Fixing device for surgical operation cannula

Abstract

The utility model provides a surgical operation cannula fixing device which comprises a first connecting plate and a second connecting plate, one end of the second connecting plate is connected with the first connecting plate, the other end of the second connecting plate is fixedly connected with first connecting arms extending out of a fixed clamping piece, two first connecting arms extend out of the fixed clamping piece and are arranged at intervals in the vertical direction, and the first connecting arms are fixedly connected with the second connecting plate. The second connecting plate is fixedly connected with the first connecting arm located above, a first positioning protruding part is arranged at the upper end of the inner wall of the fixed clamping piece and used for being matched with a first positioning groove formed in the outer side wall of the surgical operation sleeve in the vertical direction, and a second positioning protruding part is arranged at the lower end of the inner wall of the fixed clamping piece and used for being matched with a second positioning groove formed in the outer side wall of the surgical operation sleeve in the vertical direction. The movable clamping piece is used for being matched with a second positioning groove formed in the outer side wall of the surgical operation sleeve in the circumferential direction for use, the driving mechanism is used for driving the movable clamping piece to be transited to the closed position from the open position, and when the movable clamping piece moves to the closed position, the movable clamping piece is matched with the fixed clamping piece to fix the surgical operation sleeve. According to the fixing device, the use convenience of the surgical operation cannula can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of fixing devices, in particular to a fixing device for a surgical cannula. Background Art

[0002] Robotic surgery is regarded as a comprehensive upgrade of minimally invasive surgery. With the development, advancement and promotion of surgical robots, the number of surgeries performed by surgical robots has increased year by year. As an important accessory medical device, the surgical cannula (referred to as the cannula) is particularly important for its ease of use.

[0003] Typically, during minimally invasive surgery, a cannula is manually inserted into the patient's body at the desired incision site. Once secure entry is confirmed, the cannula is docked to a cannula fixture on the patient's side of the surgical robot. Conventional cannulas currently on the market require adapters to fit the cannula fixture, making the cannula installation and subsequent cleaning and sterilization processes cumbersome. Utility Model Content

[0004] In order to solve the problems existing in the prior art, the present application proposes a fixing device for a surgical cannula.

[0005] In order to achieve the above-mentioned purpose, the present application proposes a fixing device for a surgical cannula, including a connecting seat, a fixed clip, a movable clip, and a driving mechanism, wherein the connecting seat includes a first connecting plate and a second connecting plate, the first connecting plate is used to connect to the multi-joint robotic arm in the surgical robot, one end of the second connecting plate is connected to the first connecting plate, and the other end is fixedly connected to the first connecting arm extending from the fixed clip, two first connecting arms extend from the fixed clip, each first connecting arm is horizontally arranged, and the two first connecting arms are spaced apart in the vertical direction, the second connecting plate is fixedly connected to the first connecting arm located above, and the upper end portion of the inner wall of the fixed clip is provided There is a first positioning protrusion, which is arranged along the vertical direction. The first positioning protrusion is used to cooperate with a first positioning groove arranged along the vertical direction on the outer wall of the surgical cannula. The lower end part of the inner wall of the fixed clip is provided with a second positioning protrusion, and the second positioning protrusion is used to cooperate with a second positioning groove arranged circumferentially on the outer wall of the surgical cannula. The driving mechanism is used to drive the movable clip to transition from the open position to the closed position. When the movable clip moves to the closed position, the movable clip cooperates with the fixed clip to fix the surgical cannula. When the cannula needs to be disassembled, the movable clip is manipulated to transition from the closed position to the open position.

[0006] In some embodiments, a third positioning protrusion is arranged at the lower end of the inner wall of the movable clamp, which is used in cooperation with a second positioning groove arranged circumferentially on the outer wall of the surgical sleeve.

[0007] In some embodiments, two second connecting arms are arranged at the movable clamp, each of which is arranged horizontally and spaced apart along the vertical direction, and the space between the two second connecting arms can accommodate the two second connecting arms, and the space between the two second connecting arms can accommodate the torsion spring in the driving mechanism, the driving mechanism comprises a mounting shaft arranged along the vertical direction and a torsion spring, the torsion spring, the second connecting arm and the first connecting arm are sleeved on the mounting shaft, and the second connecting arm can rotate relative to the mounting shaft, the first connecting arm is fixed relative to the mounting shaft, one arm of the torsion spring is arranged in the accommodating groove arranged on the first connecting arm, and the other arm is arranged in the accommodating groove arranged on the second connecting arm, when the movable clamp transitions from the closed position to the open position, the torsion spring is deformed and always exerts a force to make the movable clamp have a tendency to transition from the open position to the closed position.

[0008] In some embodiments, a detection mechanism is further arranged to detect whether the sleeve has been assembled to the fixing device, and when the sleeve has been assembled to the fixing device, the detection mechanism sends a signal to the control unit.

[0009] In some embodiments, the detection mechanism comprises a detection needle, a spring, a micro-motion sensor and a guide block, an installation groove is arranged on the upper surface of the upper first connecting arm, a cover plate is arranged on the upper surface of the upper first connecting arm to cover the installation groove, the micro-motion sensor is arranged in the installation groove and connected to the control unit, the guide block is fixed in the installation groove, a guide hole is arranged on the guide block along the horizontal direction, one end of the detection needle is arranged at the guide hole and the other end can extend out of the through hole arranged on the end of the first connecting arm, the detection needle can move horizontally along the guide hole, the diameter of the middle part of the detection needle along its own axis is larger than the diameter of the two end parts, the diameter of the through hole arranged on the first connecting arm for the end of the detection needle to extend out is matched with the diameter of the end of the detection needle, the length of the detection needle extending out can be limited through the through hole, the other end of the detection needle is sleeved with a spring, when the sleeve is assembled to the fixing device, the detection needle will be retracted into the through hole, at this time the spring will trigger the micro-motion sensor and the spring will be compressed, the micro-motion sensor sends a signal to the control unit.

[0010] In some embodiments, a locking mechanism is further included for locking the movable clamping piece in the closed position after the movable clamping piece is transitioned from the open position to the closed position.

[0011] In some embodiments, the locking mechanism includes a fixedly connected locking handle and a threaded column, a threaded hole is provided at the first connecting arm below, the threaded column is assembled at the threaded hole, when the locking handle is operated to rotate, the threaded column rotates and moves upward at the threaded hole until abutting against the lower surface of the second connecting arm below, so as to lock the movable clamping piece.

[0012] The surgical operation sleeve fixing device has the advantages that the surgical operation sleeve can be fixed without using an adapter component, and the process of disassembling the adapter component is removed in the cleaning and sterilization process of the surgical operation sleeve, so that the convenience of using the surgical operation sleeve is improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 A structure schematic diagram of a surgical operation sleeve and a fixing device installed in a patient-side surgical robot in an embodiment is shown.

[0014] Figure 2 A structure schematic diagram of a fixing device in an embodiment is shown.

[0015] Figure 3 A structure schematic diagram of a movable clamping piece in an embodiment is shown.

[0016] Figure 4 A structure schematic diagram of a movable clamping piece in an embodiment is shown.

[0017] Figure 5 A partial cross-sectional structure schematic diagram of a fixing device in an embodiment is shown.

[0018] Figure 6 A partial structure schematic diagram of a fixing device in an embodiment is shown.

[0019] Figure 7 A partial cross-sectional structure schematic diagram of a fixing device in an embodiment is shown.

[0020] Figure 8 A structure schematic diagram of a surgical operation sleeve in an embodiment is shown.

[0021] Figure 9 A structure schematic diagram of a fixing device and a sleeve to be installed in an embodiment is shown.

[0022] Figure 10 A structure schematic diagram of a fixing device and a sleeve after installation in an embodiment is shown.

[0023] Figure markings: 100-surgical robot, A-multi-joint robotic arm, B-fixing device, C-sleeve, D-surgical instrument, C01-first positioning groove, C02-second positioning groove, 1-connecting seat, 101-first connecting plate, 102-second connecting plate, 2-fixed clip, 201-first positioning protrusion, 202-second positioning protrusion, 3-movable clip, 301-third positioning protrusion, 4-driving mechanism, 401-mounting shaft, 402-torsion spring, 5-detection mechanism, 501-detection needle, 502-spring, 503-micro-motion sensor, 504-through hole, 505-guide block, 6-locking mechanism, 601-locking handle, 602-threaded column, 7-first connecting arm, 701-mounting groove, 702-threaded hole, 8-second connecting arm, 9-cover plate. DETAILED DESCRIPTION

[0024] The specific implementation of this application will be further described below with reference to the accompanying drawings.

[0025] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0026] like Figures 1 to 10As shown, the fixing device of the surgical sleeve involved in the present application comprises a connecting seat 1, a fixed clamping piece 2, a movable clamping piece 3, and a driving mechanism 4, wherein the connecting seat 1 comprises a first connecting plate 101 and a second connecting plate 102, the first connecting plate 101 is used to be connected with a multi-joint mechanical arm A in a surgical robot 100, one end of the second connecting plate 102 is connected with the first connecting plate 101, and the other end is fixedly connected with a first connecting arm 7 extending from the fixed clamping piece 2, two first connecting arms 7 extend from the fixed clamping piece 2, each first connecting arm 7 is horizontally arranged, and the two first connecting arms 7 are arranged in a vertical direction, the second connecting plate 102 is fixedly connected with the first connecting arm 7 above, a first positioning protruding part 201 is arranged on the inner wall upper end of the fixed clamping piece 2, the first positioning protruding part 201 is arranged in a vertical direction, and the first positioning protruding part 201 is used in cooperation with a first positioning groove C01 arranged in a vertical direction on the outer side wall of the surgical sleeve, a second positioning protruding part 202 is arranged on the inner wall lower end of the fixed clamping piece 2, and the second positioning protruding part 202 is used in cooperation with a second positioning groove C02 arranged in a circumferential direction on the outer side wall of the surgical sleeve, the driving mechanism 4 is used to drive the movable clamping piece 3 to transition from an open position to a closed position, when the movable clamping piece 3 moves to the closed position, the movable clamping piece 3 cooperates with the fixed clamping piece 2 to fix the surgical sleeve C, when it is needed to disassemble the sleeve C, the movable clamping piece 3 is controlled to transition from the closed position to the open position.

[0027] In the embodiment, a third positioning protruding part 301 is arranged on the inner wall lower end of the movable clamping piece 3, and the third positioning protruding part 301 is used in cooperation with the second positioning groove C02 arranged in a circumferential direction on the outer side wall of the surgical sleeve.

[0028] Two second connecting arms 8 extend from the movable clamping piece 3, each second connecting arm 8 is horizontally arranged, the two second connecting arms 8 are arranged in a vertical direction, the space between the two first connecting arms 7 can accommodate the two second connecting arms 8, the space between the two second connecting arms 8 can accommodate a torsional spring 402 in the driving mechanism 4, the driving mechanism 4 is used to drive the movable clamping piece 3 to transition from the open position to the closed position, when the movable clamping piece 3 moves to the closed position, the movable clamping piece 3 cooperates with the fixed clamping piece 2 to fix the sleeve C, when it is needed to disassemble the sleeve C, an operator controls the movable clamping piece 3 to transition from the closed position to the open position.

[0029] The driving mechanism 4 includes a mounting shaft 401 and a torsion spring 402. The mounting shaft 401 is arranged in a vertical direction. The torsion spring 402, the second connecting arm 8 and the first connecting arm 7 are all sleeved on the mounting shaft 401, and the second connecting arm 8 can rotate relative to the mounting shaft 401. The first connecting arm 7 is fixed relative to the mounting shaft 401. One arm of the torsion spring 402 is located in a receiving groove provided on the first connecting arm 7, and the other arm is located in a receiving groove provided on the second connecting arm 8. When the dynamic clamp 3 transitions from the closed position to the open position, the torsion spring 403 is deformed and will continue to apply force, so that the dynamic clamp 3 has a tendency to transition from the open position to the closed position.

[0030] The fixing device of the surgical cannula involved in the present application also includes a detection mechanism 5 for detecting whether the cannula C has been assembled to the fixing device B. When the cannula C has been assembled to the fixing device B, the detection mechanism 5 sends a signal to the control unit. Specifically, the detection mechanism 5 includes a detection needle 501, a spring 502, a micro-motion sensor 503 and a guide block 505; a mounting groove 701 is provided on the upper surface of the first connecting arm 7 at the top, and a cover plate 9 is provided on the upper surface of the first connecting arm 7 at the top for covering the mounting groove 701. The micro-motion sensor 503 is arranged in the mounting groove 701 and is connected to the control unit. The guide block 505 is fixed in the mounting groove 701, and a guide hole is provided on the guide block 505 in the horizontal direction. One end of the stylus 501 is located in the guide hole, while the other end can extend through a through hole 504 provided at the end of the first connecting arm 7. The stylus 501 can move horizontally along the guide hole. Along its own axis, the diameter of the middle portion of the stylus 501 is larger than that at the ends. The diameter of the through hole 504 provided on the first connecting arm 7, through which the end of the stylus 501 extends, matches the diameter of the end of the stylus 501. Therefore, the through hole 504 can limit the extension length of the stylus 501. A spring 502 is mounted on the other end of the stylus 501. When a sleeve C is mounted on the fixture B, the stylus 501 is retracted into the through hole 504. At this time, the spring 502 triggers the micro-motion sensor 503, and the spring 502 is compressed, causing the micro-motion sensor 503 to send a signal to the control unit.

[0031] The fixing device of the surgical cannula involved in the present application also includes a locking mechanism 6, which is used to lock the dynamic clamp 3 through the locking mechanism 6 when the dynamic clamp 3 transitions from the open position to the closed position, so that it remains in the closed position to prevent the dynamic clamp 3 from being accidentally opened under the action of external force.

[0032] Specifically, the locking mechanism 6 includes a fixedly connected locking handle 601 and a threaded column 602. A threaded hole 702 is provided at the first connecting arm 7 below. The threaded column 602 is assembled at the threaded hole 702. When the locking handle 601 is manipulated to rotate, the threaded column 602 rotates and moves upward at the threaded hole 702 until it abuts against the lower surface of the second connecting arm 302 below, so as to lock the dynamic clamp 3.

[0033] During specific use, the threaded column 602 is first loosened, and the operator manipulates the movable clip 3 to transition from the closed position to the open position. Afterwards, the sleeve C is assembled on the fixing device B, so that the first positioning protrusion 201 cooperates with the first positioning groove C01 provided in the vertical direction on the outer wall of the surgical sleeve, and the second positioning protrusion 202 cooperates with the second positioning groove C02 provided in the circumferential direction on the outer wall of the surgical sleeve. This can prevent the sleeve C from rotating and moving up and down, and the operator can operate the sleeve C. When the operator slowly loosens the dynamic clamp 3, under the action of the torsion spring 402, the dynamic clamp 3 transitions from the open position to the closed position. At this time, the third positioning protrusion 301 cooperates with the second positioning groove C02 circumferentially arranged on the outer wall of the surgical cannula. After the detection mechanism 5 detects that the cannula C has been assembled to the fixing device B, the detection mechanism 5 sends a signal to the control unit, which locks the dynamic clamp 3 through the locking mechanism 6 to keep it in the closed position, thereby preventing the dynamic clamp 3 from being accidentally opened under the action of external force.

[0034] The surgical robot 100 generally includes several multi-joint robotic arms A, each of which is provided with a fixing device B involved in the present application, a sleeve C is directly mounted on the fixing device B, and a surgical instrument D is mounted on the sleeve C.

[0035] The fixing device for the surgical cannula involved in the present application can fix the surgical cannula without using an adapter component; and during the cleaning and sterilization process of the surgical cannula, the process of disassembling the adapter component is eliminated, thereby improving the convenience of using the surgical cannula.

[0036] The above is only a preferred specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and concept of the present application within the technical scope disclosed in the present application, and they should be covered by the scope of protection of the present application.

Claims

1. A fixing device for a surgical cannula, characterized in that: The lifting mechanism comprises a first connection plate and a second connection plate, wherein the first connection plate is used to connect the multi-joint robotic arm in the surgical robot, one end of the second connection plate is connected to the first connection plate, and the other end is fixedly connected to the first connection arm extending from the fixed clip, and two first connection arms extend from the fixed clip, each first connection arm is horizontally arranged, and the two first connection arms are spaced apart in the vertical direction, the second connection plate is fixedly connected to the first connection arm above, and the upper end portion of the inner wall of the fixed clip is provided with a first positioning protrusion, and the first fixed clip is fixedly provided with a first positioning protrusion. The positioning protrusion is arranged along the vertical direction, and the first positioning protrusion is used to cooperate with the first positioning groove arranged along the vertical direction on the outer wall of the surgical cannula. The lower end part of the inner wall of the fixed clip is provided with a second positioning protrusion, and the second positioning protrusion is used to cooperate with the second positioning groove arranged along the circumferential direction on the outer wall of the surgical cannula. The driving mechanism is used to drive the dynamic clip to transition from the open position to the closed position. When the dynamic clip moves to the closed position, the dynamic clip cooperates with the fixed clip to fix the surgical cannula. When the cannula needs to be disassembled, the dynamic clip is manipulated to make it transition from the closed position to the open position.

2. The surgical cannula fixing device according to claim 1, characterized in that: A third positioning protrusion is provided at the lower end portion of the inner wall of the dynamic clamp, and the third positioning protrusion is used to cooperate with a second positioning groove provided along the circumferential direction on the outer side wall of the surgical sleeve.

3. The surgical cannula fixing device according to claim 1, characterized in that: and a pair of lockhole that is formed on a pair of locking plate, wherein the locking plate is located adjacent the locking plate and the lockhole engages with the locking plate, wherein the locking plate is engaged with the locking plate and the lockhole engages with the locking plate.

4. The surgical cannula fixing device according to claim 1, characterized in that: It also includes a detection mechanism for detecting whether the sleeve has been assembled to the fixing device. When the sleeve has been assembled to the fixing device, the detection mechanism sends a signal to the control unit.

5. The surgical cannula fixing device according to claim 4, characterized in that: The detection mechanism includes a detection needle, a spring, a micro-motion sensor, and a guide block. A mounting slot is provided on the upper surface of the first connecting arm, and a cover plate is provided on the upper surface of the first connecting arm for covering the mounting slot. The micro-motion sensor is disposed in the mounting slot and is connected to the control unit. The guide block is fixed in the mounting slot and has a guide hole provided in the horizontal direction. One end of the detection needle is located in the guide hole, and the other end can extend through a through hole provided at the end of the first connecting arm. The detection needle can move horizontally along the guide hole. The diameter of the detection needle in the middle portion along its own axis is larger than that at the end portions. The diameter of the through hole provided on the first connecting arm for the detection needle end to extend is adapted to the diameter of the detection needle end. The through hole can limit the extension length of the detection needle. A spring is sleeved on the other end of the detection needle. When a sleeve is assembled on the fixing device, the detection needle is retracted into the through hole. At this time, the spring triggers the micro-motion sensor, and the spring is compressed, and the micro-motion sensor sends a signal to the control unit.

6. The surgical cannula fixing device according to claim 3, characterized in that: It also includes a locking mechanism for locking the dynamic clamping piece through the locking mechanism to keep it in the closed position after the dynamic clamping piece transitions from the open position to the closed position.

7. The surgical cannula fixing device according to claim 6, characterized in that: The locking mechanism includes a fixedly connected locking handle and a threaded column. A threaded hole is provided at the first connecting arm below, and the threaded column is assembled at the threaded hole. When the locking handle is manipulated to rotate, the threaded column rotates and moves upward at the threaded hole until it abuts against the lower surface of the second connecting arm below to lock the dynamic clamp.

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