 and an end connection inclined surface 91. The end connection fixing plate 90 can be fixed on medical devices such as robotic arms or can be fixedly connected to surgical instruments. In the connected state, the end connection fixing plate 90 is coaxially arranged with the main body part 1 of the hoop structure, and there is an inclination angle between the end connection inclined surface 91 and the axis of the main body part 1 of the hoop structure, and this inclination angle is similar to the angles of the first locking inclined surface 52 and the second locking inclined surface 42. In the connected state, the first locking inclined surface 52 and the second locking inclined surface 42 respectively abut against the end connection inclined surface 91, and there are acting forces between the first locking inclined surface 52 and the second locking inclined surface 42 and the end connection inclined surface 91, preventing relative movement between the main body part 1 of the hoop structure and the end connector 9 along the axial direction of the main body part 1 of the hoop structure.

[0046] The connecting device further includes positioning members, and the positioning members are at least two positioning pins 12. In this embodiment, there are three positioning pins 12. Each positioning pin 12 can be arranged on the base connected to the hoop structure or can be directly provided with the end of the robotic arm or surgical instrument connected to the hoop structure. The end connection fixing plate 90 is provided with positioning holes 93 that cooperate with each positioning pin 12. In the connected state, each positioning pin 12 is located in a positioning hole 93. Further, the end of the positioning pin 12 can adopt the shape of a hemisphere. During the operation, since the robotic arm needs to cover the sterile drape and the hoop structure and the end connector are separated by the sterile drape, in the connected state, the sterile drape is squeezed in the middle. By using the positioning pin 12 with a hemispherical end, it can prevent the sterile drape from being punctured and damaged.

[0047] In addition, referring to Figure 1 and Figure 2 , the main body part 1 of the hoop structure is fixedly connected to the guiding device 8. The guiding device 8 is provided with a guiding locking nut 89, and the guiding device 8 is further provided with a tracer 7. The tracer 7 is used to be recognized and positioned by the optical positioning system of the surgical robot.

[0048] In the non-connected state, the main body 1 of the hoop structure is separated from the end connector 9, and the positioning pin 12 is disengaged from the positioning hole 93. When it is necessary to install the main body 1 of the hoop structure onto the end connector 9, align each positioning pin 12 with the positioning hole 93, and gradually move the main body 1 of the hoop structure closer to the end connector 9 so that each positioning pin 12 enters the corresponding positioning hole 93. Then, push the operating part 21 of the hoop structure in the direction of the axis of the main body 1 of the hoop structure. The clamping plate 2 and the connecting plate 3 contract towards the center accordingly, and the first movable clamping plate 5 and the second movable clamping plate 4 also contract towards the center. The connecting member 13 enters the interior of the clamping plate cavity 22. The projections of the first pin shaft 61, the second pin shaft 62, the third pin shaft 63, the fourth pin shaft 64, and the fifth pin shaft 65 on a plane perpendicular to the axis of the main body 1 of the hoop structure are on the same circumference. At this time, the first locking inclined surface 51 and the second locking inclined surface 41 are tightly abutted against the end connection inclined surface 91, and a mutual acting force is generated therebetween to prevent relative movement between the main body 1 of the hoop structure and the end connector 9 along their axes. Finally, tighten the locking nut 82. The locking nut 82 abuts against the operating part 21 of the hoop structure and applies a certain acting force to the operating part 21 of the hoop structure to prevent the operating part 21 of the hoop structure from being loosened due to accidental external force. When it is necessary to unlock and release the connection state, rotate the locking nut 82 in the reverse direction to separate the locking nut 82 from the operating part 21 of the hoop structure. Then, push or pull the operating part of the hoop structure in the direction away from the axis of the main body 1 of the hoop structure, so that the connecting plate 3 gradually disengages from the clamping plate cavity 22, and the distance from the fifth pin shaft 65 to the axis of the main body 1 of the hoop structure gradually increases. The acting force between the first locking inclined surface 51 and the second locking inclined surface 41 and the end connection inclined surface 91 gradually decreases until they are disengaged from each other. At this time, the main body 1 of the hoop structure can be separated from the end connector 9, and the locking structure is converted from the connected state to the non-connected state.

[0049] The specific embodiments of the present invention have been described above. The description is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A connecting device, characterized in that, Comprising: A fastener, a terminal connector, and a safety structure, wherein the fastener is detachably connected to the terminal connector; The safety structure includes a threaded rod and a locking nut. The threaded rod is connected to the fastener, and the locking nut is connected to the threaded rod through internal and external threads, and the locking nut is used to constrain the fastener in a connected state.

2. The connecting device according to claim 1, characterized in that, The fastener is a hoop structure, which has a connected state and a non-connected state. The hoop structure includes a hoop structure main body and a hoop structure operation part that are connected to each other, and the hoop structure operation part is used to control the switching of the hoop structure between the connected state and the non-connected state.

3. The connecting device according to claim 2, characterized in that, It further includes a positioning member, which is configured to constrain the rotation of the terminal connector relative to the hoop structure main body.

4. The connecting device according to claim 3, characterized in that, The positioning member is a positioning pin, a positioning hole is provided on the terminal connector, and at least a part of the positioning pin is disposed in the positioning hole.

5. The connecting device according to claim 4, wherein, The end of the positioning pin is a hemisphere.

6. The connecting device according to claim 2, wherein, The threaded rod has a threaded rod connection end and a threaded rod adjustment end. The threaded rod connection end is connected to the hoop structure main body, and the other end opposite to the threaded rod connection end is the threaded rod adjustment end.

7. The connecting device according to claim 6, characterized in that, An anti-drop retaining piece is provided at the threaded rod adjustment end.

8. The connecting device according to claim 6, characterized in that, The locking nut is connected at a position close to the threaded rod adjustment end.

9. The connecting device according to claim 6, characterized in that, A through hole is provided on the hoop structure operation part, the threaded rod passes through the through hole, and the hoop structure operation part is located between the threaded rod connection end and the threaded rod adjustment end.

10. The connecting device according to claim 9, characterized in that, In the connected state, the locking nut abuts against the hoop structure operation part.

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