Quick-release control rocker for surgical robot

Abstract

The utility model discloses a quick release type control rocker for a surgical robot, which comprises a fixed base body, a rocker arm, a rocker arm and a rocker arm, the rocker fixing assembly is fixed to the inner side of the fixed base body and used for installing a rocker detachable assembly, the rocker fixing assembly comprises a butt-inserting locking female end, a base rotating connecting base, a rotating connecting base cover plate, a base rotating fixing base and a fixing base cover plate which are sequentially arranged from inside to outside, and the rotating connecting base cover plate is fixed to the base rotating connecting base; the fixed seat cover plate is fixed on the base part rotating fixed seat; and the rocker detachable assembly penetrates through the fixed base body and is detachably installed in the rocker fixing assembly, and the rocker detachable assembly comprises a locking structure, a plug-in locking male end and an adapter plate connecting piece which are sequentially arranged from top to bottom. The control rocker can be quickly disassembled and replaced, manpower and material resources are saved, the control rocker is adaptive to rockers with various functions and forms, and the universality of the control rocker is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical equipment technical field, specifically related to a kind of quick-release control rocker for surgical robot. BACKGROUND

[0002] The incidence and mortality of digestive tract malignant tumor (gastric cancer, esophageal cancer and colon cancer) are in the front row, early diagnosis and treatment are the core to improve survival rate, and currently, minimally invasive treatment such as endoscopic submucosal dissection (Endoscopic Submucosal Dissection, ESD) has become the standard treatment for early digestive tract tumor, so that more early digestive tract cancer can be completely removed under endoscope by ESD, and the pain and organ removal of laparotomy are avoided.

[0003] ESD operation often needs at least 2 kinds of instruments matched with endoscope to realize, and the movement of the instrument is controlled by a rocker, and currently, the control rocker is fixed, and when the control rocker has a problem, the whole needs to be replaced, for the rocker hidden under the fixed panel, it is very difficult to disassemble and replace, and when replacing the rocker with different functions, the fixed panel and the fixed components under the panel need to be disassembled and replaced constantly, so that the purpose of quick replacement cannot be achieved, and the control rocker with multiple functions and forms cannot be adapted, which is not conducive to improving operation efficiency. SUMMARY

[0004] The utility model provides a kind of quick-release control rocker for surgical robot, installation, disassembly process is simple, convenient, and can adapt to the rocker with multiple functions and forms, effectively solve the above technical problems.

[0005] A kind of quick-release control rocker for surgical robot, comprising:

[0006] Fixed base body, for fixing lower fixed component;

[0007] Rocker fixed component, is fixed in fixed base body inner side, for installing rocker detachable assembly, the rocker fixed component includes from inside to outside sequentially arranged female end of lock, base portion rotation connecting seat and rotation connecting seat cover plate, base portion rotation fixed seat and fixed seat cover plate, the rotation connecting seat cover plate is fixed on base portion rotation connecting seat, and the fixed seat cover plate is fixed on base portion rotation fixed seat;

[0008] Rocker detachable assembly, passes through fixed base body, and is detachably installed in rocker fixed component, and the rocker detachable assembly includes from top to bottom sequentially arranged locking structure, male end of lock and adapter plate connecting piece;

[0009] As preferred, the rocker detachable assembly further comprises a rocker handle fixedly connected with the pair of plug-in lock male end, used for controlling the movement of the endoscope and surgical instruments, the rocker handle comprising a handle lower side shell, a button base provided on the handle lower side shell, a rocker base, a mounting plate and a handle upper side shell, the button base rear portion being provided with a button circuit board, the rocker base being provided with a rocker circuit board, and the mounting plate being provided with an induction module.

[0010] As preferred, the rocker handle further comprises a rocker cap provided on the rocker circuit board through the handle upper side shell, and upper side buttons and lower side buttons connected with the button base through the front end of the handle upper side shell and the handle lower side shell respectively, the upper side buttons and the lower side buttons being fixed on the button base through pin shaft one and pin shaft two respectively.

[0011] As preferred, the rocker detachable assembly further comprises a baffle, which is sleeved on the pair of plug-in lock male end.

[0012] As preferred, the lower part of the locking structure is provided with a pin shaft three through hole corresponding to the upper part of the pair of plug-in lock male end, a pin shaft three is arranged in the pin shaft three through hole, the locking structure and the pair of plug-in lock male end are connected through the pin shaft three, the locking structure can rotate along the pin shaft three, magnets are arranged below the locking structure and corresponding positions of the pair of plug-in lock male end, long pin shaft through holes are symmetrically arranged on both sides of the lower part of the pair of plug-in lock male end, long pin shafts are arranged in the long pin shaft through holes, a clamping groove is arranged on the adapter plate connector, the long pin shafts pass through the long pin shaft through holes and the clamping groove, so that the adapter plate connector is clamped on the lower part of the pair of plug-in lock male end; slide columns are further arranged on both sides of the pair of plug-in lock male end.

[0013] As preferred, an upper magnetic attraction adapter plate is arranged below the adapter plate connector, and a magnetic attraction connector male end is fixedly arranged below the upper magnetic attraction adapter plate.

[0014] As preferred, a second rotating shaft is arranged on both sides of the female end of the pair of plug-in lock, fixed through holes two are arranged on the base rotating connecting seat and the rotating connecting seat cover plate, shaft sleeves two are arranged in the fixed through holes two, and the female end of the pair of plug-in lock is clamped into the inside of the shaft sleeves two through the second rotating shafts on both sides; a first rotating shaft is arranged in a direction perpendicular to the line connecting the fixed through holes two on both sides of the base rotating connecting seat, fixed through holes one are arranged on the base rotating fixed seat and the fixed seat cover plate, shaft sleeves one are arranged in the fixed through holes one, and the base rotating connecting seat is clamped into the inside of the shaft sleeves one through the first rotating shafts on both sides.

[0015] As preferred, microswitches are arranged on both sides of the cover plate of the fixed seat, a return spring is arranged on the opposite side of the fixed seat of the base rotating fixed seat, a return spring cover plate is arranged on the outside of the return spring, microswitches are arranged on both sides of the cover plate of the rotating connecting seat, a return spring is arranged on the opposite side of the rotating connecting seat of the base rotating connecting seat, and a return spring cover plate is arranged on the outside of the return spring.

[0016] As preferred, a rocker fixed plate is fixed below the base rotating fixed seat, and a control circuit board is fixed on the rocker fixed plate.

[0017] As preferred, a lower magnetic attraction adapter plate is arranged on the lower part of the female end of the plug-in lock, and a female end of a magnetic attraction connector is fixed on the lower magnetic attraction adapter plate; grooves are arranged on the upper part of the female end of the plug-in lock on both sides, a plunger through hole is arranged on the side of the female end of the plug-in lock, and a ball head plunger is arranged in the plunger through hole.

[0018] Compared with the prior art, the utility model has the following advantages:

[0019] 1. Quick installation and disassembly, greatly saving the replacement cost of the rocker, and professional personnel is not needed for replacement and installation;

[0020] 2. The rocker can be adapted to various functions and forms, and the universality of the rocker is improved;

[0021] 3. Misoperation is effectively prevented, and correct installation and connection can be realized after clamping in place. BRIEF DESCRIPTION OF DRAWINGS

[0022] Fig. 1 、 Fig. 2 It is a structural schematic diagram of the utility model.

[0023] Fig. 3 It is an explosion structural schematic diagram of the rocker detachable assembly of the utility model.

[0024] Fig. 4 It is a structural schematic diagram of the adapter plate connecting piece of the utility model.

[0025] Fig. 5 、 Fig. 6 It is an explosion structural schematic diagram of the rocker fixed assembly of the utility model.

[0026] Explanation of reference signs: 100, fixed base; 200, rocker fixed assembly; 300, rocker detachable assembly; 400, rocker handle; 101, fixed column; 102, mounting hole; 201, base rotary fixed seat; 202, shaft sleeve one; 203, fixed seat cover plate; 204, micro switch; 205, screw one; 206, screw two; 207, return spring; 208, return spring cover plate; 209, screw three; 210, base rotary connecting seat; 211, rotary connecting seat cover plate; 212, screw four; 213, lower magnetic attraction adapter plate; 214, plug-in lock female end; 215, ball head plunger; 216, screw five; 217, control circuit board; 218, rocker fixed plate; 219, screw six; 220, sliding groove; 221, rotary shaft one; 222, rotary shaft two; 223, plunger through hole; 224, fixed through hole one; 225, fixed through hole two; 226, magnetic attraction connector female end; 227, shaft sleeve two; 228, guide groove; 301, handle upper side shell; 302, rocker cap; 303, screw seven; 304, rocker circuit board; 305, rocker base; 306, screw eight; 307, pin shaft one; 308, button base; 309, upper side button; 310, pin shaft two; 311, button circuit board; 312, screw nine; 313, lower side button; 314, induction module; 315, screw ten; 316, nut; 317, mounting plate; 318, handle lower side shell; 319, baffle; 320, plug-in lock male end; 321, locking structure; 322, magnet; 323, pin shaft three; 324, long pin shaft; 325, adapter plate connecting piece; 326, upper magnetic attraction adapter plate; 327, screw eleven; 328, sliding column; 329, long pin shaft through hole; 330, clamping groove; 331, magnetic attraction connector male end; 332, guide block; 333, pin shaft three through hole. DETAILED DESCRIPTION

[0027] The utility model will be described in detail below in combination with the specific embodiments shown in the drawings. But these embodiments do not limit the utility model, the structure, method or function change made by the ordinary skilled in the art according to these embodiments is included in the protection scope of the utility model.

[0028] The terms used in the utility model are only for the purpose of describing specific embodiments, and are not intended to limit the utility model. The singular form of "a", "said" and "the" used in the utility model and the appended claims are also intended to include the plural form, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein means and includes any or all possible combinations of one or more associated listed items.

[0029] As Figs. 1-2As shown, a quick-release joystick control for a surgical robot according to this embodiment includes a detachable joystick assembly 300, a fixed base 100, and a joystick fixed assembly 200. The fixed base 100 is used to fix the joystick fixed assembly 200. The detachable joystick assembly 300 passes through the fixed base 100 and is detachably mounted in the joystick fixed assembly 200. The fixed base 100 is provided with a mounting hole 102 for the detachable joystick assembly 300 to pass through. The fixed base 100 is provided with a fixing post 101 on its lower side. The fixing post 101 has screw holes. The four corners of the joystick fixed assembly 200 are aligned with the fixing post 101 respectively. Screws are passed through the four corners of the joystick fixed assembly 200 and screwed into the screw holes of the fixing post 101 to secure the joystick fixed assembly 200 to the lower portion of the fixed base 100.

[0030] like Figs. 3-4 As shown, the detachable rocker assembly 300 of this embodiment includes a rocker handle 400, a locking structure 321, a male end 320 of the latch lock, and an adapter plate connector 325, which are arranged in sequence from top to bottom. The rocker handle 400 is fixedly connected to the male end 320 of the latch lock, and is used to control the movement of the endoscope and surgical instruments. The rocker handle 400 includes a handle lower side shell 318, a button base 308 provided on the handle lower side shell 318, a rocker base 305, a mounting plate 317, and a handle upper side shell 318. Shell 301, a button circuit board 311 is provided at the rear of the button base 308, the button circuit board 311 is fixed to the rear of the button base 308 by screw nine 312, the joystick base 305 is fixed to the lower side shell 318 of the handle by screw eight 306, a joystick circuit board 304 is provided on the joystick base 305, the joystick circuit board 304 is fixed to the joystick base 305 by screw seven 303, and a sensing module 314 is provided on the mounting plate 317 for sensing the grasping of human hands to prevent misoperation.

[0031] The joystick handle 400 of this embodiment also includes a joystick cap 302 that is arranged on the joystick circuit board 304 through the upper shell 301 of the handle. The lower part of the joystick cap 302 is connected to the joystick circuit board 304, and the upper part of the joystick cap 302 is exposed from the upper shell 301 of the handle. The joystick handle 400 also includes an upper button 309 and a lower button 313 that are connected to the button base 308 through the front ends of the upper shell 301 and the lower shell 318 of the handle respectively. The upper button 309 is fixed to the button base 308 by pin shaft 1 307, and the lower button 313 is fixed to the button base 308 by pin shaft 2 310. The upper button 309 can slide back and forth along the fixed position with pin shaft 1 307, and the lower button 313 can rotate along pin shaft 2 310.

[0032] The detachable rocker assembly 300 of this embodiment further includes a baffle 319 , which is sleeved on the counter-male end 320 of the latch lock and is located below the rocker handle 400 and above the locking structure 321 .

[0033] The upper part of the plug-in lock male end 320 of the embodiment is sequentially fixed inside the rocker handle 400 through the baffle 319 and the handle lower side shell 318 by the nut 316, and the handle lower side shell 318 and the handle upper side shell 301 are fixed by the screw 315.

[0034] The lower part of the locking structure 321 of the embodiment is provided with a pin shaft three-way hole 333 corresponding to the upper part of the plug-in lock male end 320, a pin shaft three 323 is arranged in the pin shaft three-way hole 333, the locking structure 321 is connected with the plug-in lock male end 320 through the pin shaft three 323, the locking structure 321 can rotate along the pin shaft three 323, and the lower part of the locking structure 321 and the corresponding position of the plug-in lock male end 320 are both provided with a magnet 322. The plug-in lock male end 320 is symmetrically provided with a long pin shaft through hole 329 on the lower part of both sides, a long pin shaft 324 is arranged in the long pin shaft through hole 329, a clamping groove 330 is arranged on the adapter plate connecting piece 325, the long pin shaft 324 passes through the long pin shaft through hole 329 and the clamping groove 330, so that the adapter plate connecting piece 325 is clamped on the lower part of the plug-in lock male end 320, and at the same time, the adapter plate connecting piece 325 can rotate without being pulled out. The adapter plate connecting piece 325 is also provided with a guide block 332 for guiding when the rocker detachable assembly 300 is installed. The plug-in lock male end 320 is also respectively provided with a slide column 328 for locking the rocker detachable assembly 300.

[0035] The lower part of the adapter plate connecting piece 325 of the embodiment is provided with an upper magnetic adapter plate 326, the upper magnetic adapter plate 326 is fixed below the adapter plate connecting piece 325 by the screw eleven 327, and the lower part of the upper magnetic adapter plate 326 is fixed with a magnetic connector male end 331.

[0036] As shown in Figs. 5-6 The rocker fixing assembly 200 of the embodiment is fixed inside the fixed base body 100 and is used for installing the rocker detachable assembly 300. The rocker fixing assembly 200 comprises, from inside to outside, a plug-in lock female end 214, a base rotating connecting seat 210 and a rotating connecting seat cover plate 211, a base rotating fixed seat 201 and a fixed seat cover plate 203. The rotating connecting seat cover plate 211 is fixed on the base rotating connecting seat 210 by a screw, and the fixed seat cover plate 203 is fixed on the base rotating fixed seat 201 by a screw two 206.

[0037] In this embodiment, a second rotating shaft 222 is provided on both sides of the latch lock female end 214, and a second fixing through hole 225 is provided on the base rotating connecting seat 210 and the rotating connecting seat cover 211, and a second shaft sleeve 227 is provided in the second fixing through hole 225. The latch lock female end 214 is connected to the interior of the second shaft sleeve 227 through the second rotating shaft 222 on both sides; a rotating shaft 1 221 is provided on both sides of the base rotating connecting seat 210 in a direction perpendicular to the line connecting the second fixing through hole 225, and a fixing through hole 1 224 is provided on the base rotating fixed seat 201 and the fixed seat cover, and a shaft sleeve 1 202 is provided in the fixing through hole 1 224, and the base rotating connecting seat 210 is connected to the interior of the shaft sleeve 1 202 through the rotating shaft 1 221 on both sides.

[0038] In this embodiment, micro switches 204 are provided on both sides of the fixed seat cover 203, and the micro switches 204 are respectively fixed to both sides of the fixed seat cover 203 by screw 1 205. A return spring 207 is also provided on the base rotation fixed seat 201 on the opposite side of the fixed seat cover 203, and a return spring cover 208 is provided on the outside of the return spring 207. The return spring cover 208 is fixed to the base rotation fixed seat 201 by screw 3 209. Micro switches 204 are provided on both sides of the rotating connecting seat cover 211, and the micro switches 204 are respectively fixed to both sides of the rotating connecting seat cover 211 by screw 1 205. A return spring 207 is also provided on the base rotation connecting seat 210 on the opposite side of the rotating connecting seat cover 211, and a return spring cover 208 is provided on the outside of the return spring 207. The return spring cover 208 is fixed to the base rotation connecting seat 210 by screw 3 209.

[0039] In this embodiment, a rocker fixing plate 218 is fixed below the base rotation fixing seat 201, and the rocker fixing plate 218 is fixed below the base rotation fixing seat 201 by screw six 219. A control circuit board 217 is fixed on the rocker fixing plate 218, and the control circuit board 217 is fixed to the rocker fixing plate 218 by screw five 216.

[0040] In this embodiment, a lower magnetic adapter plate 213 is provided at the lower part of the latch lock female end 214, and the lower magnetic adapter plate 213 is fixed to the lower part of the latch lock female end 214 by screw four 212. A magnetic connector female end 226 is fixed on the lower magnetic adapter plate 213; sliding grooves 220 are provided on both sides of the upper part of the latch lock female end 214, and the sliding grooves 220 are in a lying L shape, which are used for inserting and locking the sliding column 328 of the latch lock male end 320. A guide groove 228 is also provided on the latch lock female end 214 for guiding the installation of the detachable rocker assembly 300. A plunger through hole 223 is also provided on the side of the latch lock female end 214, and a ball head plunger 215 is provided in the plunger through hole 223.

[0041] The quick detachable control rocker for surgical robot of the embodiment is installed by inserting the guide block 332 of the rocker detachable assembly 300 into the guide slot 228 of the female end 214 of the counter lock, and then rotating clockwise until a "click" sound is heard to indicate that it is installed in place; when the rocker detachable assembly 300 needs to be replaced, lift the baffle 319, press the locking structure 321 with your fingers into the hole to lift one side, so that the magnet 322 of the locking structure 321 and the magnet 322 of the male end 320 of the counter lock are separated, then rotate the rocker detachable assembly 300 counterclockwise and pull it out for replacement. When in use, the doctor holds the rocker handle 400, the sensing module 314 senses the human hand, the unlocking control function is enabled, the movement of the rocker detachable assembly 300 controls the movement of the endoscope and surgical instruments of the surgical robot, prevents misoperation, and improves the efficiency of the operation.

[0042] Other embodiments of the utility model will occur to those skilled in the art upon consideration of the specification and the practice of the utility model disclosed herein. This application is intended to cover any variations, uses, or adaptations of the counter lock female end lower part, nature changes, these variations, uses or adaptive changes follow the general principles of the utility model and include the common knowledge or conventional technical means in the art of the utility model not disclosed by the utility model. The specification and examples are only considered as exemplary, and the true scope and spirit of the utility model are indicated by the claims of this application.

[0043] It should be understood that the utility model is not limited to the precise structures described hereinabove and illustrated in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the utility model should only be limited by the appended claims.

Claims

1. A quick release control rocker for a surgical robot, characterized by: The utility model relates to a detachable endoscope rocker handle, comprising: a fixed base for fixing a lower fixed component; a rocker fixed component fixed to the inner side of the fixed base for mounting a rocker detachable component, the rocker fixed component comprising, from inside to outside, a female end of a plug-in lock, a base rotary connecting seat and a rotary connecting seat cover plate, a base rotary fixed seat and a fixed seat cover plate, the rotary connecting seat cover plate being fixed to the base rotary connecting seat, the fixed seat cover plate being fixed to the base rotary fixed seat; a rocker detachable component passing through the fixed base and detachably mounted in the rocker fixed component, the rocker detachable component comprising, from top to bottom, a locking structure, a male end of a plug-in lock and an adapter plate connecting piece.

2. The quick release control rocker for a surgical robot of claim 1, wherein: The rocker detachable component further comprises a rocker handle fixedly connected with the male end of the plug-in lock for controlling the movement of an endoscope and surgical instruments, the rocker handle comprising a lower handle outer shell, a button base provided on the lower handle outer shell, a rocker base, a mounting plate and an upper handle outer shell, the rear part of the button base being provided with a button circuit board, the rocker base being provided with a rocker circuit board, and the mounting plate being provided with a sensing module.

3. The quick release control rocker for a surgical robot of claim 2, wherein: The rocker handle further comprises a rocker cap provided on the rocker circuit board through the upper handle outer shell, upper and lower buttons connected with the button base through the front end of the upper handle outer shell and the lower handle outer shell respectively, and the upper and lower buttons being fixed to the button base through pin shafts one and two respectively.

4. The quick release control rocker for a surgical robot of claim 1, wherein: The rocker detachable component further comprises a baffle sleeved on the male end of the plug-in lock.

5. The quick release control rocker for a surgical robot of claim 1, wherein: The lower part of the locking structure is provided with a pin shaft three through hole corresponding to the upper part of the male end of the plug-in lock, a pin shaft three is arranged in the pin shaft three through hole, the locking structure is connected with the male end of the plug-in lock through the pin shaft three, the locking structure can rotate along the pin shaft three, magnets are arranged below the locking structure and corresponding positions of the male end of the plug-in lock, long pin shaft through holes are symmetrically arranged on the lower part of the male end of the plug-in lock, long pin shafts are arranged in the long pin shaft through holes, a clamping groove is arranged on the adapter plate connecting piece, the long pin shafts pass through the long pin shaft through holes and the clamping groove, so that the adapter plate connecting piece is clamped on the lower part of the male end of the plug-in lock, and slide columns are further arranged on the two sides of the male end of the plug-in lock.

6. The quick release control rocker for a surgical robot of claim 1, wherein: An upper magnetic suction adapter plate is arranged below the adapter plate connecting piece, and a male end of a magnetic suction connector is fixed below the upper magnetic suction adapter plate.

7. The quick release control rocker for a surgical robot of claim 1, wherein: Female ends of plug-in locks are arranged on the two sides of the male end of the plug-in lock, fixed through holes two are arranged on the base rotary connecting seat and the rotary connecting seat cover plate, shaft sleeves two are arranged in the fixed through holes two, and the female ends of the plug-in locks are clamped into the shaft sleeves two through the two sides of the rotating shafts two; rotating shafts one are arranged on the two sides of the base rotary connecting seat in the vertical direction of the fixed through holes two, fixed through holes one are arranged on the base rotary fixed seat and the fixed seat cover plate, shaft sleeves one are arranged in the fixed through holes one, and the base rotary connecting seat is clamped into the shaft sleeves one through the two sides of the rotating shafts one.

8. The quick release control rocker for a surgical robot of claim 1, wherein: Microswitches are arranged on both sides of the fixed seat cover plate, a return spring is further arranged on the opposite side of the fixed seat cover plate on the base rotating fixed seat, a return spring cover plate is arranged outside the return spring, microswitches are arranged on both sides of the rotating connecting seat cover plate, a return spring is further arranged on the opposite side of the rotating connecting seat cover plate on the base rotating connecting seat, and a return spring cover plate is arranged outside the return spring.

9. The quick release control rocker for a surgical robot of claim 1, wherein: A rocker fixed plate is fixed below the base rotating fixed seat, and a control circuit board is fixed on the rocker fixed plate.

10. The quick release control rocker for a surgical robot of claim 1, wherein: A lower magnetic attraction adapter plate is arranged on the lower part of the female end of the plug-in lock, a female end of a magnetic attraction connector is fixed on the lower magnetic attraction adapter plate, sliding grooves are arranged on both sides of the upper part of the female end of the plug-in lock, a plunger through hole is arranged on the side of the female end of the plug-in lock, and a ball head plunger is arranged in the plunger through hole.

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